EP3319873B1 - Verfahren zum transport einer person von einer ersten relativen position zu einem wasserfahrzeug zu einer zweiten relativen position zu einem wasserfahrzeug, vorrichtung zum transport der person sowie system und wasserfahrzeug mit der vorrichtung - Google Patents

Verfahren zum transport einer person von einer ersten relativen position zu einem wasserfahrzeug zu einer zweiten relativen position zu einem wasserfahrzeug, vorrichtung zum transport der person sowie system und wasserfahrzeug mit der vorrichtung Download PDF

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Publication number
EP3319873B1
EP3319873B1 EP16753720.8A EP16753720A EP3319873B1 EP 3319873 B1 EP3319873 B1 EP 3319873B1 EP 16753720 A EP16753720 A EP 16753720A EP 3319873 B1 EP3319873 B1 EP 3319873B1
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EP
European Patent Office
Prior art keywords
watercraft
arm
platform
axis
relative
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP16753720.8A
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English (en)
French (fr)
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EP3319873A1 (de
Inventor
Johannes Rooswinkel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Cooperatieve Vereniging Offshore Cooperation UA
Original Assignee
Cooperatieve Vereniging Offshore Cooperation UA
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Application filed by Cooperatieve Vereniging Offshore Cooperation UA filed Critical Cooperatieve Vereniging Offshore Cooperation UA
Priority to PL16753720T priority Critical patent/PL3319873T3/pl
Publication of EP3319873A1 publication Critical patent/EP3319873A1/de
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Publication of EP3319873B1 publication Critical patent/EP3319873B1/de
Priority to HRP20191183TT priority patent/HRP20191183T1/hr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/10—Arrangement of ship-based loading or unloading equipment for cargo or passengers of cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/02—Devices for facilitating retrieval of floating objects, e.g. for recovering crafts from water
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
    • B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
    • B66F11/044—Working platforms suspended from booms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
    • B63B2017/0072—Seaway compensators

Definitions

  • the invention relates to a method for transporting a person from a first position relative to a watercraft to a second position relative to the watercraft and more specifically to a device for being fixed to a watercraft.
  • GB2336828 discloses an apparatus for providing access between a moving structure, e.g. a vessel, and a fixed structure.
  • the apparatus comprises a base mounted on one structure, a support arm assembly mounted on the base with motional freedom in one or more planes or directions relative to the base, a carrier mounted on the support arm, first means for control of the support arm to spatially position the support structure and a carrier to a selected location and second means to subsequently effect adjustment of the support assembly to maintain the spatial position of the io carrier at the selected location.
  • a first aspect of the invention relates to a method for transporting a person from a first position relative to a watercraft to a second position relative to the watercraft, the method using a device comprising:
  • a second aspect of the invention relates to a device for transferring a person from a first position relative to a watercraft to a second position relative to the watercraft, the device comprising:
  • a third aspect of the invention relates to a system comprising a device according to any claims 4 to 6 and a watercraft-MRU for i) measuring a watercraft-motion and ii) outputting the watercraft-motion to the CU of the device for compensating a platform-motion caused by the watercraft-motion when the device is in use.
  • a fourth aspect of the invention relates to a watercraft comprising a device according to any of claims 4 to 6 or the system according to claim 7, wherein the device is fixed to the watercraft at the base section of the foundation.
  • the first aspect of the invention concerns a method according to claim 1. In this way a more flexible method is achieved for transporting a person from a first position to a second position.
  • the method can be used for transporting a person from a watercraft, for example a floating vessel, to another structure such as an offshore construction or a second watercraft.
  • the method can also be used for transporting the person from the structure to the watercraft, or even for transporting the person from two different positions relative to the watercraft, for example from a first position of the offshore construction to a second position of said offshore construction.
  • the method uses a device fixed to the watercraft for transporting the person.
  • the method is suitable for rescuing purposes.
  • the device comprises a foundation, an arm, a platform and a Control Unit, CU.
  • the foundation allows for fixing a base section of the device to a watercraft, preferably to the deck of the watercraft.
  • the foundation comprises a tilting section and a pedestal rotatably connected to the tilting section.
  • the tilting section is arranged for rotating relative to the base section and, consequently, relative to the watercraft around a first axis.
  • the rotating movement can be achieved by an actuator arranged at the foundation of the device.
  • the watercraft comprises a further actuator arranged for tilting the tilting. It is preferred that the first axis is transverse to the longitudinal of the watercraft.
  • the pedestal is arranged for rotating relative to the tilting section about a second axis transverse to the first axis.
  • the rotation of the pedestal relative to the tilting section is arranged in general by a pinion and gear system.
  • the arm defines a first end at which said arm is connected to the foundation and a second end at which it is connected to the platform.
  • the arm is hingedly connected at the first end to the pedestal of the foundation for rotating said arm relative to said pedestal around a third axis transverse to the second axis.
  • the arm comprises at least two arm-sections in order to improve the versatility of the arm.
  • the platform for supporting the person is hingedly connected to the second end of the arm to keep said platform in a horizontal position during movement from the first position to the second position.
  • the platform can be moved with six degrees of freedom relative to the base section by the movement of the tilting section, the pedestal and the arm since the first axis, the second axis and the third axis are transverse relative to each other.
  • the platform is a bucket arranged for accommodating at least one person to be transported from the firs position to the second position.
  • the device also comprises actuators for actuating the foundation, the arm and the platform such that said platform can be moved relative to the base section and, therefore, from the first position relative to the watercraft to the second position relative to said watercraft.
  • the movement of the platform is operated by the CU, which commands the corresponding actuator to move the platform from the first position to the second position.
  • watercraft-motion such as heave, sway, surge, yaw, pitch and roll. Since the device has been fixed by the base section to the watercraft, the platform is also subjected to said motions, referred as platform-motion.
  • a Motion Reference Unit MRU
  • the CU takes into account said watercraft-motion when giving commands to the actuators to move the platform from the first position to the second position such that the platform-motion is compensated.
  • the MRU is located at the watercraft, generally relatively close to the center of gravity of the watercraft, and this MRU will be referred to as a Watercraft-MRU.
  • the watercraft-MRU and the device forming a system. It is possible that the MRU is located at the device itself, and said MRU will be referred to as a device-MRU. Further, it is also possible that one device-MRU outputs the CU in cooperation with one watercraft-MRU in a master-slave configuration, the watercraft-MRU being the master. Thus the safety of the person being moved is improved.
  • the arm of the device is telescopic and in the method the platform is moved by extending said arm along its longitudinal axis. In this way, the device provides for a higher outreach. Further, the platform-motion can be compensated more accurately to compensate movement of the watercraft when said platform is kept at the second position, making the method more safe.
  • the CU is at the platform and the person transported on the platform is operating said CU.
  • the device can be operated more accurately to move the platform from the first position to the second position by the person being transported on said platform, since said person has a better view when the platform is being moved.
  • the platform is in at least one of the first position or second position relatively close to an structure and the platform is anchored to said structure. In this way, the person can embark/disembark to/from the platform more safely.
  • the structure can be another watercraft or offshore structure.
  • the attachment of the platform can be done for example with a hook or any means for anchoring the platform on the offshore structure.
  • the second aspect of the invention relates to a device according to claim 5.
  • the device allows for a more simple design, since there is no need for a robot arm comprising articulated joints in order to allow the platform for movement in six degrees of freedom.
  • the device comprises hinges arrangement that can be operated by linear actuators, and there is no need of using servomotors for actuating articulated joints.
  • the CU of the device according to the invention is arranged for cooperating with a MRU, such as a watercraft-MRU, a device-MRU or both of them.
  • a MRU such as a watercraft-MRU, a device-MRU or both of them.
  • the arm comprises at least two arm sections hingedly connected one after the other for rotating each of the arm sections relative to the previous one around an axis substantially parallel to the third axis.
  • the platform can be moved to a positon in the vertical lower than the base section.
  • an arm section is defined as a section arranged between the pedestal and the platform defined by two consecutive hinge arrangements.
  • At least one of the at least two arm sections of the arm is extendible along its longitudinal axis.
  • the device allows for reaching further distances, improving the versatility of the device.
  • the CU is at the platform.
  • the platform can be operated more accurately since the person being supported controls the platform, said person having a better view.
  • the device comprises a device-MRU that outputs the watercraft-motion to the CU.
  • the MRU is a device-MRU.
  • the MRU may output the CU only by itself or in cooperation with a watercraft-MRU in a master-slave configuration, the watercraft-MRU being the master.
  • the device itself is designed such that it may be transported within an intermodal container. In this way the device may be easily transported, e.g to one vessel or one offshore structure to be attached for operation, which is an advantage when it is required a quick transportation of the device in a rescue operation.
  • the third aspect of the invention relates to a system according to claim 7.
  • the watercraft-MRU arranged for outputting the CU of the device can be placed on the watercraft in order to obtain more accurate data about the watercraft-motion.
  • the fourth aspect of the invention relates to a watercraft according to claim 8.
  • the base section is fixed to the deck of the watercraft such that the first axis is transverse to the longitudinal of the watercraft. It is preferred that the base section is fixed as close as possible to the edge of the deck so the device is capable of having a better outreach when in use.
  • the arm can be arranged in a non-operational position and in an operational position. In the non-operational position the longitudinal of the arm is parallel to the longitudinal of said watercraft, so the device cannot protrude from said watercraft. In the operational position the longitudinal of the arm is substantially transverse to the longitudinal of the watercraft. This movement from the non-operational position and the operational position is achieved by rotation of the pedestal relative to the base section.
  • Figure 1 depicts a perspective view of a device 100 according to an embodiment of the invention.
  • the device 100 comprises a foundation 110, an arm 150 and a platform 160.
  • the foundation 110 comprises a base section 120, a tilting section 130 and a pedestal 140.
  • the base section 120 is arranged for being fixed to a watercraft by fixing holes arranged for receiving bolts (not shown).
  • said base section 120 can be fixed by other means, for example it can be welded to the watercraft.
  • the tilting section 130 is a hinging construction having a hinge 131 hingedly connected to the base section 120 by means of a shaft 132 (see Fig. 2 ). Consequently, said hinge 131 can rotate relative to the base section 120 about a first axis 191 defined by the centerline of the shaft 132.
  • the foundation 110 further comprises a hydraulic linear actuator 180.
  • the pedestal 140 is rotatably connected to the hinge 131 of the tilting section 130 by an axial bearing 141. More specifically, the pedestal 140 is connected to an outer race ring 142 of the bearing 141, and the hinge 131 to an inner race ring 143 of said bearing 141.
  • the outer race ring 142 is provided with an annular gear wheel (not shown) and the tilting section 130 comprises a motor (not shown) having a pinion that drives the annular gearwheel.
  • the pedestal 140 can rotate about a second axis 192 transverse to the first axis 191.
  • the arm 150 depicted in Fig. 1 comprises a first arm section 151, a second arm section 152, a third arm section 153 and a fourth arm section 154. Each arm section is connected one after the other to define the arm 150, said arm having thus a first end 158 and a second end 159.
  • the first arm section 151 is connected to the pedestal 140 by a hinge arrangement 171 as shown in Fig. 2 .
  • the first arm section 151 defines thus the first end 158 of the arm 150 and allows the first arm-section 151 for rotation around a third axis 193 (see also Fig. 2 ) transverse relative to the first axis 191 and the second axis 192, in this example by means of a hydraulic linear actuator 181a.
  • the first arm section 151 comprises an outer first sub-section 151a and an inner first sub-section 151b.
  • the inner first sub-section 151b is arranged within the outer first sub-section 151a and in this example connected to it by for example a hydraulic linear actuator 181b (see Fig. 3 ), allowing for extension along its longitudinal relative to said outer first sub-section 151a.
  • a hydraulic linear actuator 181b see Fig. 3
  • the first section 151 is telescopic.
  • the second arm section 152 is connected to the distal end of inner first sub-section 151b by a hinge arrangement 172.
  • the second arm section 152 can rotate relative to the first arm section 151 by an hydraulic linear actuator (not shown) to allow said second arm section 152 for rotation around a fourth axis 194 substantially parallel to the third axis 193.
  • the third arm section 153 is connected to the second arm section 152 by a hinge arrangement 173.
  • the hinge arrangement 173 allows the third arm section 153 for rotation around a fifth axis 195 substantially parallel to the third axis 193 for example by means of for example a hydraulic linear actuator (not shown).
  • the fourth arm section 154 is connected to the third arm section 153 by a hinge arrangement 174 for allowing said fourth arm section 154 for rotation around a sixth axis 196 substantially parallel to the third axis 193 by means of a hydraulic linear actuator (not shown). Said fourth arm section 154 defines the second end 159 of the arm 150.
  • the platform 160 is a bucket 160.
  • the bucket 160 is connected by a two directional swivel 175 comprising two actuators, such as two hydraulic linear actuators for respectively allowing said bucket 160 for rotation around a seventh axis 197 substantially parallel to the third axis 193 and also around an eight axis 198 substantially parallel to the second axis 192.
  • the platform 160 may be a cabin or a gondola fixed to the arm.
  • the total length of the arm 150 after extending the first arm-section 151 and the second arm-section is 25m.
  • the bucket may support for example up to three people and lift up to 300 kg.
  • the device 100 further comprises a CU for moving the bucket 160 from a first position to a second position relative to said base section 120.
  • the CU outputs the actuators that actuates the tilting section 130, the pedestal 140, the arm 150 and the bucket 160.
  • the CU is located at the bucket 160.
  • Figure 3 discloses a cross-sectional view of a watercraft 300 along its longitudinal, the watercraft 300 comprising the device 100 depicted in Figure 1 fixed to a deck 301 of said watercraft 300.
  • the device 100 is in a operational position, wherein the longitudinal of the arm 150 is transverse to the longitudinal of the watercraft 300. In the operational position the first axis 191, the second axis 192 and the third axis 193 are substantially transverse relative to each other.
  • the device 100 can also be positioned in a non-operational position (not shown), wherein the longitudinal of the arm 150 is aligned with the longitudinal of the watercraft 300. In the non-operational position the arm 150 does not protrude from the deck 301.
  • the device can be moved from the non-operational position to the operational position by rotation of the pedestal about the second axis 192.
  • At least a person on the bucket 160 can be moved relative from said watercraft 300 from a first position to a second position.
  • the invention can be used to rescue at least said person, for example by moving said person to different points of an offshore structure.
  • the watercraft 300 is subjected to motions (watercraft-motion) defined by 6 degrees of freedom: heave, sway, surge, yaw, pitch and roll. Since the device 100 has been fixed by its base section 120 to the deck 301 of the watercraft 300, the bucket 160 is also subjected to said motions.
  • motions watercraft-motion
  • the device 100 has been fixed such that the first axis 191 is transverse relative to the longitudinal of the watercraft 300.
  • the hinge 131 of the tilting section 130 can rotate around the first axis 191 for example by the hydraulic linear actuator 180.
  • the motion of the bucket 160 (platform-motion) caused by the pitch motion of the watercraft 300 can be compensated by the tilting section 130 in cooperation with the actuator 180.
  • the pedestal 140 is rotatable connected to the hinge 131 of the tilting section 130 by the bearing 141 as shown in Fig. 2 .
  • the pedestal 140 can rotate about the second axis 192, and so can the arm 150 and the bucket 160.
  • the motion of the bucket 160 caused by the surge motion and the yaw motion of the watercraft 300 can be compensated by rotation of the pedestal 140 relative to the base section 120.
  • the arm 150 is capable of rotating around the third axis 193, in this example by the hydraulic linear actuator 181a.
  • the motion of the bucket 160 caused by the heave motion of the watercraft 300 can be compensated by the hydraulic linear actuator 181a.
  • the first arm section 151 can extend respectively along its longitudinal, said arm section 151 allowing thus for compensation of the sway motion of the bucket 160 caused by the sway motion of the watercraft 300.
  • the third arm section 153 and the fourth arm section 154 are respectively capable of rotation around the firth axis 195 and the sixth axis 196 by the linear hydraulic actuator 183 and 184.
  • said linear hydraulic actuators 183 and 184 can compensate for the roll motion of the bucket 160 caused by the roll motion of the watercraft 300.
  • the bucket 160 is connected to the second end 159 of the arm 150 via the two directional swivel 175, said bucket 160 being capable of rotating around the eight axis 198 substantially parallel to the second axis 192.
  • the yaw motion of the bucket 160 caused by the yaw motion of the watercraft 300 can also be compensated.
  • the first arm section 151, the second arm section 152, the third arm section 153 and the fourth arm section 154 can move relative to each other within a plane comprising said arm 150.
  • said sub-sections allow for lifting the bucket 160 in a vertical position relative to the pedestal 140 while said bucket 160 is kept in an horizontal orientation for the safety of the person.
  • the bucket 160 may be lowered in high relative to the base section, improving the versatility of the device 100.
  • the combination of the rotation provided by the tilting section 130 and the pedestal 140 allows the bucket 160 to be moved from the first position to the second position relative to the base section 110. Consequently, the device 100 can be used for transferring people from the watercraft 300 to an offshore structure by moving the bucket 160 via de CU.
  • the watercraft 300 comprises a watercraft-MRU 360 arranged close to the center of gravity of the watercraft 300.
  • the watercraft-MRU 360 detects the watercraft-motion in order to get better data relative to the watercraft-motion.
  • the watercraft-MRU 360 outputs the date to the CU of the device 100.
  • the CU calculates the compensation required to reduce the platform-motion and gives the pertinent commands to the actuators to compensate said platform-motion when said bucket 160 is moved from the first position to the second position and also when the movement of said bucket 160 is stopped, for example when said bucket 160 is in the second position and the person is descending to the offshore structure.
  • the number of arm sections can vary depending on the use of the device.
  • the arm may have two telescopic arm-sections.
  • the actuators may be electric linear actuators.
  • the device may comprise a device-MRU that cooperates with the watercraft-MRU in a master-slave configuration when outputting the CU.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Combustion & Propulsion (AREA)
  • Geology (AREA)
  • Chemical & Material Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Ocean & Marine Engineering (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Traffic Control Systems (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)

Claims (9)

  1. Verfahren zum Transportieren einer Person von einer ersten Position bezüglich eines Wasserfahrzeugs (300) zu einer zweiten Position bezüglich des Wasserfahrzeugs (300), wobei das Verfahren eine Vorrichtung (100) anwendet, umfassend:
    - einen Unterbau (110), umfassend:
    • einen an dem Wasserfahrzeug (300) befestigten Basisabschnitt (120);
    • einen Kippabschnitt (130), der scharnierbeweglich mit dem Basisabschnitt (120) verbunden ist, um eine Rotation des Kippabschnitts (130) bezüglich des Basisabschnitts (120) um eine erste Achse (191) zu gestatten; und
    • einen Sockel (140), der rotierbar mit dem Kippabschnitt (130) verbunden ist, um eine Rotation des Sockels (140) bezüglich des Kippabschnitts (130) um eine zweite Achse (192) transversal zu der ersten Achse (191) zu gestatten;
    - einen Arm (150), der ein erstes Ende (158) und ein zweites Ende (159) definiert, wobei der Arm (150) scharnierbeweglich an dem ersten Ende (158) mit dem Sockel (140) verbunden ist, um eine Rotation des Arms (150) bezüglich des Sockels (140) um eine dritte Achse (193) transversal zu der ersten Achse (191) und der zweiten Achse (192) zu gestatten;
    - eine Plattform (160) zum Tragen der Person, wobei die Plattform (160) scharnierbeweglich mit dem zweiten Ende (159) des Arms (150) verbunden ist, um eine Rotation der Plattform (160) bezüglich des Arms (150) zu gestatten;
    - Aktuatoren zur Betätigung des Unterbaus (110), des Arms (150) und der Plattform (160); und
    - eine Steuerungseinheit, CU, zur Betätigung der Vorrichtung (100) durch Ansteuerung der Aktuatoren;
    wobei die Person transportiert wird, indem die CU betätigt wird, um die Plattform (160) von der ersten Position in die zweite Position zu bewegen, und wobei eine Bewegungsreferenzeinheit, MRU, (360) eine Wasserfahrzeugbewegung erfasst und die CU ausgibt, wobei die CU eine von der Wasserfahrzeugbewegung verursachte Plattformbewegung kompensiert, wobei der Arm (150) der Vorrichtung (100) teleskopartig ausgebildet ist und in dem Verfahren die Plattform (160) durch Ausfahren des Arms (150) entlang seiner Längsachse bewegt wird.
  2. Verfahren nach Anspruch 1, wobei sich die CU an der Plattform (160) befindet und die auf der Plattform (160) transportierte Person die CU betätigt.
  3. Verfahren nach einem der vorhergehenden Ansprüche, wobei sich die Plattform (160) in mindestens einer der ersten Position oder der zweiten Position relativ nahe an einer Struktur befindet und die Plattform (160) an der Struktur verankert ist.
  4. Vorrichtung (100) zum Transferieren einer Person von einer ersten Position bezüglich eines Wasserfahrzeugs (300) zu einer zweiten Position bezüglich des Wasserfahrzeugs (300), wobei die Vorrichtung (100) umfasst:
    - einen Unterbau (110), umfassend:
    • einen Basisabschnitt (120), der zur Befestigung des Unterbaus (110) an dem Wasserfahrzeug (300) eingerichtet ist;
    • einen Kippabschnitt (130), der scharnierbeweglich mit dem Basisabschnitt (120) verbunden ist, um eine Rotation des Kippabschnitts (130) bezüglich des Basisabschnitts (120) um eine erste Achse (191) zu gestatten; und
    • einen Sockel (140), der rotierbar mit dem Kippabschnitt (130) verbunden ist, um eine Rotation des Sockels (140) bezüglich des Kippabschnitts (130) um eine zweite Achse (192) transversal zu der ersten Achse (191) zu gestatten;
    - einen Arm (150), der ein erstes Ende (158) und ein zweites Ende (159) definiert, wobei der Arm (150) scharnierbeweglich an dem ersten Ende (158) mit dem Sockel (140) verbunden ist, um eine Rotation des Arms (150) bezüglich des Sockels (140) um eine dritte Achse (193) transversal zu der ersten Achse (191) und der zweiten Achse (192) zu gestatten, gekennzeichnet durch
    - eine Plattform (160) zum Transportieren der Person, wobei die Plattform (160) scharnierbeweglich mit dem zweiten Ende (159) des Arms (150) verbunden ist, um eine Rotation der Plattform (160) bezüglich des Arms (150) zu gestatten;
    - Aktuatoren zur Betätigung des Unterbaus (110), des Arms (150) und der Plattform (160), sodass, wenn die Vorrichtung (100) an dem Wasserfahrzeug (300) befestigt ist, die Plattform (160) bezüglich des Wasserfahrzeugs (300) bewegt werden kann;
    - eine Steuerungseinheit, CU, zur Betätigung der Vorrichtung (100) durch Ansteuerung der Aktuatoren, wobei die CU dafür ausgelegt ist, mit einer Bewegungsreferenzeinheit, MRU, (360) zusammenzuwirken, um eine von einer Wasserfahrzeugbewegung verursachte Plattformbewegung zu kompensieren, wenn die Vorrichtung (100) in Gebrauch ist;
    wobei der Arm (150) mindestens zwei Armabschnitte (151, 152, 153, 154) umfasst, die scharnierbeweglich hintereinander verbunden sind, um jeden der Armabschnitte (151, 152, 153, 154) bezüglich des vorhergehenden um eine Achse im Wesentlichen parallel zu der dritten Achse (193) zu rotieren, wobei mindestens einer der mindestens zwei Armabschnitte (151) des Arms (150) entlang seiner Längsachse ausfahrbar ist.
  5. Vorrichtung (100) nach Anspruch 4, wobei sich die CU an der Plattform (160) befindet.
  6. Vorrichtung (100) nach einem der Ansprüche 4 oder 5, wobei die Vorrichtung (100) eine Vorrichtungs-MRU (361) umfasst, welche die Wasserfahrzeugbewegung an die CU ausgibt.
  7. System, umfassend eine Vorrichtung (100) nach einem der Ansprüche 4 bis 6 und eine Wasserfahrzeug-MRU (360) zum i) Messen einer Wasserfahrzeugbewegung und (ii) Ausgeben der Wasserfahrzeugbewegung an die CU der Vorrichtung (100) zum Kompensieren einer durch die Wasserfahrzeugbewegung verursachten Plattformbewegung, wenn die Vorrichtung (100) in Gebrauch ist.
  8. Wasserfahrzeug (300), umfassend eine Vorrichtung (100) nach einem der Ansprüche 4 bis 6 oder das System nach Anspruch 7, wobei die Vorrichtung (100) an dem Basisabschnitt (120) des Unterbaus (110) an dem Wasserfahrzeug (300) befestigt ist.
  9. Wasserfahrzeug (300) nach Anspruch 8, wobei der Kippabschnitt (130) des Unterbaus (110) dafür ausgelegt ist, dass er durch einen weiteren, an dem Wasserfahrzeug (300) angeordneten Aktuator um die erste Achse (191) rotierbar ist, wobei der weitere Aktuator ein schwenkbar an dem Wasserfahrzeug (300) angeordnetes erstes Ende und ein schwenkbar an dem Kippabschnitt (130) angeordnetes zweites Ende aufweist.
EP16753720.8A 2015-07-07 2016-07-07 Verfahren zum transport einer person von einer ersten relativen position zu einem wasserfahrzeug zu einer zweiten relativen position zu einem wasserfahrzeug, vorrichtung zum transport der person sowie system und wasserfahrzeug mit der vorrichtung Active EP3319873B1 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PL16753720T PL3319873T3 (pl) 2015-07-07 2016-07-07 Sposób przenoszenia osoby z pierwszego położenia względem jednostki pływającej do drugiego położenia względem jednostki pływającej, urządzenie do przenoszenia osoby oraz system i jednostka pływająca zawierająca urządzenie
HRP20191183TT HRP20191183T1 (hr) 2015-07-07 2019-07-01 Postupak za transport osobe od prvog položaja u odnosu na plovilo do drugog položaja u odnosu na plovilo, uređaj za transport osobe, sustav i plovilo koje sadrži uređaj

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL2015113A NL2015113B1 (en) 2015-07-07 2015-07-07 A method for transporting a person from a first position relative to a watercraft to a second position relative to the watercraft, a device for transporting the person, and a system and a watercraft comprising the device.
PCT/NL2016/050495 WO2017007320A1 (en) 2015-07-07 2016-07-07 A method for transporting a person from a first position relative to a watercraft to a second position relative to the watercraft, a device for transporting the person, and a system and a watercraft comprising the device

Publications (2)

Publication Number Publication Date
EP3319873A1 EP3319873A1 (de) 2018-05-16
EP3319873B1 true EP3319873B1 (de) 2019-04-24

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Family Applications (1)

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EP16753720.8A Active EP3319873B1 (de) 2015-07-07 2016-07-07 Verfahren zum transport einer person von einer ersten relativen position zu einem wasserfahrzeug zu einer zweiten relativen position zu einem wasserfahrzeug, vorrichtung zum transport der person sowie system und wasserfahrzeug mit der vorrichtung

Country Status (8)

Country Link
EP (1) EP3319873B1 (de)
DK (1) DK3319873T3 (de)
ES (1) ES2736114T3 (de)
HR (1) HRP20191183T1 (de)
NL (1) NL2015113B1 (de)
PL (1) PL3319873T3 (de)
TR (1) TR201910030T4 (de)
WO (1) WO2017007320A1 (de)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4008679A1 (de) * 2020-12-03 2022-06-08 Reel Gelenkauslegerkran für den offshore-einsatz
FR3117099B1 (fr) * 2020-12-03 2022-11-25 Reel Grue à flèche articulée, pour application offshore

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB9809102D0 (en) 1998-04-28 1998-07-01 Oceantech Plc Stabilsed ship-borne apparatus
PT2414218E (pt) * 2009-04-03 2014-08-28 Barge Master Ip B V Dispositivo de compensação de movimento para compensar uma estrutura transportadora sobre uma embarcação para movimento da água
NL2008920C2 (en) * 2012-06-01 2013-12-04 Knowledge B V Z Vessel provided with a gangway supported by a 2-dof hinged upright column, in particular a cardan.
EP2953883B1 (de) * 2013-02-05 2017-04-05 Barge Master IP B.V. Bewegungskompensationsvorrichtung und verfahren zur übertragung einer last

Non-Patent Citations (1)

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Also Published As

Publication number Publication date
NL2015113B1 (en) 2017-02-01
DK3319873T3 (da) 2019-07-29
EP3319873A1 (de) 2018-05-16
PL3319873T3 (pl) 2019-11-29
HRP20191183T1 (hr) 2019-10-04
TR201910030T4 (tr) 2019-08-21
WO2017007320A1 (en) 2017-01-12
ES2736114T3 (es) 2019-12-26

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