EP3512767B1 - Device for attaching a coupling device to a free-floating object - Google Patents

Description

Technical area

The present invention relates to a device for attaching a coupling device to a free-swimming object, for example free-swimming objects or free-swimming people. Such a device can be used, for example, on a ship or an offshore structure.

Prior art

For example, watercraft or floating devices are lowered into the water from the deck of a ship or launched and then recovered. Such a launch and recovery system (LARS) is usually equipped with a coupling device that couples to the watercraft or the floating device so that it can be launched or recovered by a lifting device connected to it.

The safe recovery of free-floating objects such as watercraft or swimming devices is made more difficult by the relative movements of the ship and the free-floating object. Attaching a crane hook or picking a comparable coupling device is a problem that has not yet been solved satisfactorily. To avoid damage from collisions, the free-floating object is at a safe distance from the ship. The coupling device is attached manually, for example by a sailor on the ship who guides the coupling device with a rod to the free-floating object.

Alternatively, ships can lay out a net or an underwater cage, also called a garage. The floating device then maneuvers independently into the net or the garage. The swimming device is not grabbed but caught and caught. For this, however, a suitable maneuverability of the swimming device is necessary.

Another possibility of recovery is to push a rescue line off the swimming device. This drifts to the surface and can be caught and retrieved from the ship's board with a hook or something similar. Here, the swimming device needs a corresponding device to push off a rescue line.

In the manual method, a coupling device is attached to a free-floating object, for example by a sailor on a ship. This often requires several attempts and the work is physically demanding and time-consuming. Furthermore, this method is associated with a high risk, as the person carrying out the work can fall overboard or be hit by vibrating loads on the ship, for example parts of the lifting device.

The special solutions for trapping in an underwater cage or for recovery with a rescue line place high demands on the floating device to be recovered. There is no safe general solution for attaching a docking device to a free-floating object. Furthermore, these solutions are relatively large and heavy and take up a lot of cargo space or payload.

document DE 19745408 A1 is considered to be the closest prior art and discloses the preamble of claim 1.

The object of the present invention is therefore to attach a coupling device to a freely floating object so that it can be retrieved by a lifting device.

Solution according to the invention

The above object is achieved by a device according to claim 1 and a watercraft according to claim 13. Advantageous embodiments emerge from the dependent subclaims.

According to one embodiment, the problem is solved by a device for attaching a coupling device to a free-floating object, for example free-swimming objects or free-swimming people, comprising: at least one first connection end that can be connected to a load-bearing end of a lifting device, a load-bearing connection between the first connection end and the coupling device, and a separate guide device for the load-bearing connection, which the connection end connects to the coupling device and is designed to guide the coupling device relative to the first connection end.

The device is used to bring the coupling device in a targeted manner to a free-floating object, for example free-floating objects, watercraft, swimming devices or people, and to couple or strike the coupling device with the free-floating object. By hitting the coupling device, the object is connected to the lifting device.

The guide device is typically designed to be functionally separate from the load-bearing connection. The guide device can be described as a guide branch of the device, which forms a connection parallel to a load branch between the first connection end and the coupling device. The term "parallel connection" is to be understood here functionally and not geometrically. The load branch is formed by the load-bearing connection. The guide device thus forms, as it were, a "bypass" to the load-bearing connection.

These two branches enable a functional separation between the functions of carrying the load through the load-bearing connection and the function of guiding the coupling device to the free-floating object.

The coupling device typically forms a second connection end of the device. The second connection end of the device is used for coupling to the free-floating object. The first connection end of the device is used for coupling and connecting to the lifting device.

The load branch, formed by the load-bearing connection, essentially serves to absorb the load of the object coupled to the coupling device. In the simplest case, the load-bearing connection can be a load rope that is sufficiently dimensioned to absorb the load of the object and, for example, to pull the object out of the water. The load-bearing connection can, however, also be a chain and generally be formed by a flexible connecting element which, on the one hand, is sufficiently dimensioned to in particular bear the weight load of the Object to receive, and on the other hand a free movement of the coupling device relative to the first connection end allowed.

The load-bearing connection therefore connects the first connection end to the second connection end. Additionally, and typically separately, the guide device connects the first connection end to the second connection end. The position and possibly the location of the second connection end, i.e. the coupling device, relative to the first connection end, is defined at least partially controlled by the guide device. The guide device can guide the second guide end relative to the first guide end.

It is thus possible to move the coupling device to the object that is still free-swimming by means of the guide device and to enable the coupling device to be coupled to the free-swimming object. In contrast to the load-bearing connection, the guide device does not have to take up or carry the load of the free-floating object. This is done by the load-bearing connection. The guide device only has to be designed in such a way that it can safely carry the load, i.e. the weight, of the coupling device and can guide the coupling device to the free-floating object in a controlled manner. This makes it possible to make the guide device compact and light.

Since the guide device only has to move the coupling device, only relatively small reaction torques occur. It is therefore possible to move the coupling device relatively quickly, so that the coupling device can also follow the movement of the freely swimming object relatively easily.

The guide device allows at least one controlled one-dimensional movement of the coupling device relative to the first connection end. Typically, the guide device is designed at least for a controlled two-dimensional movement of the coupling device relative to the first connection end, and preferably for a controlled three-dimensional movement, i.e. in all spatial directions.

The controlled one-dimensional movement of the coupling device relative to the first connection end is generally related to a reference system in which the lifting device is at rest. For example, if the first end of the connection is the end of a If the crane rope is and the device for attaching a coupling device is attached to it, then the deflection of the crane rope including the device also corresponds to a controlled movement according to one embodiment.

The guide device therefore comprises at least one first actuator. This can be designed, for example, to exercise a controlled linear movement or rotation. For example, pneumatic linear actuators such as pneumatic muscles can be used as actuators, since they are comparatively light in weight and have a high force-to-weight ratio. As a result, such actuators can also perform relatively rapid movements, which is advantageous for the controlled tracking and bringing the coupling device towards the freely swimming object.

Objects that are not permanently mechanically connected to the lifting device are considered as free-floating objects.

Free-floating objects can swim on the surface of the water, partially in or completely under water. These can be, for example: manned or unmanned boats or submarines, floating devices or measuring instruments, cargo, boxes, containers, barrels, flotsam or people. The free-floating objects can have a mass of a few kilograms up to a few tons.

Free-floating objects can be maneuverable and, for example, have their own drive. But they can also not be maneuverable. They are exposed to the current, the waves and the wind and change their position and their attitude relative to the lifting device and the coupling device.

The free-swimming object moves due to a wave movement, for example. In addition, the lifting device, for example attached to or part of a ship, can also move as a result of the wave movement. As a result, the free-floating object and the lifting device move relative to one another. The amplitude and frequency of this relative movement can vary. Controlled guiding of the coupling device through the guide device enables this relative movement to be counteracted and the movement of the coupling device to be brought into harmony with the movement of the free-floating object, or at least its movement to be adjusted. This means even if the lifting device and the free-floating object have a large relative movement to one another execute, it can be ensured by the guide device that the relative movement between the coupling device and the freely swimming object is relatively small. This is supported by a lightweight guide device.

The guide device itself does not bear the load of the object, but only the load of the coupling device. The guide device can therefore be of a correspondingly compact design. This saves costs.

For comparison, reference should be made to a solution in which, for example, a robot arm takes over both the picking and lifting of the freely swimming object. This robot arm must therefore be made correspondingly massive in order to carry the large load of the object. This also makes the robot arm sluggish and does not allow rapid movements.

In contrast, the guide device only has to move the coupling device securely. Therefore, the guide device can be equipped with smaller, lighter and cheaper components. In addition, such a guide device also allows faster movements, so that the guide device can also follow an object moving strongly through the swell and can move the coupling device to the object better and more safely.

According to one embodiment, the guide device can assume a configuration which is referred to as a parking configuration, in which the load of the free-floating object is practically completely absorbed by the load-bearing connection, but the guide device is largely relieved. This makes it possible for the guide device to assume the parking configuration after coupling has taken place and for the load to be picked up by the load-bearing connection.

For example, the parking configuration can be designed such that the guide device has an extension between the first and the second connection end (coupling device) which is actually greater than the extension of the load-bearing connection between these two ends if the load-bearing connection were not present. For example, if the variable length of the guide device has a maximum length that is greater than the maximum length of the load-bearing connection, the guide device can be up to the maximum length of the load-bearing guide device are "relaxed" and then no longer carries any load itself. The coupling device, which is then typically already attached to the object, is then also carried by the load-bearing connection.

One conceivable possibility is, for example, to implement the guide device by means of at least one pneumatic muscle which has a maximum extension which is greater than the maximum extension of the load-bearing connection, for example a rope. The muscle can be relaxed after coupling. The rope is stretched as a result of this, but the muscle is relieved.

Alternatively, it is possible for the load-bearing connection to be shortened in order to absorb the load of the object including the coupling device and to relieve the guiding device.

The liquid in which the free-floating object swims can be, for example, salt water, sea water, fresh water, brackish water, but also waste water or treated water such as chlorinated water. Floating objects in oils or mixtures of water and oil also correspond to the invention. For the sake of simplicity, the description refers to free-floating objects in water, without being restricted thereto.

According to one embodiment, the device for attaching a coupling device can be set up and dismantled. It can be attached to a suitable lifting device, and also dismantled and stowed away. The device can therefore also be provided as a retrofit kit for lifting devices.

In the simplest case, the device can, for example, be attached to a crane, for example its first connecting end can be attached to the crane hook. The coupling device is then guided to the free-floating object by means of the guide device until the coupling takes place. A movement of the crane hook is not necessary, but can be done to support the coupling. After coupling has taken place, either the length of the load-bearing connection is shortened or the guide device assumes its parking configuration. As a result, the load-bearing connection is tensioned and the crane hook is lifted. This allows the now coupled object to be lifted and retrieved.

After recovery, the device can be dismantled and stowed away.

The coupling device can be attached to the object and couple it. The coupling device is then connected to the object in a load-bearing manner. The coupling device is adapted to the free-floating object and can contain, for example, a hook, a snap hook, a loop, a ring, a circular or cylinder coupling, a mushroom head lock, a gripper or a net. Depending on the type of coupling device, the attachment of the coupling device is, for example, hooking, locking, threading, enclosing, coupling, docking, gripping or capturing.

According to one embodiment, the coupling device has a securing mechanism which prevents unintentional detachment from the object after it has been hit. The safety mechanism can be self-locking when the coupling device comes into contact with the object. A safety mechanism is designed in such a way that it can only be opened by deliberately unlocking it.

The safety mechanism can be, for example, a snap lock on a carabiner or a mushroom head lock.

According to one embodiment, the guide device can carry the load of the coupling device without an object coupled to it.

According to one embodiment, the load-bearing capacity of the load-bearing connection is a multiple of the guide device. The load capacity of the load-bearing connection can, for example, correspond to more than 5 times or more than 10 times the load capacity of the guide device.

The device strikes a coupling device on a free-floating object, so that a load-bearing end of a lifting device is connected to the object. The lifting device is designed in such a way that it carries the dynamic tensile load of the object.

The lifting device can be designed in such a way that it can lift or pull the object out of the water. According to one embodiment, the lifting device can be a crane, a hoisting or pulling winch or the like. The load capacity of such a lifting device corresponds to the force with which a mass of a few hundred kilograms or a few tons pulls on the lifting device in rough seas.

According to one embodiment, the load capacity of the lifting device is at least 1t or at least 5t or at least 10t.

The device for attaching a coupling device has at least one first connection end which can be connected to a load-bearing end of a lifting device. The load-bearing end of the lifting device is designed in such a way that it can be connected to the first connecting end of the device for attaching a coupling device. According to one embodiment, the load-bearing end of the lifting device is, for example, a hook, an eye, a plate or the end of a stable rope.

As already described above, the device for attaching a coupling device has a load-bearing connection between the first connection end and the coupling device. The load-bearing connection is designed in such a way that it bears the tensile load of the object in the water. The load-bearing connection can be designed in such a way that it carries the load that is necessary to lift or pull the object out of the water.

The load-bearing connection is unloaded when it is not loaded by any load from an object. The load-bearing connection is loaded when it is loaded by the load of an object.

The load-bearing end of the lifting device, the load-bearing connection and the coupling device form the load branch that can carry the dynamic tensile load of the object. The load branch is unloaded when the coupling unit is not coupled to an object. The load branch is loaded when the coupling unit is coupled to one or more objects and the load of the object or objects is absorbed via the load branch.

According to one embodiment, the guide device is separate from the load-bearing connection and connects the first connection end of the device to the coupling device. The guide device is designed such that it can guide the coupling device relative to the first connection end. The guide device is therefore preferably separate from the load-bearing connection and connects the first connection end of the device to the coupling device. According to one embodiment, the guide device is parallel to the load-bearing connection.

According to one embodiment, the guide device guides the coupling device when the load branch is unloaded. This can be done in one or more spatial dimensions.

The range of motion in which the guide device can move the coupling device defines a capture range for the free-floating object. By guiding the coupling device through the guide device, the freely swimming object can be caught and coupled in the catching area.

According to one embodiment, the guide device is designed in such a way that it can increase or decrease the distance between the first connection end and the coupling device. The guide device can be designed in such a way that, by extending the distance from the first connection end of the device to the coupling device, it loads the load-bearing connection after the coupling device has been coupled to the object. The guide device can assume the above-mentioned parking configuration.

According to one embodiment, the guide device is designed in such a way that it can move the coupling device in a horizontal plane, that is to say a plane that is essentially parallel to the water surface. The coupling device is then guided relative to the first connection end. The lifting device rests in the reference system of the relative movement.

Brief description of the figures

• Die Fig. 1A und 1B zeigen eine Ausführungsform der Erfindung in der Seitenansicht und der Draufsicht.
• Die Fig. 2A und 2B zeigen eine Ausführungsform der Erfindung bei belasteter und unbelasteter lastaufnehmender Verbindung.
• Die Fig. 3 zeigt ein Flussdiagramm zum Steuern einer Ausführungsform einer Vorrichtung zum Anschlagen einer Kopplungsvorrichtung an ein freischwimmendes Objekt.

The invention is to be explained in more detail below on the basis of exemplary embodiments, without being restricted thereto. The attached figures are only schematic drawings and are not true to scale.

• The Figures 1A and 1B show an embodiment of the invention in side view and top view.
• The Figures 2A and 2B show an embodiment of the invention with loaded and unloaded load-bearing connection.
• The Fig. 3 shows a flowchart for controlling an embodiment of a device for attaching a coupling device to a free-floating object.

Detailed description of the embodiments

According to one embodiment show Figures 1A and 1B a device for attaching a coupling device 100 to a free-floating object 101, for example free-swimming objects or free-swimming persons, comprising: at least one first connection end 102, which can be connected to a load-bearing end 121 of a lifting device 120 , a load-bearing connection 103 between the first connection end 102 and of the coupling device 100, and a guide device 104 separate from the load-bearing connection 103 , which connects the connecting end 102 to the coupling device 100 and is designed to guide the coupling device 100 relative to the first connecting end 102 .

According to one embodiment, the device for attaching a coupling device 100 to a free-floating object 101, for example free-swimming objects or free-swimming people, has: at least one first connection end 102 , which can be connected to a load-bearing end 121 of a lifting device 120 , a load-bearing connection 103 between the first connection end 102 and the coupling device 100, and a guide device 104 separate from the load-bearing connection 103 , which connects the connection end 102 to the coupling device 100 and is designed to guide the coupling device 100 relative to the first connection end 102 when the load-bearing connection 103 is not loaded.

According to one embodiment, the lifting device 120 is fixed on a foundation 122 . The foundation 122 of the lifting device 120 can be part of a watercraft or an offshore structure or can be fixed in the vicinity of a body of water.

According to one embodiment, the foundation 122 of the lifting device 120 is part of a ship. The lifting device 120 can be the A-frame of the ship or a crane.

The guide device 104 can move the coupling device 100 in at least one and possibly in two or three spatial dimensions. The guide device 104 guides the coupling device 100 relative to the first connection end 102.

The guide device can guide the position of the coupling device 100 . According to one embodiment, the guide device 104 can also change the position of the coupling device 100 relative to the object 101 .

According to one embodiment, the guide device 104 is designed such that it can vary the distance between the first connecting end 102 and the coupling device 100 . The guide device 104 can be designed in such a way that, by varying the distance from the first connection end 102 of the device to the coupling device 100, it loads the load-bearing connection 103 after the coupling device has been coupled to the object.

In the Figures 1A and 1B The illustrated guide device 104 consists of several linear actuators 104a, 104b, 104c. The first linear actuator 104a is arranged vertically to the water surface and connects the coupling unit 100 to the first connection end 102 of the device separately to the load-bearing connection 103. The second linear actuator 104b and the third linear actuator 104c are arranged horizontally to the water surface. The horizontal actuators connect the coupling unit 100 to the first connection end 102 of the device separately to the load-bearing connection 103 via the foundation of the lifting device 122 and the lifting device 120.

According to one embodiment, the guide device 104 has at least one first linear actuator 104a , which connects the connecting end to the coupling device.

According to one embodiment, the guide device 104 has at least one second linear actuator 104b with a first and a second end, the first end forming a second connecting end of the device for fixing the device relative to the lifting device 120 , and the second end being connected to the coupling device 100 .

According to one embodiment, the guide device 104 has at least two linear actuators 104b, 104c each with a first and a second end, wherein the first end of each linear actuator can be fixed relative to the lifting device 120 and the second end of each linear actuator is connected to the coupling device 100 .

Linear actuators or linear actuators can be selected from a group comprising: pneumatic or hydraulic muscle or cylinder, linear motor, stepper motor, and combinations thereof.

Pneumatic linear actuators, for example pneumatic muscles, can be used on ships, since ships often already have a suitable pneumatic device, for example a conventional compressed air supply.

Depending on the inherent stability, a support device made of telescopic tubes, for example, may be necessary for the pneumatic muscles.

According to one embodiment, the guide device 104 has a robot arm which can guide the coupling device 100 . This robot arm can have several movable axes. For example, this robot arm is a pick-and-place robot.

According to one embodiment, the device for attaching a coupling device 100 to a free-floating object 101 has a detection device 105 . The detection device 105 is designed such that it can determine the position of an object 101 or its location or both. The object 101 moves in the water due to its own movement and the swell.

The position of the object 101 can for example be determined relative to the coupling device 100, relative to the lifting device 120 or relative to the foundation 122 of the lifting device.

The detection device 105 is designed in such a way that it can determine the position of the object or the location of the object or both. According to one embodiment, the detection device 105 is designed such that it can determine the position of the coupling device 100. The relative position of the object to the coupling device 100 can be determined therefrom.

According to one embodiment, the detection device contains one or more optical sensors for detecting the position of the freely swimming object. Optical sensors can be cameras in the optical or infrared range, for example.

The position of the free-swimming object in the capture area is determined by evaluating the image of the optical sensors. The position of the coupling device can be known or also determined in order to determine the relative position and / or location between the freely floating object and the coupling device therefrom. The control device then controls the guide device in such a way that the guide device guides the coupling device to the freely swimming object. The object can then be coupled.

When the object is coupled, it can be recovered by the load branch comprising the lifting device, load-bearing connection and coupling device.

According to one embodiment, the device for attaching a coupling device to a free-floating object has a control device 106 for controlling the guide device 104 . The control device 106 is connected to the detection device 105 in such a way that it can process the detected position of the free-floating object 101 and, if necessary, the position of the coupling device 100 .

The position of the free-swimming object 101 can be determined in the detection device 105 and transmitted to the control device 106 . According to one embodiment, detection device 105 and control device 106 are combined in a common component.

According to one embodiment, the control device 106 is constructed in two parts. The first part of the control device 106a is suitable for processing the data from the detection device and for creating a motion prognosis for the object 101 and / or the coupling device 100 . The second part of the control device 106b controls the guide device .

According to one embodiment, the position and / or location of the freely swimming object and, if applicable, the position and / or location of the coupling device are processed in the control device. In addition, a prognosis about the movement and the future position and / or location of the object and / or the coupling device can be determined. A software-based regulation of the guide device can be created therefrom in the control device.

According to one embodiment, the control device controls the guide device mechanically. This is done on the basis of the regulation. The mechanical control of the guide device depends on the type of guide device and can include, for example, the application of a voltage to move an electric motor or the opening or closing of pressure valves of a pneumatic or hydraulic device.

According to one embodiment, the control device controls the guide device in such a way that the guide device guides the coupling device to the freely swimming object when the load-bearing connection is not under load, depending on the position detected by the detection device.

According to one embodiment, the regulation and the mechanical control of the guide device by the control device take place automatically when the freely swimming object is within range of the coupling device.

Figure 2A shows a load-bearing end 221 of a lifting device 220. The load-bearing end 221 is connected to a device for attaching a coupling device 200 to a free-floating object 201 at a first end 202 . Furthermore, the device has a load-bearing connection 203 between the first connection end 202 and the coupling device 200 and a guide device 204 separate from the load-bearing connection 203 , which connects the connection end 202 to the coupling device 200 and is designed to guide the coupling device 200 relative to the first connection end 202 , on.

According to one embodiment, the guide device 204 in the Figures 2A and 2B at least one first linear actuator 204a . The first linear actuator 204a is arranged vertically and can increase or decrease the distance between the first connection end 202 and the coupling device 200 . As a result, the load-bearing connection 203 is loaded or unloaded. Furthermore, the guide device 204 has at least one second linear actuator 204b with a first and a second end, the first end forming a second connecting end of the device for fixing the device relative to the lifting device 220 , and the second end being connected to the coupling device 200 .

Furthermore, the guide device 204 in the Figures 2A and 2B at least two linear actuators 204b, 204c each with a first and a second end, the first end of each linear actuator being fixable relative to the lifting device and the second end of each linear actuator being connected to the coupling device 200 . These two are horizontal linear actuators.

According to the embodiment from the Figures 2A and 2B all three linear actuators 204a, 204b, 204c have pneumatic cylinders or pneumatic muscles.

According to one embodiment, the guide device has at least one articulated arm or at least two articulated arms, each having a first end and a second end, the first end of each articulated arm being connected to the first connecting end and the second end of each articulating arm being connected to the coupling device. The articulated arms allow a one-dimensional or multi-dimensional freedom of movement of the coupling device through the guide device.

According to the embodiment from the Figures 2A and 2B the coupling device 200 has a mushroom head lock and the free-floating object 201 has the corresponding counterpart, so that the coupling device 200 can couple to the free-floating object 201 .

The Figure 2A shows the device for attaching a coupling device 200 to a free-floating object 201 before coupling the coupling device 200. The guide device 204 guides the coupling device 200 to the free-floating object 201. The vertical muscle 204a is part of the guide device 204. In Figure 2A it is contracted and reduces the distance between the first connection end 202 and the coupling device 200. The load branch comprising lifting device 220, first connection end 202, load-bearing connection 203 and coupling device 200 is unloaded.

The Figure 2B shows the device for attaching a coupling device 200 to a free-floating object 201 after coupling the coupling device 200. The object 201 is now coupled and no longer free-floating. The vertical muscle 204a is uncontracted and elongated compared to the Figure 2A the distance between the first connection end 202 and the coupling device 200. The load branch off Lifting device 220, first connection end 202, load-bearing connection 203 and coupling device 200 are loaded. In particular, the load-bearing connection 203 is loaded with the load of the coupled object 201 .

The Fig. 3 FIG. 3 shows a flow chart for operating an embodiment of a device for attaching a coupling device to a free-floating object. In this embodiment, the detection device is designed in such a way that it can create image recordings both of the coupling device and of the object. The subsequent image evaluation determines the position and location of the coupling device and the object in parallel. With the help of a computer, a prognosis for the position and location of the object can be determined from the current movement. On the basis of this, computer-aided regulation of the guide device takes place.

According to one embodiment, the position of the freely swimming object can be determined by a motion capture method. The object and / or the coupling device is provided with optical markers. The markers are recorded by optical cameras of the recording device and processed in the recorded images. Using the marker movements in the individual camera images, the position and / or location of the markers can be calculated in 3D using triangulation. Alternatively, the markers can be dispensed with if the object or the coupling device can be tracked by pattern recognition.

According to one embodiment, the image recording, the image evaluation, the determination of the position and the location, the prognosis of the position and the location and the regulation of the guide device take place in a common component. This component then comprises both at least parts of the detection device and at least parts of the control device.

Alternatively, the position and location of the object can be recorded manually, for example by a sailor on board a ship. The control of the guide device can then also take place manually using a type of joystick or other suitable input device. The seaman then controls the guidance device while observing the object and the coupling device.

According to the embodiment of Fig. 3 the control device controls the guide device mechanically. It converts the instructions through the control into mechanical activities. The guide device then guides the coupling device to the object. After the coupling device has been attached, the load-bearing connection can be loaded with the load of the object. Finally, the object can be lifted over the load-bearing connection by the lifting device.

According to one embodiment, the device for attaching a coupling device is dismantled and is only connected to a lifting device when required. The dismantled device for attaching a coupling device is stowed on board a ship and is attached to a lifting device if necessary. The device for attaching a coupling device can be stowed in a ship container, for example.

Further embodiments result from various combinations of a lifting device and a device for attaching a coupling device as described in the previous sections. The lifting device has a load-bearing end which can be connected to the first connecting end of the device.

A lifting device with a load-bearing end can, for example, have a hook on which the device for attaching a coupling device can be hung.

In the case of a watercraft with a lifting device and a device for attaching a coupling device, further embodiments result from various combinations of the embodiments of the device as described above.

According to one embodiment, the lifting device of the watercraft can be connected to the device for attaching a coupling device. To use the device for attaching a coupling device, the lifting device is connected to the device for attaching a coupling device.

For example, the lifting device of the watercraft can be a crane or an A-frame.

Reference number

• 100, 200 - coupling device
• 101, 201 - free-floating object
• 102, 202 - first connection end
• 103, 203 - load-bearing connection
• 104, 204 guide device
• 104a / b / c; 204a / b / c - linear actuators
• 105 - detection device
• 106 - control device
• 106a, 106b - parts of the control device
• 120, 220 - lifting device
• 121, 221 - load-bearing end of the lifting device
• 122 - Foundation of the lifting device

Claims (15)

1. Device for attaching a coupling device (100) to a free-floating object (101), for example free-floating articles or free-floating persons, comprising:

   - at least one first connection end (102) which can be connected to a load-receiving end (121) of a lifting device (120);

   - a coupling device (100) for attaching to a free-floating object (101);

   - a load-receiving connection (103) between the first connection end (102) and the coupling device (100);
   characterized by

   - a guiding device (104) separate to the load-receiving connection (103), which guiding device (104) connects the first connection end (102) to the coupling device (100) and which is configured to guide the coupling device (100) relative to the first connection end (102).
2. Device according to claim 1 further comprising:

   - a recording device (105) for recording the position and/or the location of the object (101); and

   - a control device (106) for controlling the guiding device (104), wherein the guiding device (106) is configured in such a way that when the load-receiving connection (103) is not loaded the guiding device (104) guides the coupling device (103) to the free-floating object as a function of the position recorded by the recording device (105).
3. Device according to claim 2 wherein the recording device (105) comprises optical sensors and determines, from the signal of the optical sensors, the relative position of the free-floating object (101).
4. Device according to any one of claims 1 to 3, wherein the guiding device (104) comprises at least one first linear actuator (104a, 104b, 104c) which connects the first connection end (102) to the coupling device (100).
5. Device according to claim 4 wherein the guiding device (104) comprises at least one second linear actuator (104a, 104b, 104c) having a first and a second end, wherein the first end forms a second connection end of the device for attaching the device relative to the lifting device (120) and the second end is connected to the coupling device (100).
6. Device according to any one of claims 1 to 3 wherein the guiding device (104) comprises at least two linear actuators (104a, 104b, 104c) each with a first and a second end, wherein the first end of each linear actuator (104a, 104b, 104c) is attachable relative to the lifting device (120) and the second end of each linear actuator (104a, 104b, 104c) is connected to the coupling device (100).
7. Device according to any one of claims 4 to 6 wherein the linear actuators (104a, 104b, 104c) are selected from a group comprising pneumatic or hydraulic muscles or cylinders, linear motors, stepped motors and combinations thereof.
8. Device according to any one of claims 1 to 3 wherein the guiding device (104) comprises at least one articulated arm or at least two articulated arms which each have a first and a second end, wherein the first end of each articulated arm is connected with the first connection end (102) and the second end of each articulated arm is connected to the coupling device (100).
9. Device according to any one of claims 1 to 8 wherein the coupling device (100) comprises a securing mechanism, for example a snap lock, for preventing unintentional detachment of the coupling device (100) from the free-floating object (101) after coupling.
10. Device according to any one of claims 1 to 8 wherein the coupling device (100) comprises a mushroom head lock.
11. Device according to any one of claims 1 to 8 wherein the coupling device (100) comprises a ring, a loop, a gripper or a net.
12. Lifting device (120) with a load-receiving end (121) and a device according to any one of claims 1 to 11 wherein the device is fastened to the load-receiving end (121) with its first connection end (102).
13. Watercraft with a lifting device (120) having a load-receiving end (121) and with a device for attaching a coupling device (100) according to claims 1 to 12, wherein the load-receiving end (121) of the lifting device can be detachably connected to the device for attaching a coupling device (100) or can be detachably attached relative to the lifting device (120).
14. Watercraft according to claim 13 wherein the load-receiving end (121) of the lifting device is connected to the device for attaching a coupling device (100).
15. Watercraft according to claim 13 or 14 wherein the lifting device (120) comprises an A-frame or a crane of the watercraft.

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