EP3512767B1 - Dispositif pour accrocher un dispositif d'accouplement à un objet flottant - Google Patents

Dispositif pour accrocher un dispositif d'accouplement à un objet flottant Download PDF

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Publication number
EP3512767B1
EP3512767B1 EP17764815.1A EP17764815A EP3512767B1 EP 3512767 B1 EP3512767 B1 EP 3512767B1 EP 17764815 A EP17764815 A EP 17764815A EP 3512767 B1 EP3512767 B1 EP 3512767B1
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EP
European Patent Office
Prior art keywords
load
coupling
coupling device
free
connection
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Application number
EP17764815.1A
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German (de)
English (en)
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EP3512767A1 (fr
Inventor
Sebastian Ritz
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Technische Universitaet Berlin
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Technische Universitaet Berlin
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Publication of EP3512767A1 publication Critical patent/EP3512767A1/fr
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/20—Adaptations of chains, ropes, hawsers, or the like, or of parts thereof
    • 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
    • B63B27/36—Arrangement of ship-based loading or unloading equipment for floating cargo
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/04—Fastening or guiding equipment for chains, ropes, hawsers, or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
    • B66C1/425—Gripping members engaging only the external or internal surfaces of the articles motor actuated
    • B66C1/427—Gripping members engaging only the external or internal surfaces of the articles motor actuated by hydraulic or pneumatic motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/62—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means comprising article-engaging members of a shape complementary to that of the articles to be handled
    • 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
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B66C23/52—Floating cranes

Definitions

  • 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.
  • a device for attaching a coupling device to a free-swimming object for example free-swimming objects or free-swimming people.
  • 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.
  • Such a launch and recovery system 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.
  • 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.
  • the swimming device needs a corresponding device to push off a rescue line.
  • 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 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.
  • 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.
  • a free-floating object for example free-floating objects, watercraft, swimming devices or people
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the guide device allows at least one controlled one-dimensional movement of the coupling device relative to the first connection end.
  • 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.
  • 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.
  • 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.
  • the lifting device for example attached to or part of a ship, can also move as a result of the wave movement.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the load-bearing connection 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.
  • the description refers to free-floating objects in water, without being restricted thereto.
  • 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.
  • 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.
  • 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.
  • 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.
  • the attachment of the coupling device is, for example, hooking, locking, threading, enclosing, coupling, docking, gripping or capturing.
  • 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.
  • the guide device can carry the load of the coupling device without an object coupled to it.
  • 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.
  • 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.
  • 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.
  • the load-bearing end of the lifting device is, for example, a hook, an eye, a plate or the end of a stable rope.
  • 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.
  • 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.
  • the guide device is parallel to the load-bearing connection.
  • 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.
  • 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.
  • 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.
  • 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 .
  • the device for attaching a coupling device 100 to a free-floating object 101 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.
  • 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.
  • 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 .
  • the guide device 104 can also change the position of the coupling device 100 relative to the object 101 .
  • 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.
  • 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.
  • the guide device 104 has at least one first linear actuator 104a , which connects the connecting end to the coupling device.
  • 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 .
  • 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
  • a suitable pneumatic device for example a conventional compressed air supply.
  • a support device made of telescopic tubes may be necessary for the pneumatic muscles.
  • the guide device 104 has a robot arm which can guide the coupling device 100 .
  • This robot arm can have several movable axes.
  • this robot arm is a pick-and-place robot.
  • 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.
  • 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.
  • the load branch comprising the lifting device, load-bearing connection and coupling device.
  • 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 .
  • detection device 105 and control device 106 are combined in a common component.
  • 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 .
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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 .
  • the load-bearing connection 203 is loaded or unloaded.
  • 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 .
  • 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.
  • all three linear actuators 204a, 204b, 204c have pneumatic cylinders or pneumatic muscles.
  • 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.
  • 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.
  • the load-bearing connection 203 is loaded with the load of the coupled object 201 .
  • FIG. 3 shows a flow chart for operating an embodiment of a device for attaching a coupling device to a free-floating object.
  • 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.
  • a prognosis for the position and location of the object can be determined from the current movement.
  • computer-aided regulation of the guide device takes place.
  • 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.
  • 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.
  • 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.
  • the control device controls the guide device mechanically. It converts the instructions through the control into mechanical activities.
  • the guide device 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.
  • 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.
  • 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.
  • the lifting device of the watercraft can be connected to the device for attaching a coupling device.
  • the lifting device is connected to the device for attaching a coupling device.
  • the lifting device of the watercraft can be a crane or an A-frame.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Jib Cranes (AREA)
  • Bridges Or Land Bridges (AREA)
  • Load-Engaging Elements For Cranes (AREA)

Claims (15)

  1. Dispositif pour l'accrochage d'un dispositif de couplage (100) à un objet flottant librement (101), par exemple des objets flottant librement ou des personnes flottant librement, comprenant :
    - au moins une première extrémité de liaison (102), qui peut être reliée avec une extrémité de support de charge (121) d'un dispositif de levage (120) ;
    - un dispositif de couplage (100) pour l'accrochage à un objet flottant librement (101) ;
    - une liaison de support de charge (103) entre la première extrémité de liaison (102) et le dispositif de couplage (100) ;
    caractérisé en ce que
    - un dispositif de guidage (104) séparé pour la liaison de support de charge (103), qui relie la première extrémité de liaison (102) avec le dispositif de couplage (100) et qui est conçu pour guider le dispositif de couplage (100) par rapport à la première extrémité de liaison (102).
  2. Dispositif selon la revendication 1, comprenant en outre :
    - un dispositif de détection (105) pour la détection de la position et/ou l'emplacement de l'objet (101) ; et
    - un dispositif de commande (106) pour le contrôle du dispositif de guidage (104), dans lequel le dispositif de commande (106) est conçu de façon à ce que le dispositif de guidage (104) guide le dispositif de couplage (100), lorsque la liaison de support de charge (103) n'est pas sollicitée, vers l'objet flottant librement en fonction de la position détectée par le dispositif de détection (105).
  3. Dispositif selon la revendication 2, dans lequel le dispositif de détection (105) comprend des capteurs optiques et détermine, à partir du signal des capteurs optiques, la position relative de l'objet flottant librement (101).
  4. Dispositif selon l'une des revendications 1 à 3, dans lequel le dispositif de guidage (104) comprend au moins un premier actionneur linéaire (104a, 104b, 104c), qui relie la première extrémité de liaison (102) avec le dispositif de couplage (100).
  5. Dispositif selon la revendication 4, dans lequel le dispositif de guidage (104) comprend au moins un deuxième actionneur linéaire (104a, 104b, 104c) avec une première et une deuxième extrémité, dans lequel la première extrémité constitue une deuxième extrémité de liaison du dispositif pour la fixation du dispositif par rapport au dispositif de levage (120) et la deuxième extrémité est reliée avec le dispositif de couplage (100).
  6. Dispositif selon l'une des revendications 1 à 3, dans lequel le dispositif de guidage (104) comprend au moins deux actionneurs linéaires (104a, 104b, 104c), chacun avec une première et une deuxième extrémité, dans lequel la première extrémité de chaque actionneur linéaire (104a, 104b, 104c) peut être fixé par rapport au dispositif de levage (120) et la deuxième extrémité de chaque actionneur linéaire (104a, 104b, 104c) est reliée avec le dispositif de couplage (100).
  7. Dispositif selon l'une des revendications 4 à 6, dans lequel les actionneurs linéaires (104a, 104b, 104c) sont sélectionnés dans le groupe comprenant des muscles ou des vérins pneumatiques ou hydrauliques, un moteur linéaire, un moteur pas-à-pas et des combinaisons de ceux-ci.
  8. Dispositif selon l'une des revendications 1 à 3, dans lequel le dispositif de guidage (104) comprend au moins un bras articulé ou au moins deux bras articulés, qui comprennent chacun une première extrémité et une deuxième extrémité, dans lequel la première extrémité de chaque bras articulé est reliée avec la première extrémité de liaison (102) et la deuxième extrémité de chaque bras articulé est reliée avec le dispositif de couplage (100).
  9. Dispositif selon l'une des revendications 1 à 8, dans lequel le dispositif de couplage (100) comprend un mécanisme de sécurisation pour empêcher un détachement involontaire du dispositif de couplage (100) de l'objet flottant librement (101) après le couplage, par exemple une fermeture à déclic.
  10. Dispositif selon l'une des revendications 1 à 8, dans lequel le dispositif de couplage (100) comprend une fermeture à tête de champignon.
  11. Dispositif selon l'une des revendications 1 à 8, dans lequel le dispositif de couplage (100) comprend un anneau, une élingue, une pince ou un filet.
  12. Dispositif de levage (120) avec une extrémité de support de charge (121) et un dispositif selon l'une des revendications 1 à 11, dans lequel le dispositif est fixé, avec sa première extrémité de liaison (102), à l'extrémité de support de charge (121).
  13. Véhicule aquatique avec un dispositif de levage (120) qui comprend une extrémité de support de charge (121), et avec un dispositif pour l'accrochage d'un dispositif de couplage (100) selon les revendications 1 à 12, dans lequel l'extrémité de support de charge (121) du dispositif de levage peut être reliée de manière amovible avec le dispositif d'accrochage d'un dispositif de couplage (100) ou peut être fixée de manière amovible par rapport au dispositif de levage (120).
  14. Véhicule aquatique selon la revendication 13, dans lequel l'extrémité de support de charge (121) du dispositif de levage est reliée avec le dispositif d'accrochage d'un dispositif de couplage (100).
  15. Véhicule aquatique selon la revendication 13 ou 14, dans lequel le dispositif de levage (120) comprend un cadre A ou une grue du véhicule aquatique.
EP17764815.1A 2016-09-14 2017-09-11 Dispositif pour accrocher un dispositif d'accouplement à un objet flottant Active EP3512767B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016117311.8A DE102016117311A1 (de) 2016-09-14 2016-09-14 Vorrichtung zum anschlagen einer kopplungsvorrichtung an ein freischwimmendes objekt
PCT/EP2017/072738 WO2018050591A1 (fr) 2016-09-14 2017-09-11 Dispositif pour accrocher un dispositif d'accouplement à un objet flottant

Publications (2)

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EP3512767A1 EP3512767A1 (fr) 2019-07-24
EP3512767B1 true EP3512767B1 (fr) 2021-01-20

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US (1) US10864967B2 (fr)
EP (1) EP3512767B1 (fr)
CN (1) CN109803883B (fr)
DE (1) DE102016117311A1 (fr)
DK (1) DK3512767T3 (fr)
WO (1) WO2018050591A1 (fr)

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DE102016117311A1 (de) 2016-09-14 2018-03-15 Technische Universität Berlin Vorrichtung zum anschlagen einer kopplungsvorrichtung an ein freischwimmendes objekt
EP3321226B1 (fr) * 2016-11-11 2023-03-01 ABB Schweiz AG Système de commande de grue à conteneur équipé de une caméra
DE102017129514A1 (de) * 2017-12-12 2019-06-13 Atlas Elektronik Gmbh Ausbring- und Bergevorrichtung zum Bergen und/oder Ausbringen eines Objektes und Fahrzeugkombination aus einem Trägerschiff und einem Unterwasserfahrzeug

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Also Published As

Publication number Publication date
CN109803883B (zh) 2021-03-05
DK3512767T3 (da) 2021-04-19
CN109803883A (zh) 2019-05-24
DE102016117311A1 (de) 2018-03-15
WO2018050591A1 (fr) 2018-03-22
EP3512767A1 (fr) 2019-07-24
US20190202529A1 (en) 2019-07-04
US10864967B2 (en) 2020-12-15

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