DEVICE FOR ATTACHING A COUPLING DEVICE TO A FREE-FLOATING OBJECT

Abstract

A device is proposed for attaching a coupling device to a free-floating object, for example free-floating articles or free-floating persons. The device has: at least one first connection end, which can be connected to a load-receiving end of a lifting device; a coupling device for attachment to a free-floating object; a load-receiving connection between the first connection end and the coupling device; and a guiding device, which is separate from the load-receiving connection, connects the first connection end to the coupling device and is designed to guide the coupling device relative to the first connection end.

Claims

1. A device for attaching a coupling device to a free-floating object, for example free-floating articles or free-floating persons, comprising: at least one first connection end which can be connected to a load-receiving end of a lifting device; a coupling device for attaching to a free-floating object; a load-receiving connection between the first connection end and the coupling device; and a guiding device separate to the load-receiving connection which connects the first connection end to the coupling device and which is configured to guide the coupling device relative to the first connection end.

2. The device according to claim 1 further comprising: a recording device for recording the position and/or the location of the object; and a control device for controlling the guiding device, wherein the guiding device is configured in such a way that when the load-receiving connection is not loaded the guiding device guides the coupling device to the free-floating object as a function of the position recorded by the recording device.

3. The device according to claim 2 wherein the recording device comprises optical sensors and from the signal of the optical sensors determines the relative position of the free-floating object.

4. The device according to claim 1, wherein the guiding device comprises at least one first linear actuator which connects the first binding end to the coupling device.

5. The device according to claim 4 wherein the guiding device comprises at least one second linear actuator with 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 and the second end is connected to the coupling device.

6. The device according to claim 1 wherein the guiding device comprises at least two linear actuators each with a first and a second end, wherein the first end of each linear actuator is attachable relative to the lifting device and the second end of each linear actuator is connected to the coupling device.

7. The device according to claim 4 wherein the linear actuators are selected from a group comprising pneumatic or hydraulic muscles or cylinders, linear motors, stepped motors and combinations thereof.

8. The device according to claim 1 wherein the guiding device 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 a first connection end and the second end of each articulated arm is connected to the coupling device.

9. The device according to claim 1 wherein the coupling device comprises a securing mechanism, for example a snap lock, for preventing unintentional detachment of the coupling device from the free-floating object after coupling.

10. The device according to claim 1 wherein the coupling device comprises a mushroom head lock.

11. The device according to claim 1 wherein the coupling device comprises a ring, a loop, a gripper or a net.

12. A lifting device with a load-receiving end and a device according to claim 1 wherein the device is fastened to the load-receiving end with its first connection end.

13. A watercraft with a lifting device having a load-receiving end and with a device for attaching a coupling device according to claim 1, wherein the load-receiving end of the lifting device can be detachably connected to the device for attaching a coupling device or can be detachably attached relative to the lifting device.

14. The watercraft according to claim 13 wherein the load-receiving end of the lifting device is connected to the device for attaching a coupling device.

15. The watercraft according to claim 13 wherein the lifting device comprises an A-frame or a crane of the watercraft.

Description

BRIEF DESCRIPTION OF THE FIGURES

[0054] The invention will be described below in more detail by way of the examples of embodiment, without being restricted thereto. The attached figures only show schematic drawings and are not to scale.

[0055] FIGS. 1A and 1B show a side view and view from above of an embodiment of the invention.

[0056] FIGS. 2A and 2B show a form of embodiment of the invention with the loaded and not loaded load-receiving connection.

[0057] FIG. 3 shows a flow diagram for controlling a form of embodiment of a device for attaching a coupling device to a free-floating object.

DETAILED DESCRIPTION OF EMBODIMENTS

[0058] According to an embodiment FIGS. 1A and 1B show a 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 connection end 102 which can be connected to a load-receiving end 121 of a lifting device 120, a load-receiving connection 103 between the first connection end 102 and the coupling device 100, and a guiding device 104 separate from the load-receiving connection 103 which connects the connection end 102 to the coupling device 100 and is configured to guide the coupling device 100 relative to the connection end 102.

[0059] According to an embodiment the connection for attaching a coupling device 100 to a free-floating object 101, for example free-floating articles or free-floating persons comprises: at least one first connection end 102 which can be connected to a load-receiving end 121 of a lifting device 120, a load-receiving connection 103 between the first connection end 102 and the coupling device 100, and a guiding device 104 separate from the load-receiving connection 103 which connects the connection end 102 with the coupling device 100 and is configured to guide the coupling device 100 relative to the first connection end 102 when the load-receiving connection 103 is not loaded.

[0060] According to an embodiment the lifting device 120 is fastened to a base 122. The base 122 of the lifting device 120 can be part of a watercraft or an off-shore structure or fixed in the vicinity of a waterway.

[0061] According to an embodiment the base 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.

[0062] The guiding device 104 can move the coupling device 100 in at least one and possibly in two or three spatial dimensions. The guiding device 104 guides the coupling device 100 relative to the first connection end 102.

[0063] The guiding device can guide the position of the coupling device 100. According to an embodiment the guiding device 104 can also change the location of the coupling device 100 relative to the object 101.

[0064] According to an embodiment the guiding device 104 is configured in such a way that it can vary the distance between the first connection end 102 and the coupling device 100. The guiding device 104 can be configured such that, through the variation in the distance from the first connection end 102 of the device to the coupling device 100, it loads the load-receiving connection 103 after coupling the coupling device to the object.

[0065] The guiding device 104 shown in FIGS. 1A and 1B comprises several linear actuators 104a, 104b, 104c. The first linear actuator 104a is arranged vertically to the surface of the water and connects the coupling unit 100 to the first connection end 102 of the device separately from the load-receiving connection 103. The second linear actuator 104b and the third linear actuator 104c are arranged horizontally in relation to the surface of the water. The horizontal actuators connect the coupling unit 100 to the first connection end 102 separately from the load-receiving connection 103 via the base of the lifting device 122 and the lifting device 120.

[0066] According to an embodiment the guiding device 104 comprises at least one first linear actuator 104a which connects the connection end to the coupling device.

[0067] According to an embodiment the guiding device 104 comprises at least one second linear actuator 104b with 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.

[0068] According to an embodiment the guiding device 104 comprises at least two linear actuators 104b, 104c each with a first and a second end, wherein the first end of each linear actuator is attachable relative to the lifting device 120 and the second end of each linear actuator is connected to the coupling device 100.

[0069] Linear actuators can be selected from a group comprising: pneumatic or hydraulic muscles or cylinders, linear motors, stepper motors or combinations thereof.

[0070] Pneumatic linear actuators, for example pneumatic muscles can be deployed on ships as ships often already have a suitable pneumatic system, for example a conventional compressed air supply.

[0071] Depending on their inherent stability, for the pneumatic muscles a support device, consisting of telescopic pipes for example, may be required.

[0072] According to an embodiment the guiding device 104 has a robotic arm which can guide the coupling device 100. This robotic arm can comprise a plurality of movable axes. For example, this robotic arm is a pick-and-place robot.

[0073] According to an embodiment the device for attaching a coupling device 100 to free-floating object 101 has a recording device 105. The recording device 105 is configured so that it can determine the position of an object 101 or its location or both. The object 101 moves in the water through its own movement and the sea swell.

[0074] 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 base 122 of the lifting device.

[0075] The detection device 105 is configured in such a way that it can determine the position of the object or the location of the object or both. According to an embodiment the detection device 105 is configured in such a way that it can determine the position of the coupling device 100. From this the position of the object relative to the coupling device 100 can be determined.

[0076] According to an embodiment the recording device comprises one or more optical sensors for recording the position of the free-floating object. Optical sensors can, for example, be cameras in the optical or infrared range.

[0077] Through image evaluation of the optical sensors the position of the free-floating object in the catching area is determined. The position of the coupling device can be known or also determined in order to determine the relative position and/or location between the free-floating object and the coupling device therefrom. The control device then controls guiding device in such a way that the guiding device guides the coupling device to the free-floating object. The object can then be attached.

[0078] When the object is attached it can be recovered by the load branch of lifting device, load-receiving connection and coupling device.

[0079] According to an embodiment the device for attaching a coupling device to a free-floating object has a control device 106 for controlling the guiding device 104. The control device 106 is connected to the recording device 105 in such a way that it can process the recorded position of the free-floating object 101 and, if necessary, the position of the coupling device 100.

[0080] The position of the free-floating object 101 can be determined in the recording device 10 and forwarded to the control device 106. According to an embodiment the recording device 105 and control device 106 are combined in a joint component.

[0081] According to an embodiment the control device 106 is in two parts. The first part of the control device 106a is suitable for processing the data of the recording device and producing a movement forecast of the object 101 and/or the coupling device 100. The second part of the control device 106b controls the guiding device.

[0082] According to an embodiment in the control device the position and/or the location of the free-floating object and, as the case may be, the position and/or location of the coupling device are processed. In addition a forecast of the movement and future position and/or location of the object and/or the coupling device can be established. From this, software-based regulation (closed-loop control) of the guiding device can be set up.

[0083] According to an embodiment the control device controls the guiding device mechanically. This takes place on the basis of the regulation. The mechanical controlling of the guiding device is dependent on the type of guiding device and includes, for example, the application of a voltage to operate an electric motor or the opening and/or closing of pressure valves of a pneumatic or hydraulic device.

[0084] According to an embodiment the control device controls the guiding device in such a way that when the load-receiving connection is not loaded the guiding device guides the coupling device to the free-floating object in dependence on the position recorded by the recording device.

[0085] According to an embodiment the regulation and the mechanical control of the guiding device by the control device takes place automatically when the free-floating object is within the reach of the coupling device.

[0086] FIG. 2A shows a load-receiving end 221 of a lifting device 220. The load-receiving end 221 is connected to a device for attaching a coupling device 200 to a free-floating object 201 at a first end 202. In addition, the device comprises a load-receiving connection 203 between the first connection end 202 and the coupling device 200 and a guide device 204 separate from the load-receiving connection 203 which connects the connection end 202 to the coupling device 200 and is configured to guide the coupling device 200 relative to the first connection end 202.

[0087] According to an embodiment the guiding device 201 in FIGS. 2A and 2B comprises at least one first linear actuator 204a. The first linear actuator 204a is vertically arranged and can increase or decrease the distance between the first connection end 202 and the coupling device 200. Through this the load-receiving connection is 203 is loaded or unloaded. The guide device 204 also has at least one second linear actuator 204b with 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 220 and the second end is connected to the coupling device 200.

[0088] Furthermore, the guide device 204 in FIGS. 2A and 2B comprises at least two linear actuators 204b, 204c each with a first and a second end, wherein the first end of each linear reactor is attachable relative to the lifting device and the second end of each linear actuator is connected to the coupling device 200. These are both horizontal linear actuators.

[0089] According the embodiment in FIGS. 2A and 2B all three linear actuators 204a, 204b, 204c have pneumatic cylinders or pneumatic muscles.

[0090] According to an embodiment the guiding device comprises at least one 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 to the first connection end and the second end of each articulated arm is connected to the coupling device. The articulated arms allow a one-dimensional or multi-dimensional freedom of movement of the coupling device through the guiding device.

[0091] According to the form of embodiment in FIGS. 2A and 2B the coupling device 200 has a mushroom head lock and the free-floating object 201 the corresponding counterpart so that the coupling device 200 can couple to the free-floating object 201.

[0092] FIG. 2A shows the device for attaching coupling device 200 to a free-floating object 201 before attaching the coupling device 200. The guiding device 204 guides the coupling device 200 to the free-floating object 201. The vertical muscle 204a guides the coupling device 200 to the free-floating object 201. The vertical muscle 204a is part of the guiding device 204. In FIG. 2A it is contracted and reduces the distance between the first connection end 202 and the coupling device 200. The load branch formed of the lifting device 220, first connection end 202, load-receiving connection 203 and coupling device 200 is not loaded.

[0093] FIG. 2B shows the device for attaching a coupling device 200 to a free-floating object 201 after coupling on the coupling device 200. The object 201 is now coupled and no longer free-floating. The vertical muscle 204a is not contracted and in comparison with FIG. 2A increases the distance between the first connection end 202 and the coupling device 200. The load branch formed of the lifting device 220, first connection end 202, load-receiving connection 203 and coupling device 200 is loaded. In particular, the load-receiving connection 203 is loaded with the load of the coupled object 201.

[0094] FIG. 3 shows a flow diagram for operating a form of embodiment of a device for attaching a coupling device to a free-floating object. In this form of embodiment the recording device is configured in such a way that is can produce image recordings both of the coupling device and also the object. Through the subsequent image evaluation, the position and location of the coupling device and of the object are determined in parallel. Assisted by computer a forecast can be produced for the position and location of the object from the current movement. On the basis of this computer-assisted regulation of the guiding device takes place.

[0095] The position of the free-floating object can, according to an embodiment, be determined by way of a motion capture method. In this the object and the coupling device are provided with optical markers. The markers are recorded by optical cameras of the recording device and processed in the recorded images. By way of 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.

[0096] According to an embodiment image recording, image evaluation, determination of the position and location, forecasting the position and location and regulation of the guiding device take place in a common component. This component then comprises at least parts of the recording device as well as at least parts of the control device.

[0097] Alternatively the position and the location of the object can be recorded manually, for example by a seaman on board the ship. Regulation can also take place manually by a way of a type of joystick or other suitable input device. The seaman then regulates/controls the guiding device while he is observing the object and the coupling device.

[0098] According to the form of embodiment in FIG. 3 the control device mechanically controls the guiding device. In doing so it converts the instructions by the regulation into mechanical actions. The guiding device then guides the coupling device to the object. After the coupling device has been attached the load-receiving connection can be loaded with the load of the object. Finally the object can be lifted via load-receiving connection by the lifting device.

[0099] According to an 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 stored on board a ship and is fastened to a lifting device when required. The device for attaching a coupling device can, for example, be stored in a shipping container.

[0100] Further forms of embodiment are produced through 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-receiving end which can be connected to the first connection end of the device.

[0101] A lifting device with a load receiving end can, for example, have a hook on which the device for attaching a coupling device can be suspended.

[0102] Further forms of embodiment are brought about in a watercraft with a lifting device and a device for attaching a coupling device through various combinations of the forms of embodiment of the device as described above.

[0103] According to an 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.

[0104] The lifting device of the watercraft can be a crane or an A-frame for example.

REFERENCES

[0105] 100, 200Coupling device [0106] 101, 201Free-floating object [0107] 102, 202First connection end [0108] 103, 203Load-receiving connection [0109] 104, 204Guiding device [0110] 104a/b/c; 204 a/b/cLinear actuators [0111] 105Recording device [0112] 106Control device [0113] 106a, 106bParts of the control device [0114] 120, 220Lifting device [0115] 121, 221Load-receiving end of the lifting device [0116] 122Base of the lifting device