WO2014053528A1 - Navire avec système de transfert de personnes ou de marchandises - Google Patents

Navire avec système de transfert de personnes ou de marchandises Download PDF

Info

Publication number
WO2014053528A1
WO2014053528A1 PCT/EP2013/070515 EP2013070515W WO2014053528A1 WO 2014053528 A1 WO2014053528 A1 WO 2014053528A1 EP 2013070515 W EP2013070515 W EP 2013070515W WO 2014053528 A1 WO2014053528 A1 WO 2014053528A1
Authority
WO
WIPO (PCT)
Prior art keywords
compensation
vessel
platform
mass
actuators
Prior art date
Application number
PCT/EP2013/070515
Other languages
English (en)
Inventor
Jan Alexander Keuning
Original Assignee
Technische Universiteit Delft
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Technische Universiteit Delft filed Critical Technische Universiteit Delft
Publication of WO2014053528A1 publication Critical patent/WO2014053528A1/fr

Links

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
    • B63B27/14—Arrangement of ship-based loading or unloading equipment for cargo or passengers of ramps, gangways or outboard ladders ; Pilot lifts
    • 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
    • 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
    • B63B27/14—Arrangement of ship-based loading or unloading equipment for cargo or passengers of ramps, gangways or outboard ladders ; Pilot lifts
    • B63B2027/141—Arrangement of ship-based loading or unloading equipment for cargo or passengers of ramps, gangways or outboard ladders ; Pilot lifts telescopically extendable

Definitions

  • the present invention relates to a vessel comprising a transfer system for transferring persons or goods from the vessel while subjected to waves and/or swell towards a substantially stationary destination, wherein the system comprises a platform having a first mass for supporting the persons or goods during transfer, and platform actuators connecting the platform to the vessel and adapted for moving the platform relative to the vessel in such a manner that the platform or part of the platform is maintained spatially in a substantially stationary position.
  • the known system comprises a movable platform, a so called Stewart platform, which is actuated by six piston- cylinder assemblies in response to the motions of the vessel, in such a manner that the platform maintains a
  • the platform may be provided with a gangway, crane or alike.
  • a vessel which is characterized in that the transfer system further comprises at least one compensation system for at least partially compensating motions of the vessel caused by the activation of the platform actuators, wherein the compensation system comprises a compensation actuator coupling the at least one compensation mass to the vessel for a movement relative thereto, and wherein the compensation mass is to the utmost two times the first mass and preferably to the utmost 1.5 times the first mass.
  • the compensation actuator compensates the forces caused by the first mass as a result of the position and accelerations of the platform and platform actuators, by positioning and/or moving the at least one compensation mass in such a manner that the mentioned forces are counteracted by opposite forces.
  • the compensation system may be used on vessels with a mass in a range of 500 - 1200 ton.
  • the mass needed for roll damping of such a vessel is, therefore, in a range of 20 - 60 ton.
  • an very large mass needs to be moved to and fro. In order to be able to move such a large mass, a large driver and control is necessary, due to which a large part of the space inside the vessel is needed for the roll damping.
  • the transfer system in particular the first mass, as described above has a mass in a range of 5 -10 ton. Due to the first mass, the compensation mass might be in a range of 5 - 15 ton. Due to the compensation system according to the invention, significant less mass is necessary for neutralizing the movement of the transfer system, which is economically advantageous with respect to, i.a., the costs of the driver and control for moving the compensation mass. Further, the compensation mass occupies less space within the vessel in comparison with a roll damping system, such that for example more goods may be transported with the vessel.
  • An additional advantage is that a relative small mass is easier controllable than a relative heavy weight, such as a roll damping system.
  • a result of the compensation system is that the motions of the vessel are not or hardly influenced by the forces that the transfer system exerts on the hull of the vessel.
  • the compensation system is adapted for counteracting a rotational motion of the transfer system for transferring persons or goods around the rolling axis of the vessel, preferably for substantially neutralizing only the rolling movement of the vessel caused by the position and/or movement of the system for
  • the at least one compensation mass is adapted to be moved linearly by its compensation actuator (s).
  • the at least one compensation mass may have substantially the same weight as the first mass.
  • This mass may be used primarily to counteract motions of the vessel perpendicular to the longitudinal axis thereof caused by the transfer system for transferring persons or goods.
  • the compensation actuators comprise assemblies of linear guides and linear actuators.
  • other devices for achieving a linear motion of the compensation mass or masses may be used.
  • the compensation actuators are adapted for offering the at least one compensation mass a rotational movement with three degrees of freedom and a linear movement with three degrees of freedom. This offers the compensation mass a range of movements sufficient for compensating/neutralizing nearly all excitations of the transfer system for transferring persons or goods.
  • the at least one compensation mass is adapted to be moved in counter phase to the first mass, preferably in a plane substantially perpendicular to the longitudinal axis of the vessel.
  • compensation actuators comprise six linear actuators, such as hydraulic or pneumatic piston cylinder assemblies which each at both ends by means of universal joints are connected to the vessel and the at least one compensation mass, respectively. Basically, such an arrangement will correspond with a known arrangement of actuators used to move the platform.
  • the at least one compensation mass is defined by an auxiliary platform moved by auxiliary platform actuators substantially similar to the platform and platform actuators and adapted to be moved substantially in counter phase to the motion of the platform in a plane substantially perpendicular to the longitudinal axis.
  • the auxiliary platform and auxiliary platform actuators will counteract (and compensate) the excitation of the platform having the first mass and platform actuators.
  • the at least one compensation mass may be located substantially at the same level as and close to the platform and platform actuators.
  • the relative position between those parts then may be optimised with respect to the best compensation of the excitation in view of the most important movement of the vessel (for example rolling in monohull vessels) .
  • the vessel further comprises control means for controlling the compensation actuators of the at least one compensation mass adapted to generate control signals for said compensation actuators based upon the movement of the platform.
  • control means for controlling the compensation actuators of the at least one compensation mass adapted to generate control signals for said compensation actuators based upon the movement of the platform.
  • Such an embodiment directly uses the movement of the platform (for example based upon the control signals for its platform actuators) to generate the required control signals for the
  • the vessel further comprises control means for controlling the
  • control means comprises sensors for sensing the position and acceleration of the first mass in a plane substantially perpendicular to the longitudinal axis of the vessel and means for generating control signals for said compensation actuators based upon an output of said sensors.
  • control means may be adapted to generate control signals for said compensation actuators for counteracting rolling of the vessel.
  • control signals for the compensation actuators are substantially inverted control signals for controlling the platform actuators of the platform having the first mass.
  • the compensation system may be controlled substantially on basis of the control signal for the transfer system, and therefore no additional
  • Figure 1 schematically shows a first embodiment of a system for transferring persons or goods according to the present invention
  • Figure 2 schematically shows a second embodiment of a system for transferring persons or goods according to the present invention.
  • Figure 3 schematically shows a third embodiment of a system for transferring persons or goods according to the present invention.
  • Figure 4 schematically shows an embodiment of a compensation mass as it can be mounted on one or more locations of the vessel.
  • a transfer system for transferring persons or goods from the vessel towards a substantially stationary destination or construction mounted on an upper deck of the vessel 1.
  • a transfer system generally comprises a platform 2, having a first mass, for supporting the persons or goods, platform actuators 3 connecting the platform 2 to the vessel 1 and a gangway 4 mounted on the platform 2.
  • the platform actuators 3 (which for example may comprise six fast acting pneumatic or hydraulic piston cylinder assemblies) are adapted for moving the platform 2 relative to the vessel 1 in such a manner that the platform is maintained spatially in a substantially stationary position, notwithstanding a movement of the vessel 1 due to external influences such as, among others, the swell, waves, and wind.
  • the platform 2 may be kept stationary relative to a (substantially) stationary destination or construction (such as, for example an offshore drill rig, offshore wind turbine or another vessel) and persons or goods may be transferred in a safe manner to said stationary destination (for example by means of the gangway 4) .
  • the transfer system as described up to this point corresponds with a well known system for transporting people from a ship to a stationary construction located at sea as used on vessels to date.
  • a transfer system further comprises
  • compensation system with at least one compensation mass for at least partially compensating motions of the vessel 1 caused by the activation of the platform actuators 3 and by the resulting motion of the platform 2 relative to the vessel .
  • a single compensation mass which by means of compensation actuators is mounted to the vessel for a movement relative thereto.
  • the compensation mass is defined by an auxiliary platform 5 (which may or may not be similar to the primary platform 2; it is intended, for example, that the auxiliary platform is defined by a mass with substantially the same mass and inertia as the first mass, but without exactly the same outer appearance; as such a gangway generally will not be present ) .
  • the compensation mass 5 is substantially the same as the first mass, such that movement of the compensation mass and first mass may be substantially the same.
  • the compensation mass 5 has to become larger, for example to the utmost two times the first mass or to the utmost 1.5 times the first mass.
  • the compensation actuators are defined by auxiliary platform actuators 6.
  • the compensation actuators 6 preferably comprise six (linear) actuators, such as hydraulic or pneumatic piston cylinder assemblies which each at both ends by means of universal joints 7 are connected to the vessel 1 and to the at least one compensation mass 5, respectively.
  • the auxiliary platform 5 and auxiliary platform actuators 6 are adapted to be moved substantially in counter phase to the motion of the platform 2 and platform actuators 3, in particular the first mass.
  • the compensation mass may be adapted for neutralizing a rotational motion of the vessel 1 around the rolling axis caused by excitation of the first mass of the transfer system.
  • the compensation actuators 6 are adapted for offering the compensation mass (auxiliary platform) 5 a rotational movement with three degrees of freedom and a linear movement with three degrees of freedom, preferably an one-directional movement.
  • the compensation mass (auxiliary platform) 5 a rotational movement with three degrees of freedom and a linear movement with three degrees of freedom, preferably an one-directional movement.
  • compensation mass 5 compensates only for rotation around the longitudinal axis it is sufficient to let this compensation mass 5 rotate around one axis or a linear movement of the compensation mass 5 in a plane perpendicular to the
  • longitudinal axis or to the median plan of the vessel may be sufficient.
  • the number of compensation actuators can then be reduced to one or two compensation actuators 6 that let the compensation mass 5 oscillate in counter phase with respect to the first mass.
  • the compensation mass 5 is located immediately below the platform 2 and platform actuators 3 (specifically below the upper deck of the vessel 1), but it is conceivable too that it is located substantially at the same level as (and preferably close to) the platform 2 and platform actuators 3. In a further embodiment, a smaller compensation mass 5 might be located in front or behind the platform 2 or at both sides of platform 2.
  • the system further may comprise control means (not illustrated) for controlling the compensation actuators 6 of the compensation mass 5, adapted to generate control signals for said compensation actuators 6 based upon the movement of the platform 2 (and the movement of the platform actuators 3) .
  • Further additional control means may be provided, also for controlling the compensation actuators 6 of the compensation mass 5.
  • Such additional control means may comprises sensors (not illustrated) for sensing the position and acceleration of the first mass in a plane substantially perpendicular to the longitudinal axis of the vessel or in a direction perpendicular to a central plane through the longitudinal axis of the vessel and means for generating control signals for said compensation actuators based upon an output of said sensors.
  • control signals for the compensation actuators 6 may be calculated in such a manner that the compensation mass (auxiliary platform) 5 carries out a movement for in an optimal manner compensating (counteracting) an excitation of the platform 2.
  • sensors it is noted that different kinds of sensors may be used, such as optical sensors, acceleration sensors, position sensors, encoders, velocity sensors, angular velocity sensors, etc.
  • control signals for the compensation actuators 6 of the compensation mass 5 are directly derived from the original control signals for the platform actuators 3 (for example having substantially the same magnitude but an opposite sign, depending on the characteristics of the system in general and of the compensation mass in specific) .
  • FIG 2 a second embodiment of a vessel with system according to the present invention is illustrated.
  • the upper part of the system (which, basically represents a state of the art system) is similar to the transfer system for transporting people from a ship to a stationary construction located at sea as described before and therefore the description thereof is not repeated.
  • the lower part of the system according to this second embodiment comprises two compensation masses 8,9 which are adapted to be moved linearly by respective
  • the compensation actuators 8,9 (which may comprise any type of linear
  • actuators such as for example cylinder piston assemblies, cable drives, gear racks
  • compensation masses 10,11 to and fro for example along linear guides 12,13 attached stationary to the vessel 1 and located immediately under the upper part of the system, for instance immediately under the upper deck.
  • the two compensation masses 8, 9 may be formed as a single mass or there is only one compensation mass 8 or 9 that moves in one direction for instance in the direction of the transverse axis. Further, the total mass of the two compensation masses 8, 9 may be to the utmost two times the first mass, or 1.5 times the first mass. The total mass of the two compensation masses 8, 9 may also be the same as the first mass.
  • both compensation masses 8,9 are combined into a single mass which is adapted to carry out linear movements in different directions (for example in parallel to the longitudinal axis of the vessel and in parallel to transverse axis of the vessel, respectively) and, thus, in combination may carry out movements in any other direction (in a plane extending through said two original directions) or even along a curved trajectory, if needed (in said plane) .
  • the combined single mass may also move in a single
  • this second embodiment generally is similar to that of the first embodiment (although, because this embodiment only allows the compensation mass or masses to be moved in a more restricted manner, its
  • Control means and sensors may be provided in accordance with the first embodiment.
  • FIG 3 a third embodiment of a vessel with system according to the present invention is illustrated schematically.
  • the figure 3 shows the vessel 1 with a platform 14 mounted on the rear of the vessel.
  • Platform actuators 15 move the platform 14 and maintain the platform 14 in a stationary position while the ship moves in waves and/or swell. It will be clear that the platform 14 can rotate on a turret 18 that is mounted on the deck, that the platform 14 can move in height by changing its
  • transverse compensators 16 are mounted on deck in front and at the rear of the turret 18 and the longitudinal compensators 17 are mounted under the deck. In other embodiments these positions can be different and are dependent on the available space and the required compensation .
  • an actuator 20 can move a mass 19 over a rail.
  • the actuator 20 comprises a motor, for instance a hydraulic motor, that drives a gear that engages a rack mounted in the direction of the rail.
  • the actuator 20 and the mass 19 are mounted under a cover 21 to protect them against the environment .
  • the compensation mass may have a mass which differs from the mass of the platform (with or without its actuators) and may be moved in any other appropriate manner, for example as a pendulum with a pendulum arm with specific length by means of three linear actuators positioned around said pendulum arm.

Landscapes

  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Vibration Prevention Devices (AREA)

Abstract

L'invention concerne un navire (l) comprenant un système de transfert de personnes ou de marchandises depuis ledit navire, alors qu'il est soumis à des vagues et/ou à la houle, vers une destination sensiblement fixe. Le système de transfert comprend une plateforme (2) dotée d'une première masse destinée à supporter les personnes et les marchandises pendant le transfert, et des actionneurs de plateforme (3) reliant la plateforme au navire et conçus pour déplacer la plateforme par rapport au navire de telle sorte que cette dernière ou une partie de cette dernière est maintenue spatialement dans une position sensiblement fixe.
PCT/EP2013/070515 2012-10-02 2013-10-02 Navire avec système de transfert de personnes ou de marchandises WO2014053528A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP12187023.2 2012-10-02
EP12187023.2A EP2716539A1 (fr) 2012-10-02 2012-10-02 Récipient avec système de transfert de personnes ou de marchandises et un tel système

Publications (1)

Publication Number Publication Date
WO2014053528A1 true WO2014053528A1 (fr) 2014-04-10

Family

ID=47142915

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2013/070515 WO2014053528A1 (fr) 2012-10-02 2013-10-02 Navire avec système de transfert de personnes ou de marchandises

Country Status (2)

Country Link
EP (1) EP2716539A1 (fr)
WO (1) WO2014053528A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108454789A (zh) * 2018-04-10 2018-08-28 上海勘测设计研究院有限公司 海洋平台登乘装置

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105966559A (zh) * 2016-06-07 2016-09-28 江苏科技大学 一种具有波浪补偿功能的登靠装置及方法
CN107054571A (zh) * 2016-12-23 2017-08-18 湖北华舟重工应急装备股份有限公司 三自由度波浪补偿登乘栈桥
CN106741662B (zh) * 2017-02-15 2019-12-06 广东精铟海洋工程股份有限公司 一种具有补偿功能的海洋平台舷梯及其使用方法
CN108545149B (zh) * 2018-03-30 2019-09-13 华中科技大学 一种串联式船用升降补偿装置
CN111959704B (zh) * 2020-08-20 2021-06-25 浙江大学 海洋渔获物船载加工设备海浪补偿系统
CN112360217B (zh) * 2020-11-16 2021-08-13 南京大学 一种环形与三角形嵌套的动态机械结构轻型景观塔
CN112885042B (zh) * 2021-01-26 2022-07-08 自然资源部第二海洋研究所 水面溢油监测预警装置及方法
CN112937772A (zh) * 2021-03-11 2021-06-11 江苏弘竣海洋科技有限公司 一种波浪补偿舷梯用人员随动平台
CN115042914A (zh) * 2022-07-01 2022-09-13 东方空间技术(北京)有限公司 波浪补偿调节船及其波浪补偿方法

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB360259A (en) * 1929-12-27 1931-11-05 Paul Nicolas Lucas Girardville Improvements in or relating to aircraft carrying vessels
US3460501A (en) * 1967-01-03 1969-08-12 Pan American Petroleum Corp Stabilizing a floating vessel
JPH1029592A (ja) * 1996-07-15 1998-02-03 Penta Ocean Constr Co Ltd 浮体減揺装置
WO2007120039A1 (fr) 2006-03-01 2007-10-25 Technische Universiteit Delft Navire, plate-forme de mouvement, méthode de compensation des mouvements d'un navire et utilisation d'une plate-forme de stewart
GB2440520A (en) * 2006-08-03 2008-02-06 Liam Clear Motion Compensated Aircraft Platform
GB2474374A (en) * 2010-11-22 2011-04-13 Brynmor Winston Phillips Vessel with a motion-compensated platform for transferring personnel or equipment
WO2012021062A1 (fr) * 2010-08-13 2012-02-16 Ampelmann Operations B.V. Navire, plateforme de mouvements, système de commande, procédé de compensation de mouvements d'un navire et produit programme d'ordinateur
WO2012143504A1 (fr) * 2011-04-20 2012-10-26 Vincent De Troz Dispositif de lest mobile

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL1036132C (nl) * 2008-10-30 2010-05-04 Terrazzo Art Fidelity Zeilboot en werkwijze voor het besturen van een zeilboot.

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB360259A (en) * 1929-12-27 1931-11-05 Paul Nicolas Lucas Girardville Improvements in or relating to aircraft carrying vessels
US3460501A (en) * 1967-01-03 1969-08-12 Pan American Petroleum Corp Stabilizing a floating vessel
JPH1029592A (ja) * 1996-07-15 1998-02-03 Penta Ocean Constr Co Ltd 浮体減揺装置
WO2007120039A1 (fr) 2006-03-01 2007-10-25 Technische Universiteit Delft Navire, plate-forme de mouvement, méthode de compensation des mouvements d'un navire et utilisation d'une plate-forme de stewart
GB2440520A (en) * 2006-08-03 2008-02-06 Liam Clear Motion Compensated Aircraft Platform
WO2012021062A1 (fr) * 2010-08-13 2012-02-16 Ampelmann Operations B.V. Navire, plateforme de mouvements, système de commande, procédé de compensation de mouvements d'un navire et produit programme d'ordinateur
GB2474374A (en) * 2010-11-22 2011-04-13 Brynmor Winston Phillips Vessel with a motion-compensated platform for transferring personnel or equipment
WO2012143504A1 (fr) * 2011-04-20 2012-10-26 Vincent De Troz Dispositif de lest mobile

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108454789A (zh) * 2018-04-10 2018-08-28 上海勘测设计研究院有限公司 海洋平台登乘装置

Also Published As

Publication number Publication date
EP2716539A1 (fr) 2014-04-09

Similar Documents

Publication Publication Date Title
WO2014053528A1 (fr) Navire avec système de transfert de personnes ou de marchandises
EP2978661B1 (fr) Stabilisation de corps marins
DK2450271T3 (en) A mooring system for a vessel
CA2722886C (fr) Dispositif pour le transfert sur de personnel ou de materiel, depuis un objet realise sous la forme d'un bateau vers un objet deplace par rapport a celui-ci, et bateau equipe du dispositif
NL2007761C2 (en) Vessel and crane with full dynamic compensation for vessel and wave motions.
CN105736625A (zh) 基于六自由度并联平台的复合式舰载抗冲稳定平台及方法
WO2002000543A2 (fr) Systeme et procede de commande destines a commander une charge utile dans une grue a plateforme mobile
CN101793592B (zh) 风洞模型支撑装置
WO1999055579A1 (fr) Appareil stabilise monte sur un navire et procede de commande correspondant
JP2003515513A (ja) 動的システムの非線形能動制御
EP3390265B1 (fr) Ensemble de levage à compensation de mouvement tridimensionnelle pour grues
CN109311525A (zh) 用于将人员和设备从第一装置转移到第二装置的通道
CA2994100A1 (fr) Appareil de commande de charge
WO2015199543A1 (fr) Système de positionnement avec compensation de mouvement d'extrémité distale
AU2020411001A1 (en) Device for recovering a vessel at sea
KR20100131908A (ko) 선박 접안유도시스템
CN109533237A (zh) 一种自主水下机器人布放回收单点起吊止荡保护装置
KR20110012898A (ko) 평형 유지 크레인 및 이를 장착한 선박
JP2014108865A (ja) クレーン先端の振動抑制方法および海上作業船
EP3755616B1 (fr) Dispositif d'amarrage et unité flottante comprenant au moins un dispositif d'amarrage
EP1809564A2 (fr) Macro/micro grue
CN103129723B (zh) 单人常压潜水装具的系固装置
ES2537643T3 (es) Amortiguador de vibraciones para la amortiguación de una vibración de una estructura susceptible de vibraciones
KR20170134504A (ko) 잠수함용의 리프팅 디바이스
EP3500482A1 (fr) Structure d'amarrage pour l'amarrage d'une unité flottante et unité flottante comprenant une telle structure d'amarrage

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 13773695

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 13773695

Country of ref document: EP

Kind code of ref document: A1