coupler

Abstract

A coupler is provided for connecting a marine vessel line and a tug line, the coupler including an interface zone for receiving the marine vessel line and the tug line, a guide configured to receive a connector and guide the connector around the interface zone so as to wrap it around the line, a fixing member configured to fix the connector to the line such that the lines are coupled, the fixing member being upstream of the guide and configured to bend the connector before it is received by the guide.

Description

[Technical field]

[0001] The present invention relates to a coupler for connecting a line of a marine vessel to a line of a tugboat, a line steering system for a tugboat, and a tugboat.

[0002] Tugs help steer another vessel by pushing or towing it when the other vessel is not permitted to operate under its own power, for example a container ship in a congested port or narrow canal, or when the vessel is unable to operate under its own power, for example a broken-down vessel.

[0003] In order for a tugboat to be able to tow another vessel (such as a container ship), a towline must be stretched between the tugboat and the other vessel and secured to them. One way of providing the towline is to continuously exchange lines of increasing strength (and usually diameter) between the vessels. For example, an end of a towline is cast from the other vessel, for example from its bow or stern, to a position on the foredeck of the tugboat. The towline is then tied to a messenger line stored in the tugboat. The messenger line is also stored in the tugboat and attached to a towline attached to the tugboat. The towline, then the messenger line, then the towline are then hoisted to the other vessel, for example by using a capstan on the other vessel. The towline is then attached to the other vessel, such as by placing it on a bollard on the other vessel. The tugboat can then use the towline stretching between them to steer the other vessel. However, it can be difficult to cast the towline precisely to the required position on the foredeck. There is also a risk of injury to crew on the foredeck if they are struck when the line is thrown by the tug. Improved systems may therefore be required to address these issues.

[0004] According to a first aspect of the invention there is provided a coupler for connecting a marine vessel line and a tug line, the coupler comprising a connection zone for receiving the marine vessel line and the tug line, a guide configured to receive a connector and guide the connector around the connection zone so as to wrap it around the line, and a fixing member configured to fix the connector to the line such that the lines are connected, the fixing member being upstream of the guide and configured to bend the connector before it is received by the guide.

[0005] By bending the connector before it is received by the guide, the connector may be pre-bent before wrapping around the tether. This may help reduce the chance of the connector getting stuck in the guide. Additionally, pre-bending the connector may help guide the connector around the tether in the coupling zone. The coupler may also be able to withstand and operate under harsh / hostile conditions (e.g., bad weather) that may be dangerous for crew members.

[0006] Optionally, the guide comprises a channel for guiding the connector around the coupling zone and rollers disposed along the channel for directing the connector along the channel, the rollers may help to urge the connector along the channel, which may help to reduce the chance of the connector getting stuck in the channel.

[0007] Optionally, the coupler is configured to wrap the connector around the tether multiple times. This may help ensure that the connector is securely attached to the tether. Optionally, the number of times the connector is wrapped around the tether is determined by the thickness of the tether. This allows the amount of connector used to be tailored to the particular tether being coupled. This may help reduce over- or under-use of the connector.

[0008] Optionally, the coupler comprises a feeding mechanism configured to feed the connector from a supply towards the locking member, and the locking member comprises a disconnecting element configured to disconnect the connector from the supply. In this manner, the locking member may perform the dual function of coupling the tethers together and disconnecting the connector from the supply. This may facilitate the simplification of the system by utilizing fewer parts. Furthermore, having fewer parts may reduce the likelihood of failure occurring in the system.

[0009] Optionally, the cutting element comprises a lip extending around the locking member. Optionally, the lip is integrally formed with the cutting element. Optionally, the locking member comprises a hardened material. This may aid in disconnecting the connector from the supply. Additionally, this may aid in reducing the chance of the locking member being damaged when disconnecting the connector from the supply.

[0010] Optionally, the coupler comprises a supply of the connectors. Optionally, the supply comprises a spindle on which the connectors are wound. Optionally, the supply and / or the spindle may be removed from the coupler, thereby allowing the supply and / or the spindle to be replaced and / or replenished so that the coupler does not run out of connectors.

[0011] Optionally, the feeding mechanism is configured to feed the connector towards the securing member at a first speed and the rollers are configured to rotate at a second speed, the second speed being faster than the first speed. In this way, the rollers rotate at a speed faster than the speed at which the connector passes through the coupler. This may help the rollers urge the connector through the channel and reduce the chance of the connector getting stuck in the channel.

[0012] Optionally, the connector comprises a length of wire. Optionally, the wire has a diameter of 0.5 to 3 millimeters. Optionally, the wire has a diameter of 0.5 to 2 millimeters. Optionally, the wire has a diameter of 0.7 to 0.9 millimeters. Providing a relatively thin wire may aid in easily severing the wire from the supply. Optionally, the wire comprises stainless steel.

[0013] Optionally, the securing member is operable to twist free ends of the connector together to secure the connector to the tether. In this manner, no additional elements are required to secure the connector to the tether, which may help reduce the complexity of the system.

[0014] Optionally, the securing member is operable to twist the free ends of the connector together and to disconnect the connector from the supply. Both the twisting and disconnecting may occur substantially simultaneously, which may increase the speed and / or efficiency of the system.

[0015] Optionally, the securing member is rotatable about an axis of rotation to secure the connector to the line and translatable along the axis of rotation to move the cutting element relative to the supply to disconnect the connector from the supply. Translating the securing member along the axis of rotation may serve to press a cutting member against the connector to disconnect the connector from the supply. Optionally, the securing member reciprocates along the axis of rotation as it rotates about the axis of rotation.

[0016] Optionally, the locking member comprises a cylindrical cam engageable with a protrusion of the coupler to translate the locking member along the axis of rotation as the locking member rotates about the axis of rotation, such that the locking member can translate along the axis of rotation at the same time as it rotates about the axis of rotation, which may allow the connector to be disconnected from the supply and secured to the tether substantially simultaneously.

[0017] Optionally, the locking member is configured to rotate a predetermined number of times to lock the connector to the leash. For example, the locking member may rotate 5-15, 7-13, 9-11, or 10 times. This may help to ensure that the connector is securely secured to the leash. It may also help to ensure that the connector is fully disconnected from the supply.

[0018] Optionally, the fixing member includes a bending surface, the fixing member alignable with the feeding mechanism such that the connector is oriented toward the bending surface to bend the connector. The bending surface may act to passively bend the connector when the connector contacts the bending surface. In this way, the connector may be bent before it is received by the guide without the use of additional parts.

[0019] Optionally, the locking member comprises a pair of ridges configured for the connector to pass through, which engage the connector when the locking member rotates such that the connector twists when the locking member rotates. The ridges allow the locking member to engage the connector without the need for additional devices to grip the connector. This may aid in simplifying the coupler.

[0020] Optionally, the coupler comprises a motor configured to actuate the securing member. Optionally, the motor is an electric motor. Optionally, the motor comprises a position sensor configured to sense a position of a rotor of the motor. Optionally, the position of the rotor is used to measure a status of the coupler. For example, the position of the rotor may be used to measure the amount of connectors used, and thus the amount of connectors remaining in a supply. Optionally, the position sensor comprises an encoder. The encoder may make it possible to know the position of the rotor of the motor. This information may be used to measure how many revolutions the rotor has made.

[0021] Optionally, the connection zone is defined by a housing, and the guide channel is disposed on a surface of the housing. Optionally, the channel extends over about 50% of the periphery of the connection zone. Optionally, the channel extends over about 75% of the periphery of the connection zone. Optionally, the channel extends substantially around about the entire circumference of the connection zone. This may aid in wrapping the connector completely around the tether.

[0022] Optionally, the housing comprises a first portion and a second portion, wherein the first portion is movable relative to the second portion. Optionally, the first portion is hingedly attached to the second portion. Optionally, the coupler comprises a further motor configured to move the first portion relative to the second portion. In this manner, the first portion can be moved relative to the second portion to enable and / or restrict movement of the tether into or out of the coupling zone.

[0023] Optionally, the coupler is operable in a first configuration in which the housing restricts movement of the tether in first and second mutually orthogonal axes, but not in a third axis orthogonal to both the first and second axes, and a second configuration in which the housing restricts movement of the tether in the first axis, but not in the second and third axes, thereby holding the tether in a coupling zone in the first configuration while a connector is applied, yet allowing the tether to move freely in and out of the coupling zone in the second configuration, for example after or before the connector is applied.

[0024] Optionally, the marine vessel is provided with a coupler according to the first aspect of the invention. Optionally, said marine vessel comprises a tug.

[0025] According to a second aspect of the invention there is provided a line handling system comprising a coupler for connecting a marine vessel line and a tug line, the coupler comprising a connection zone for receiving the marine vessel line and the tug line, a guide configured to receive a connector and guide the connector around the connection zone so as to wrap it around the line, and a fixing member configured to fix the connector to the line so that the lines are coupled, the fixing member being upstream of the guide and configured to bend the connector before it is received by the guide.

[0026] According to a third aspect of the invention there is provided a tug comprising a coupler for connecting a marine vessel line and a tug line, the coupler comprising a connection zone for receiving the marine vessel line and the tug line, a guide configured to receive a connector and guide the connector around the connection zone so as to wrap it around the line, and a fixing member configured to fix the connector to the line so that the lines are coupled, the fixing member being upstream of the guide and configured to bend the connector before it is received by the guide.

[0027] According to a fourth aspect of the invention there is provided a tug comprising a line handling system comprising a coupler for connecting a marine vessel line and a tug line, the coupler comprising a connection zone for receiving the marine vessel line and the tug line, a guide configured to receive a connector and guide the connector around the connection zone so as to wrap it around the line, and a fixing member configured to fix the connector to the line so that the lines are coupled, the fixing member being upstream of the guide and configured to bend the connector before it is received by the guide.

[0028] According to a fifth aspect of the invention there is provided a method of connecting a marine vessel line and a tug line, the method comprising: providing a connector; placing the marine vessel line and the tug line in a coupling zone of a coupler, the coupler comprising a guide configured to receive the connector and guide it around the coupling zone and a fixing member configured to secure the connector to the line; bending the connector before it is received in the guide; guiding the connector around the coupling zone and wrapping it around the line; and fixing the connector to the line with the fixing member such that the lines are coupled.

[0029] Any feature of any aspect of the invention may, where appropriate, also apply to other aspects of the invention as well. [Brief description of the drawings]

[0030] Embodiments of the invention will now be described, by way of example only, with reference to the accompanying drawings, in which:

[0031] Figure 1 shows a schematic partial top view of an example tugboat in accordance with an embodiment of the present invention, with the line guidance mechanism of the tugboat's line steering system in a stowed position on or adjacent to the deck of the tugboat's hull.

[0032] Figure 2 shows a schematic front view of the tug of Figure 1 with the line guidance mechanism moved to an operative position, where it is for guiding a portion of the tug line towards a predetermined area around the hull.

[0033] Figure 3 shows a schematic front view of the tug of Figure 2 with the line guidance mechanism moved to a deployed position where it projects away from the vessel hull over the water where the tug is anchored to guide the marine vessel's line towards a predetermined area around the vessel hull.

[0034] Figure 4 shows a schematic partial top view of the tug of Figure 3. In this view it can be seen that the tug's line is guided to a predetermined area around the hull by a line guidance mechanism.

[0035] Figure 5 shows a schematic partial top view of the tug of Figures 3 and 4, adjacent to the marine vessel to be assisted, with the vessel's line hooked onto one of the two guidance arms of the line guidance mechanism.

[0036] Figure 6 shows a schematic partial top view of the tug of Figure 5. The guide arm to which the marine vessel line is attached has been rotated relative to the hull so that the distal end of the guide arm is closer to an axis extending in the fore-aft direction of the tug.

[0037] Figure 7 shows a schematic partial top view of the tug of Figure 6, where the secondary guide of the line guidance mechanism is rotated relative to the guidance arm to drive the marine vessel's line along the guidance arm towards a predetermined area around the vessel's hull.

[0038] Figure 8 shows a schematic partial top view of the tug of Figure 7. The secondary guide is further rotated relative to the guide arm to lift the marine vessel line off the guide arm and transport the line further towards a surrounding area.

[0039] FIG. 9 shows a schematic isometric view of the coupler in a first configuration.

[0040] FIG. 10 shows a schematic isometric view of the coupler of FIG. 9 in a second configuration.

[0041] FIG. 11 shows a schematic cross-sectional view of the coupler of FIG.

[0042] FIG. 12 shows a schematic isometric view of the coupling member of the coupler of FIG.

[0043] FIG. 13 shows a schematic side view of the connecting member of FIG.

[0044] FIG. 14 shows a schematic top view of the connecting member of FIG.

[0045] FIG. 15 shows a schematic partial side view of a tether connected using a connector with the coupler of FIG.

[0046] FIG. 16 shows a schematic partial isometric cross-sectional view of the coupler of FIG.

[0047] 17 and 18 show schematic isometric and front views, respectively, of the rollers of the coupler.

[0048] FIG. 19 shows a schematic partial top view of a tug with the line attached to the connector and being removed from the attachment zone of the coupler.

[0049] Figure 20 shows a flow diagram of a method for connecting a marine vessel line to a tug line.

[0050] FIG. 1 shows a schematic partial top view of an example of a tugboat 1 according to an embodiment of the present invention. The tugboat 1 is for assisting in the steering of a marine vessel, such as a container ship. The tugboat 1 comprises a hull 11 having a perimeter P defined by a fender of the tug. In some embodiments, the fender is omitted. The tugboat 1 comprises a deck 12 within the perimeter P and a wheelhouse 18 on the deck 12. The tugboat 1 further comprises a pair of line stores 16 for storing a line 15, each of the line stores 16 being in the form of a winch. The line 15 stored by the line store 16 is a towing line 15 (also known in the art as a towing line).

[0051] The tug 1 also carries a messenger line 13 for use in the process of transferring the towing line 15 from the tug 1 to the marine vessel to be assisted. The messenger line 13 is stored on the deck 12 when not in use. In FIG. 1, the messenger line 13 is shown as having a first end connected to the free end of one of the towing lines 15. For example, when the free end of the towing line 15 has an eye, the first end of the messenger line 13 may be attached to the eye. Conversely, the second end of the messenger line 13 is shown in FIG. 1 as hanging or hanging from the periphery P of the hull 11. In this embodiment, the messenger line 13 is provided at the bow end of the tug 1. However, as the tug 1 moves relative to the water in which it is anchored, the messenger line 13 is pulled by the water from the center of the bow of the tug 1 along the starboard side toward the stern.

[0052] The second end of the messenger line 13 is provided with a buoyancy element to aid in its flotation, and a portion of the messenger line 13 is highly visible and colored. This portion of the messenger line 13 extends a distance (e.g., about one meter) from the second end of the messenger line 13. This highly visible portion of the messenger line 13 may help the crew of the tugboat 1 to identify the location of the messenger line 13, and in particular whether the messenger line 13 is properly stowed when not in use. In some embodiments, the buoyancy element and / or the highly visible portion of the messenger line 13 may be omitted.

[0053] In Figure 1, an intermediate portion of the messenger line 13 is shown extending through a stanchion or other guide 14 on the deck 12. The stanchion or guide 14 serves to guide the messenger line 13 and the towing line 15 from a line store 16, in use, and may also be used to securely attach one or both of the towing lines 15 to the tug 1.

[0054] The tugboat 1 also has a line steering system 10. The line steering system 10 comprises a line guidance mechanism 100 movable into an operative position relative to the vessel 11, as shown in Figure 2. In the operative position, the line guidance mechanism 100 is for guiding a portion of the line of the tugboat 1 to move towards a predetermined area R of the periphery P of the vessel 11. In this embodiment, the line of the tugboat 1 guided by the line guidance mechanism 100 is a messenger line 13, although in other embodiments a line of the tugboat 1 other than the messenger line 13 may be guided by the line guidance mechanism 100. Positioning the line of the tugboat 1 in or near the predetermined area R of the periphery P in this manner facilitates subsequent coupling of the line of the tugboat 1 with the line of the marine vessel being assisted by the tugboat 1, as will be described in more detail below.

[0055] The predetermined area R of the periphery P lies on a central axis aa extending in the fore-aft direction of the tugboat 1 at the bow end of the hull 11. In some embodiments, the predetermined area R of the periphery P is, for example, at the stern of the tugboat 1 or on its port or starboard side. In some embodiments, the line steering system 10 is movable, e.g., rotatable about an axis passing through the hull 11, relative to the hull 11 to vary the predetermined area R of the periphery P along which the line guidance mechanism 100 can guide the line of the tugboat 1. Such an axis may pass through the deck 12. Said axis may be substantially parallel to the yaw axis of the tugboat 1. The line steering system 10 may be movable in this manner while the tugboat 1 is moving relative to the marine vessel it is assisting. This mobility of the line steering system is useful to enable the line steering system 10 to guide the line of the tugboat 1 towards a particular portion of the periphery P, which facilitates subsequent coupling of the line of the tugboat 1 with the line of the marine vessel. The part of the perimeter P may be, for example, the part of the perimeter P that is closest to the marine vessel.

[0056] In FIG. 1 , the line guidance mechanism 100 is shown in a stowed position. In the stowed position, the line guidance mechanism 100 is disposed within the periphery P of the hull 11. More specifically, in the stowed position, the line guidance mechanism 100 is disposed on or adjacent to the deck 12 and below the working surface of the edge of the hull 11. The line guidance mechanism 100 is substantially parallel to the deck 12 when in the stowed position. This allows the line guidance mechanism 100 to be less likely to interfere with the operation of the crew and equipment of the tugboat 1. Furthermore, the line guidance mechanism 100 is less likely to impede the movement of a line, such as the tow line 15, along the working surface. In other embodiments, in the stowed position, the line guidance mechanism 100 may be disposed elsewhere, such as on or above the top of the hull 11 or outside the periphery P of the hull 11.

[0057] The tether guidance mechanism 100 includes first and second guidance devices 110, 120 and an intermediate section 130 between the first and second guidance devices 110, 120. The first guidance device 110 is disposed on the port side and the second guidance device 120 is disposed on the starboard side. In some embodiments, the first and second guidance devices 110, 120 are disposed in other manners, such as both on the port or starboard side. In some embodiments, one or the other of the first and second guidance devices 110, 120 may be omitted, such that the tether guidance mechanism 100 includes only one of the guidance devices 110, 120.

[0058] The first guide device 110 includes a first guide arm 111, and the second guide device 120 includes a second guide arm 121. The first and second guide arms 111, 121 each have a distal end 111d, 121d distal to the intermediate portion 130 and an opposing proximal end adjacent the intermediate portion 130, and each of the first and second guide arms 111, 121 is curved between the proximal and distal ends such that it bends outwardly away from the other of the first and second guide arms 111, 121.

[0059] The line guidance mechanism 100 is movable relative to the hull 11 between a stowed position of Figure 1 and an operational position of Figure 2. More specifically, the line guidance mechanism 100 is rotatable about an axis BB that is substantially parallel to the deck 12 between the stowed position and the operational position. The axis BB about which the line guidance mechanism 100 can rotate between the stowed position and the operational position is substantially parallel to the width of the tugboat 1. The line guidance mechanism 100 comprises an electric motor 140 for driving it to and from the operational position relative to the hull 11, and a user operable control 19 for controlling the drive 140.

[0060] User operable controls 19 are located within the wheelhouse 18 of the tugboat 1. The user operable controls 19 include an input device for a user to input commands into the controls 19, such as a button, dial, joystick, or touch screen. In some embodiments, the line guide mechanism 100 is manually movable back and forth to an operating position, such as between a stowed position and an operating position. Although the user operable controls 19 are shown in FIG. 1 within the wheelhouse 18, in some embodiments it is provided elsewhere, such as on the deck 12.

[0061] 2, the first and second guide arms 111, 121 project upwardly, away from the hull, and are configured such that, in use, a portion of the line of the tugboat 1 overlapping one of the guide arms 111, 121 is urged to move along the guide arm 111, 121 which it overlaps, away from the distal end 111d, 121d of the guide arm 111, 121, towards a predetermined region R of the surroundings P. This urge to move may be due to the action of gravity on the line, and / or due to a portion of the line lying in the water in which the tugboat 1 is moored and being pulled by the water creating a force pulling the line downwards.

[0062] The configuration of the first and second guide arms 111, 121 that facilitates this movement includes their geometric shape and surface characteristics, and their positioning relative to the hull 11. More specifically, the first and second guide arms 111, 121 are shaped to avoid or reduce impediment to the movement of the tether along them. Additionally, each of the first and second guide arms 111, 121 is smooth, so that the tether can easily slide, roll, or otherwise move along them. In fact, all surfaces along which the tether may move are smoothly curved and free of sharp or pointed portions to avoid the tether getting caught. Additionally, the first and second guide arms 111, 121 are aligned relative to the hull 11 such that movement of a portion of the tether along either of the first and second guide arms 111, 121 results in movement toward the predetermined region R of the perimeter P. In other embodiments, the first and second guiding arms 111, 121 may have any or all of these characteristics and / or other characteristics that serve to facilitate movement of the tether toward the predetermined region R of this periphery P.

[0063] As noted above, the second end of the messenger line 13 is shown in Figure 1 as hanging or draping over the periphery P of the vessel 11. The alignment of the messenger line 13 is such that when the line guide mechanism 100 is in the stowed position, a portion of the messenger line 13 overlaps the second guide arm 121. Thus, as the line guide mechanism 100 moves relative to the vessel 11 between the stowed position of Figure 1 and the operative position of Figure 2, the portion of the messenger line 13 overlapping the second guide arm 121 is lifted away from the vessel 11. As the operative position is approached, and the second guide arm 121 approaches perpendicular to the deck, the portion of the messenger line 13 experiences an increasing force generally in a direction toward the vessel 11 and the water in which the tug 1 is anchored. 2, a portion of the messenger line 13, if it has not already moved during the movement of the leash guidance mechanism 100 as indicated by the arrow in FIG. 2, slides, rotates, or otherwise moves along the second guidance arm 121 toward the predetermined area R of the perimeter P. In this manner, the messenger line 13 drops or moves into the predetermined area R of the perimeter P.

[0064] As will be explained in more detail below, the secondary guides 112, 122 of the first and second guidance devices 110, 120 respectively overlap the first and second guide arms 111, 121 when the tether guide mechanism 100 is in the stowed position. This allows the tether guide mechanism 100 to be relatively compact when in the stowed position and also prevents the secondary guides 112, 122 from contacting or interfering with the edges of the hull 11 as the tether guide mechanism 100 moves between the stowed position and the operative position. The secondary guides 112, 122 are moved relative to the first and second guide arms 111, 121 of each guidance device 110, 120 before or after the tether guide mechanism 100 reaches the operative position, thereby reducing the likelihood that the secondary guides 112, 122 will block movement of the tether (in this embodiment, the messenger tether 13) along either of the first and second guide arms 111, 121.

[0065] Each of the first and second guide arms 111, 121 is rotatable about a respective pivot point 111p, 121p relative to the vessel 11. Such rotation causes a distal end 111d, 121d of each of the guide arms 111, 121 to move distal to the pivot point 111p, 121p toward and away from a central axis AA extending in the fore-aft direction of the tugboat 1.

[0066] The first and second guide arms 111, 121 are movable toward / away from each other. More specifically, the first and second guide arms 111, 121 are rotatable relative to the vessel 11 about respective pivot points 111p, 121p to move the distal ends 111d, 121d of the guide arms 111, 121 toward / away from each other. The ability of the first and second guide arms 111, 121 to move in this manner can provide several advantages. For example, it can help make the line guide mechanism 100 relatively compact when it is in a stowed position, it can allow the tilt angle of the guide arms 111, 121 to be adjusted to control the speed at which the line of the tugboat 1 moves along either of the guide arms 111, 121 when the line guide mechanism 100 is in an activated position, and it can also assist in capturing the line of the assisted marine vessel when the line guide mechanism 100 is in a deployed position, as described below.

[0067] When the line guidance mechanism 100 is in the working position, the first and second guiding arms 111, 12 and the middle part 130 of the line guidance mechanism 100 together form a substantial U-shape. The line guidance mechanism 100 is movable between the working position and the deployed position relative to the hull 11. Figures 3 and 4 show a schematic front view and a schematic partial top view of the tugboat 1 of Figures 1 and 2, respectively, but with the line guidance mechanism 100 in the deployed position. When the line guidance mechanism 100 is in the deployed position, the line guidance mechanism 100 protrudes away from the hull 11 to guide the line of the marine vessel towards a predetermined area R of the periphery P of the hull 11. The marine vessel may be a vessel for the tugboat 1 to assist in steering. More specifically, when the line guidance mechanism 100 is in the deployed position, the line guidance mechanism 100 protrudes away from the periphery P of the hull 11 and above the water in which the tugboat 1 is moored. As will be explained in more detail below, positioning the marine vessel line in or near the predetermined region R of the perimeter P in this manner may facilitate subsequent coupling of the line of the tugboat 1 with the marine vessel line.

[0068] Because the line guidance mechanism 100 is for guiding the marine vessel line towards a predetermined area R of the perimeter P, the marine vessel line (such as a throwing line) can be thrown towards the line guidance mechanism 100 rather than towards the deck 12 of the tug 1 or crew standing on the deck 12. This reduces the likelihood of injury to crew on the tug 1 and also reduces the likelihood that the tug 1 itself will be damaged by a line thrown from the marine vessel. Additionally, because the line guidance mechanism 100 spans a relatively long distance, it provides an easier "target" for the marine vessel line to hit when thrown therefrom.

[0069] The line steering system 10 is rotatable relative to the hull 11, for example about an axis passing through the hull 11, thereby varying the predetermined area R of the perimeter P over which the line guidance mechanism 100 can guide the marine vessel's line. Such an axis may pass through the deck 12 and may be substantially parallel to the yaw axis of the tug 1. This mobility of the line steering system 10 facilitates successful casting of the marine vessel's line to the tug 1, since the line guidance mechanism 100, and more particularly the guidance arms 111, 121, may be positioned to face the marine vessel. The line steering system 10 is thus movable while the tug 1 and marine vessel are moving relative to each other, so that the "target" remains the same from the marine vessel's point of view, regardless of the position of the tug 1 relative to the marine vessel.

[0070] The tether guidance mechanism 100 is movable relative to the hull 11 between a deployed position and a stowed position, shown in Figures 4 and 1, respectively. As noted above, in this embodiment, the tether guidance mechanism 100 does not protrude away from the hull 11 when in the stowed position. However, in other embodiments, the tether guidance mechanism 100 may protrude away from the hull 11 when in the stowed position, optionally to a lesser extent than when the tether guidance mechanism 100 is in the deployed position.

[0071] As mentioned above, the tether guidance mechanism 100 includes first and second guidance devices 110, 120, each of which includes one of the guidance arms 111, 121. The guidance arms 111, 121 protrude away from the hull 11 when the tether guidance mechanism 100 is in the deployed position. Furthermore, as mentioned above, each of the first and second guidance arms 111, 121 is rotatable relative to the hull 11 about a respective pivot point 111p, 121p to move the respective distal ends 111d, 121d of the guidance arms 111, 121 toward / away from each other. When the tether guidance mechanism 100 is in the deployed position, the pivot points 111p, 121p are located inboard of the periphery P of the hull 11. In some embodiments, the pivot points 111p, 121p may be located on or off the periphery P of the hull 11. A marine vessel line (such as a throwing line) is intended to be received between the first and second guide arms 111, 121. Moving the distal ends 111d, 121d away from each other increases the width of the area that the guide arms 111, 121 can sweep while the tug 1 is moving. This increases the area over which the marine vessel line can be cast and then guided by the line guidance mechanism 100 towards a predetermined area R of the periphery P of the hull 11.

[0072] The first and second guide arms 111, 121 are movable independently of one another relative to the hull 11. However, in some embodiments, the first and second guide arms 111, 121 are movable dependently of one another relative to the hull 11. As shown in Figure 1, the tether guide mechanism 100 comprises a drive mechanism 142 for driving the movement of the first and second guide arms 111, 121 relative to the hull 11, and a user operable control for controlling the drive mechanism 142. The drive mechanism 142 comprises an electric motor, but in some embodiments may take any suitable form, such as one or more electric motors or other motors, optionally with a drive train or gearbox between the motor and the first and second guide arms 111, 121.

[0073] It can be seen in Figures 3 and 4 that the first and second guide arms 111, 121 have been moved relative to the hull 11 such that the distal ends 111d, 121d of the guide arms 111, 121 are spaced further apart as compared to the configuration shown in Figure 2. In fact, the distal ends 111d, 121d are now spaced apart a distance greater than the width (i.e. maximum width) of the tug 1.

[0074] In Fig. 5, the tugboat 1 of Figs. 3 and 4 is adjacent to a marine vessel 2 that is steered by the tugboat 1. The marine vessel may be, for example, a container ship. Furthermore, a part of the line 20 of the marine vessel 2 (e.g., the throwing line 20) is thrown from the position of the first guiding arm 111 of the line guidance mechanism 100 on the stern of the marine vessel 2 and is hung on the first guiding arm 111 of the line guidance mechanism 100. The diameter of the throwing line 20 may be, for example, 12 millimeters. In this way, when the throwing line 20 of the marine vessel 2 is hung on the first guiding arm 111 of the line guidance mechanism 100, the throwing line 20 can then be guided by the line guidance mechanism 100 towards a predetermined area R of the periphery P of the hull 11.

[0075] 6, the first guide arm 111 to which the tossing line 20 of the marine vessel 2 is attached is rotated relative to the hull 11, whereby the distal end 111d of the first guide arm 111 moves closer to the central axis AA extending in the fore-aft direction of the tugboat 1. This has the effect of moving the tossing line 20 closer to a predetermined region R of the periphery P of the hull 11.

[0076] The line 20 is then guided closer to the predetermined area R of the periphery P of the hull 11 by the secondary guides 112, 122 of the line guidance mechanism 100, briefly discussed above. Each of the guidance devices 110, 120 of the line guidance mechanism 100 includes a respective one of the secondary guides 112, 122. The first secondary guide 112 is movable relative to the first guide arm 111 to drive the line along the first guide arm 111 toward the predetermined area R of the periphery P. Similarly, the second secondary guide 122 is movable relative to the second guide arm 121 to drive the line along the second guide arm 121 toward the predetermined area R of the periphery P. Furthermore, the movement of the secondary guides 112, 122 of the first and second guidance devices 110, 120 relative to the hull 11 includes the movement of the secondary guides 112, 122 toward each other.

[0077] The secondary guidance 112, 122 is rotatable relative to the guidance arms 111, 121, although in other embodiments the motion of the secondary guidance 112, 122 relative to the guidance arms 111, 121 may be other than rotational, such as translational or a combination of rotational and translational. The rotation of the secondary guidance 112, 122 is about the same axis as the rotation of the guidance arms 111, 121 relative to the vessel 11. That is, the secondary guidance 112, 122 is rotatable about the same pivot points 111p, 121p as the first and second guidance arms 111, 121.

[0078] The first and second secondary guides 112, 122 are movable independently of one another relative to the vessel 11 and their respective guide arms 111, 121. As shown in Figure 1, the tether guide mechanism 100 comprises a drive 144 for driving the movement of the first and second secondary guides 112, 122 relative to the vessel 11 and their respective guide arms 111, 121, and a user operable control for controlling the drive 144. The drive 144 comprises an electric motor, but in some embodiments may take any suitable form, such as one or more electric motors or other motors, optionally with a drive train or gearbox between the motor and the first and second guides 112, 122.

[0079] The first guide arm 111 includes an index or marker M located midway along the first guide arm 111. The index or marker M indicates a location or area on the first guide arm 111. More specifically, the index or marker M indicates a location or area on the first guide arm 111 where the line 20 of the marine vessel 2 should be located before the first secondary guide 112 is moved to drive the line 20 along the first guide arm 111 toward the predetermined area R of the periphery P. This area may be an area between the index or marker M and the pivot point 111p of the first guide arm 111. The crew can visually monitor the position or progress of the line 20 relative to the index or marker M. When the crew notices that the line 20 is in the location or area on the first guide arm 111 indicated by the index or marker M, they move the first secondary guide 112 to drive the line 20 along the first guide arm 111 toward the predetermined area R of the periphery P. This may be due to the crew manipulating a user operable control for controlling the drive 144, or the crew manually moving the first secondary guide 112. Thus, the indicator or marking M serves to ensure that the line 20 is correctly positioned on the first guide arm 111 and then successfully driven along the first guide arm 111 by the first secondary guide 112. The second guide arm 121 also includes an indicator or marking M midway along the second guide arm 121 that is positioned to indicate a location or area of ​​the second guide arm 121 where the line of the marine vessel should be located prior to moving the second secondary guide 122 to drive the line along the second guide arm 121 towards the predetermined area R of the perimeter P.

[0080] 7, both secondary guidances 112, 122 have been rotated relative to the hull 11 and the first guidance arm 111 as compared to the situation shown in FIG 6. This causes the first secondary guidance 112 to contact the sling 20 of the marine vessel 2 and drives the sling 20 along the first guidance arm 111 closer to a predetermined region R of the periphery P of the hull 11.

[0081] 8, both secondary guides 112, 122 have been rotated further relative to the hull 11 and the first guide arm 111 as compared to the situation shown in FIG 7. This causes the sling 20 of the marine vessel 2 to be lifted from the first guide arm 111 and carried further towards the predetermined region R of the periphery P of the hull 11.

[0082] As can be seen from Figures 7 and 8, during the movement of each secondary guide 112, 122 relative to the hull 11, the secondary guides 112, 122 cross each other at a crossing point C that moves along both the secondary guides 112, 122. This crossing means that the secondary guides 112, 122 and the hull 11 together enclose the space in which the throwing line 20 and the messenger line 13 are located. This allows the throwing line 20 and the messenger line 13 to be held against the line guide mechanism 100. Furthermore, each of the secondary guides 112, 122 has a parabolic shape. This allows the crossing point C to avoid forming an acute angle, reducing the risk that the secondary guides 112, 122 will capture or pinch the throwing line 20 at the crossing point C.

[0083] 8, both the messenger line 13 of the tugboat 1 and the throwing line 20 of the marine vessel 2 are positioned in a predetermined area R of the periphery P of the hull 11. Furthermore, the two lines 13, 20 are within a space enclosed by the secondary guides 112, 122 and the hull 11. The two lines 13, 20 are now coupled by a coupler 200 of the line steering system 10.

[0084] FIG. 9 shows a schematic isometric view of a coupler 200 for connecting a throwing line 20 (i.e., a marine vessel line) and a messenger line 13 (i.e., a tug line). The coupler 200 is operable to couple the lines 13, 20 together by applying a connector 210 to the lines 13, 20. The coupler 200 is selectively operable by a user, such as by applying the connector 210 to the lines 13, 20 via a user operable control 19, to couple them together. In some embodiments, the coupler 200 is operable only after receiving a confirmation signal from another device. The coupler 200 may be operable only after receiving information indicating that the secondary leads 112, 122 are in the position shown in FIG. 8 (where the secondary leads 112, 122 are fully crossed). This ensures that the lines 13, 20 are in the correct position before the coupler 200 is activated. In some embodiments, the coupler 200 includes a sensor (eg, a proximity sensor) for detecting the presence of the tows 13,20.

[0085] The coupler 200 comprises a coupling zone 201 for receiving the tether 13, 20 (not shown in FIG. 9) and a guide 202 configured to receive the connector and guide it around the coupling zone 201 so that it wraps around the tether 13, 20. The connector 210 is a length of wire (as shown in FIG. 14), although other forms of connectors such as clips or straps are envisaged. The coupler 200 comprises a supply 203 made of wire and is configured to cut the connector 210 from the supply 203. The supply 203 comprises a spindle 213 on which the wire is wound. The diameter of the wire is between 0.5 and 3 mm. Typically, the diameter of the wire is between 0.5 and 2 mm, for example 0.8 mm. The supply 203 holds 100 meters of wire from which a continuous connector 210 can be cut. In some embodiments, the supply 203 comprises 1 meter, 5 meters, 10 meters, 25 meters, or 50 meters of wire from which a continuous connector 210 can be cut. The spindle 213 is removable from the coupler 200 so that the supply 203 can be replenished. For example, a new length of wire may be wound onto the spindle 213, or the spindle 213 may be replaced with a new spindle 213 pre-wound with wire.

[0086] The coupler 200 comprises three electric motors 220, 221, 222 for driving the coupler 200. The first motor 220 drives a feeding mechanism 208 (not visible in Figs. 9 and 10) that feeds the connector 210 towards the guide 202. The second motor 221 drives a fixing member 209 configured to fix the connector 210 to the tether 13, 20. The third motor 222 drives the first portion 205 of the housing 204 to move it relative to the second portion 206. Although three motors 220, 221, 222 are shown in Figs. 9 and 10, more or less motors may be used. Furthermore, although the first, second and third motors 220, 221, 222 are shown in Figs. 9 and 10 as electric motors, they may comprise other types of motors. For example, the motors may be hydraulic motors or pneumatic motors, or a mixture of electric, hydraulic or pneumatic motors.

[0087] The coupler 200 comprises a housing 204 comprising a first portion 205 and a second portion 206. A coupling zone 201 is defined between the first portion 205 and the second portion 206 having a substantially circular cross-sectional shape. The diameter of the coupling zone 201 is at least equal to the combined diameter of the tows 13, 20 such that the tows are fully received within the coupling zone 201. The diameter of the coupling zone 201 is approximately 100 millimeters. In some embodiments, the coupling zone 201 may have a different cross-sectional shape, for example an elongated oval. The first portion 205 of the housing 204 is hingedly attached to the second portion 206 of the housing at a pivot point 231. This allows the first portion 205 to rotate relative to the second portion 206 about the pivot point 231 between the first and second configurations. In the first configuration (shown in FIG. 9 ), the housing 204 restricts the movement of the tethers 13, 20 in the directions of a first axis (shown by arrow Y) and a second axis (shown by arrow Z) that are perpendicular to one another, but does not restrict their movement in the direction of a third axis (shown by arrow X) that is perpendicular to both the first axis Y and the second axis Z. In the first configuration, the movement of the tethers 13, 20 in and out of the coupling zone 201 is restricted to the first axis Y and the second axis Z. For example, if the tethers 13, 20 are in the coupling zone 201, the tethers 13, 20 are prevented from being lifted out of the coupling zone 201 along the second axis Z when the coupler 200 is in the first configuration. In the second configuration (shown in FIG. 10 ), the housing 204 restricts the movement of the tethers 13, 20 in the direction of the first axis Y, but does not restrict their movement in the directions of the second axis Z and the third axis X. Thus, in the second configuration, the tethers 13, 20 may be freely placed and / or removed from the coupling zone 201 along the second axis Z and / or the third axis X. In this manner, when the coupler 200 is in the first configuration, the tethers 13, 20 may be held in place while the connectors 210 are secured to those tethers. Once the connectors 210 are secured to the tethers 13, 20, the coupler 200 may be placed in the second configuration, and the coupled tethers 13, 20 may be removed from the coupling zone 201 so that additional tethers may be received in the coupling zone 201 for later coupling.

[0088] FIG. 11 shows a schematic cross-sectional view of the coupler 200 of FIGS. 9 and 10. The coupler 200 is switchable between a first configuration and a second configuration by actuation of the third motor 222. The first portion 205 includes teeth 232 fixed thereto, whereby movement of the teeth 232 causes the first portion 205 to rotate about a pivot point 231. The third motor 222 is connected to a worm gear 233, whereby actuation of the third motor 222 causes the worm gear 233 to rotate. The worm gear 233 engages the teeth 232, whereby rotation of the worm gear 233 causes the teeth, and therefore the first portion 205, to rotate about the pivot point 231. To switch the coupler 200 from the first configuration to the second configuration, the third motor 222 is actuated to rotate the worm gear 233 in a first direction and also rotate the teeth 232 and the first portion 205 90 degrees clockwise (from the perspective of FIG. 11 ) about the pivot point 231. The third motor 222 includes an encoder 234 that provides information indicative of the position of the rotor of the third motor 222. This information can then be used to measure how far the first portion 205 has rotated about the pivot point 231. In some embodiments, the first portion may rotate more or less than 90 degrees, as long as the tows 13, 20 can be received and / or removed from the coupling zone 201. To switch the coupler 200 back to the first configuration from the second configuration, the third motor 222 is actuated to rotate the worm gear in a second direction opposite to the first direction. This causes the teeth 232 to rotate the first portion counterclockwise by 90 degrees, closing the coupling zone 201 to reach the first configuration.

[0089] The guide portion 202 comprises a channel 207 formed in the first and second portions 205, 206 of the housing 204. The channel 207 extends around the entire circumference of the coupling zone 201 and is configured to guide the connector 210 around the coupling zone 201 to completely surround the tethers 13, 20 disposed within the coupling zone 201. The depth of the channel 207 is at least equal to the outer diameter of the connector 210. Thus, the connector 210 can be completely surrounded by the channel 207 such that no portion of the connector 210 extends into the coupling zone 201. This can, for example, prevent the connector 210 from sticking to the tethers 13, 20. In this embodiment, the channel 207 extends around the entire circumference of the coupling zone 201, but in some embodiments the channel 207 extends around a lesser percentage of the circumference, for example, 75% of the circumference or 50% of the circumference. The inner surface of the channel 207 is configured to be substantially smooth and / or free of rough edges to facilitate movement of the connector through the channel 207. This reduces the chance of the connector becoming stuck within the channel 207 as it passes through the channel 207.

[0090] The coupler 200 comprises a fixing member 209 configured to fix a connector 210 to the ropes 13, 20 such that the ropes 13, 20 are coupled to one another. The fixing member 209 is shown in more detail in Figs. 12-14. The fixing member 209 comprises a pair of ridges 214, 215 with a valley 216 between said ridges. The connector 210 is configured to pass between the ridges 214 and through the valley 216 as it is fed around the coupling zone 201. Fig. 14 shows a schematic top view of the fixing member 209. The valley 216 is defined by a pair of non-parallel walls 238, 239 which are joined to a pair of parallel walls 240, 241. The width between the pair of ridges 214, 216 is greater on a first side 242 of the fixing member 209 than on a second side 243 of the fixing member 209. Thus, the valley 216 is wider on the first side 242 of the securing member 209 than on the second side 243 of the securing member 209. This helps to guide the connector 210 between the pair of ridges 214, 215 and may also help to account for the fact that the valley 216 and / or the securing member 209 are not precisely aligned with the feeding mechanism 208 when a new connector 210 is provided.

[0091] The fixing member 209 is configured to fix the connector 210 to the line 13, 20 by twisting the free ends 211, 212 of the connector 210 together after wrapping the connector 210 around the line 13, 20. In use, the free ends 211, 212 of the connector 210 are disposed within the valleys 216 between the ridges 214, 215 of the fixing member 209. To twist the free ends 211, 212 of the connector 210 together, the second motor 221 is actuated to rotate the fixing member 209 about the axis of rotation D. The ridges 214, 215 engage the free ends 211, 212 of the connector 210, causing the free ends 211, 212 to twist together. The final arrangement of the connector 210 connecting the messenger line 13 and the throwing line 20 according to this embodiment is shown in FIG. 15.

[0092] The coupler 200 is configured to wrap the connector 210 around the ropes 13, 20 when the coupler 200 is actuated. Wrapping the connector 210 around the ropes 13, 20 includes causing the connector 210 to encircle the bundle of ropes 13, 20 along the direction indicated by the arrow H. The connector 210 is directed to the stationary member 209 by a feeding mechanism 208, as shown in FIG. 11. The feeding mechanism 208 includes a pair of rotatable wheels 217, 218 between which the connector 210 is fed. The wheels 217, 218 are driven by a first motor 220 and frictionally engage the connector 210 to move the connector 210 towards the stationary member 209. After the connector 210 passes between the wheels 217, 218, the connector 210 is threaded through a tube 219, which may help to orient the connector 210 towards the stationary member 209. The first motor 220 that drives the feeding mechanism 208 includes an encoder (not shown in FIG. 9 or FIG. 10 ) that provides information indicative of the position of a portion of the first motor 220 (e.g., the rotor of the first motor 220), which can be used to measure the number of times the rotor (or other portion of the first motor 220) has rotated. This information can then be used to measure the length of wire being fed by the feeding mechanism 208, which can also be used to measure the amount of wire remaining in the supply 203. This information may be used to determine when the supply 203 needs to be replaced and / or refilled, which helps to avoid running out of wire for the connector 210 of the coupler 200.

[0093] The fixing member 209 includes a bending surface 223 configured to bend the connector 210 before the connector 210 is received by the guide 202. In use, the connector 210 is directed to the bending surface 223 by the feeding mechanism 208. The bending surface 223 is disposed at an angle to the direction of travel of the connector 210, such that when the connector 210 impacts the bending surface 223, the connector 210 is diverted in a direction that is obliquely inclined to the initial direction of travel of the connector 210. The bending surface 223 has an angle of 130° to 140°, for example 135°, to the direction of travel of the connector 210. After impacting the bending surface 223, the connector 210 passes through a valley 216 between the ridges 214 and 215 of the fixing member 209. Because the fastening member 209, and thus the bending surface 223, are upstream of the guide 202, the connector 210 is bent before being received by the guide 202. The connector is bent into an arc having a diameter greater than the combined diameter of the tows 13, 20 as the connector wraps around the tows 13, 20. The diameter of this arc is directly related to the angle of the bending surface 223. Thus, the angle of the bending surface 223 may be adjusted depending on the thickness and / or type of connector being used to provide the desired arc diameter.

[0094] As shown in Figures 12 and 13, the fixed member 209 comprises a cylindrical cam 224. The cylindrical cam comprises a groove 235 in which the protrusion 225 of the coupler is received. When the cylindrical cam rotates, the protrusion 225 remains fixed relative to the housing, so that when the fixed member rotates about the axis of rotation D (as shown by arrow S), it moves relative to the protrusion 225 along the axis of rotation D (as shown by arrow T). Due to the oscillating shape of the groove 235 of the cylindrical cam 224, the cylindrical cam 224 causes the fixed member 209 to reciprocate along the axis of rotation D as the fixed member rotates about the axis of rotation D. The fixed member 209 also comprises a cutting member in the form of a lip 226 around the periphery of the fixed member 209. When the fixed member 209 rotates about the axis of rotation D and translates / reciprocates, the lip 226 contacts the connector 210 and acts to disconnect the connector 210 from the supply 203. In this manner, the securing member 209 can twist the free ends 211, 212 of the connector 210 together to secure the connector 210 to the lines 13, 20 while simultaneously disconnecting the connector 210 from the supply 203. The lip 226 comprises a hardened material that is harder than the connector 210. This can help reduce the chance of the lip 226 being damaged when disconnecting the connector 210 from the supply 203.

[0095] Referring back to FIG. 11, the fixed member 209 is connected to the second motor 221 via a pair of gears 227, 228. The first gear 227 is connected to the second motor 221, and the second gear 228 is connected to the fixed member 209. The first gear 227 meshes with the second gear 228 to transmit rotation from the second motor 221 to the fixed member 209. The ratio of the size (e.g., number of teeth) of the first gear 227 and the second gear 228 is selected to reduce the rotation speed from the second motor 221 mounted on the fixed member 209. In FIG. 11, the second gear 228 has twice as many teeth as the first gear 227, so the ratio of the first gear 227 to the second gear 228 is 1:2. This means that for every rotation of the rotor of the second motor 221, the fixed member rotates 180 degrees (i.e., half a rotation). The second motor 221 further comprises an encoder 229 that is used to measure the number of revolutions of the rotor of the second motor 221. This allows the number of revolutions of the fixing member 209 to be measured. This information can then be used to determine whether the free ends 211, 212 of said connectors have been twisted sufficiently and / or whether the fixing member 209 is in the correct position to receive the connector 210 from the feeding mechanism 208. In order to secure the tether 13 and the tether 20 together, the fixing member 209 is configured to rotate at least 10 times. Thus, when the encoder 229 detects that the rotor of the second motor 221 has rotated 20 times, it is indicated that the fixing member 209 has rotated 10 times. Further rotation of the fixing member 209 is then stopped while the tethers 13, 20 are still within the coupling zone 201. In some embodiments, in order to secure the tethers 13 and the tether 20 together, the fixing member 209 may be configured to rotate more or less than 10 times. For example, to secure tether 13 and tether 20 together, securing member 209 may be configured to rotate at least 2 times, at least 5 times, or at least 15 times.

[0096] As shown by arrow S in Fig. 12, the locking member 209 is configured to rotate in a first direction when the free ends 211, 212 of the connector 210 are twisted together to lock the tethers 13, 20 together. Once the tethers 13, 20 are locked by the connector 210, the tethers 13, 20 are removed from the coupling zone 201 and the locking member 209 is rotated in a second direction opposite the first direction. The locking member 209 is rotated in the second direction the same number of times as it was rotated in the first direction. This ensures that when further tethers are coupled, the locking member 209 is reset and in the correct position to receive the connector.

[0097] FIG. 16 shows an isometric partial cross-sectional view of the coupler 200 of FIGS. 9-11. As shown in FIG. 15 (and FIG. 11), the coupler 200 includes a roller 230 disposed along the channel 207 of the guide 202. The roller 230 is configured to rotate in the same direction as the first wheel 217 (i.e., the opposite direction to the second wheel 218) to direct the connector 210 along the channel. As the connector 210 passes along the channel 207, it engages the roller 230 via friction. As the roller 230 rotates, the connector 210 engaged with the roller 230 is urged further along the channel by the roller 230. The roller 230 extends into the channel 207 by an amount sufficient to ensure that the connector 210 is securely engaged with the roller 230, but not so large as to block or prevent movement of the connector 210 through the channel 207. Additionally, the diameter of the rollers 230 is such that abrupt changes in the profile of the channel 207 are avoided, which may help reduce the likelihood of the connector 210 sticking at the interface between the rollers 230 and the channel 207. In the embodiment shown in FIG 15, the diameter of the rollers 230 is about 28 millimeters. In some embodiments, the diameter of the rollers 230 is greater or less than 28 millimeters.

[0098] The rollers 230 are driven by a first motor 220 which drives the feed mechanism 208. The rollers 230 are coupled to the first motor 220 by a series of gears which are arranged to cause the rollers 230 to rotate at a faster speed than the first and second wheels 217, 218 of the feed mechanism 208. This helps the connector 210 to progress along the channel 207 and also prevents the connector 210 from binding in the channel as it moves away from the feed 203.

[0099] 17 and 18 show schematic isometric and front views, respectively, of roller 230. Roller 230 includes an outer surface 236 that includes a slot 237 configured to receive connector 210. The width of slot 237 is substantially equal to the width of channel 207. In some embodiments, the width of slot 237 is greater than or less than the width of said slot. In some embodiments, the width of slot 237 is substantially equal to the diameter of connector 210. Slot 237 of roller 230 is shaped such that when connector 210 is received in slot 237, connector 210 moves toward the center of slot 237. This may help align connector 210 within channel 207, and may also help align connector 210 with valley 216 of fastener 209. In the embodiment shown in FIGS. 17 and 18, slot 237 is approximately 4 millimeters deep. In some embodiments, slot 237 is greater than or less than 4 millimeters deep.

[0100] In use, the coupler 200 is placed in the second configuration (shown in FIG. 10) with the tethers 13, 20 positioned within the coupling zone 201. The coupler 200 is then placed in the first configuration (shown in FIG. 9) in preparation for the connector 210 to be secured to the tethers 13, 20. The first motor 220 is actuated to rotate the pair of wheels 217, 218 and feed the connector 210 from the supply 203 towards the bent surface 223 of the fixing member 209. The connector 210 passes through the tube 219 towards the bent surface 223, which is angled relative to the direction of movement of the connector 210 through the tube 219. When the connector 210 contacts the bent surface 223, the connector 210 is diverted in a direction that is obliquely inclined relative to the direction of movement of the connector 210 through the tube 219. This causes the connector 210 to bend into a shape that substantially follows the periphery of the coupling zone 201. After being bent by the bending surface 223, the connector 210 passes between the ridges 214 and 215 of the fixing member 209 (i.e., passes through the valleys 216) and then passes through the channel 207 of the guide 202. The connector 210 continues to wrap around the ropes 13, 20 through the channel 207 until the connector 210 has wrapped around the ropes 13, 20 a predetermined number of times (e.g., three times). Each time the connector 210 wraps around the ropes 13, 20, it passes between the ridges 214 and 215 of the fixing member 209, thereby positioning the free ends 211, 212 of the connector 210 (after being cut off from the supply 203) between the ridges 214, 215. Once the connector 210 has been wrapped around the rope 13, 20 a predetermined number of times, the first motor 220 is deactivated, stopping the supply of the connector 210 from the supply 203. The second motor 221 is then activated, actuating the locking member 209 to rotate the locking member 209 about the axis of rotation D while translating the same along the axis of rotation D. As the locking member 209 rotates, the free ends 211, 212 of the connector 210 located between the ridges 214 and 215 twist relative to one another, locking the connector 210 to the rope 13, 20. At the same time, as the locking member 209 translates along the axis of rotation D, the lip 226 of the locking member 209 disconnects the connector 210 from the supply 203.Once the fixed member 209 has rotated a predetermined number of times (eg, 10), the second motor 221 is deactivated and the coupler 200 is placed in the second configuration so that the coupled tows 13, 20 can be removed from the coupling zone 201.

[0101] 19, when the lines 13, 20 are coupled together, the secondary guides 112, 122 are moved away from each other and the guide arms 111, 121 are moved away from each other. This releases the throwing line 20 and the connected messenger line 13 from the space enclosed by the secondary guides 112, 122 and the hull 11 so that the messenger line 13 can be hoisted to the marine vessel 2 using the throwing line 20. At least one end of the tow lines 15 can then be hoisted to the marine vessel 2 using the messenger line 13 and the opposite end of at least one of the tow lines 15 can be attached to a mast or guide 14 of the tug 1.

[0102] When the tether guidance mechanism 100 is no longer needed, it is returned from the deployed position to the stowed position. The coupler 200 is movable from the position shown in Figure 8, where the coupler 200 applies the connector 210 to the tethers 13, 20, connecting the tethers 13, 20, and moving to a position where the coupler 200 is stowed as shown in Figure 1. The coupler 200 moves with the tether guidance mechanism 100 to a stowed position adjacent the deck 12 within the periphery P of the hull 11. In some embodiments, the coupler 200 remains in place between uses, for example relative to the hull 11.

[0103] In the embodiment described above, the rope steering system 10 includes the rope guidance mechanism 100, however, in some embodiments, the rope guidance mechanism 100 may be omitted and the rope steering system 10 may not include a rope guidance mechanism.

[0104] While in the above embodiments the line guidance mechanism 100 is adapted to protrude from the hull 11 to guide the line of the marine vessel towards the predetermined region R of the perimeter P, in some embodiments the line guidance mechanism 100 is not adapted to protrude from the hull 11 to guide the line of the marine vessel towards the predetermined region R of the perimeter P. For example, the line guidance mechanism 100 may be fixed from an operative position relative to the hull 11.

[0105] While in the above embodiments the line guidance mechanism 100 is movable relative to the vessel 11 to an operative position in which the line guidance mechanism 100 guides a portion of the tug line to move towards a predetermined area of ​​the periphery, in some embodiments the line guidance mechanism 100 is not movable relative to the vessel 11 to an operative position in which the line guidance mechanism 100 guides a portion of the tug line to move towards a predetermined area of ​​the periphery. For example, the line guidance mechanism 100 may be fixed from a deployed position relative to the vessel 11.

[0106] In some examples, two or more of the above-described embodiments may be combined. In some examples, features of one embodiment may be combined with features of one or more other embodiments.

[0107] 20 shows a flow diagram of a method 300 for connecting a line of a marine vessel (e.g., a messenger line 13) and a line of a tug (e.g., a throwing line 20). The method 300 may be performed using any coupler 200 as described herein. The method 300 includes providing (301) a connector 210 and positioning (302) the line 13, 20 within a coupling zone 201 of the coupler 200. The coupler 200 includes a guide portion 202 configured to receive the connector 210 and guide the connector 210 around the coupling zone 210, and a fixing member 209 configured to fix the connector 210 to the line 13, 20. The method 300 further includes bending the connector 210 before the connector 210 is received in the guiding portion 202 (303), guiding the connector 210 around the coupling zone 201 and wrapping it around the tows 13, 20 (304), and securing the connector 210 to the tows 13, 20 with a securing member 209 so that the tows 13, 20 are coupled (305).

[0108] Although the present invention has been described with particular reference to the illustrated embodiment, it will be appreciated that variations and modifications may be made without departing from the scope of the invention as defined in the appended claims.

Claims

1. 1. A coupler for connecting a marine vessel line to a tugboat line, comprising: a connection zone for receiving a line of the marine vessel and a line of a tug; a guide portion configured to receive a connector and guide the connector around the coupling zone and wrap it around the tether; and a fixing member configured to fix the connector to the tether so that the tether is coupled, the fixing member being upstream of the guide and configured to bend the connector before the connector is received by the guide; A coupler comprising:

2. 2. The coupler of claim 1, wherein the guide portion comprises a channel for guiding the connector around the coupling zone and a roller disposed along the channel for directing the connector along the channel.

3. 3. The coupler of claim 2, wherein the coupling zone is defined by a housing, the guide channel is disposed in a surface of the housing, the housing comprises a first portion and a second portion, the first portion being movable relative to the second portion.

4. 4. The coupler of claim 3, wherein the coupler is operable in a first configuration in which the housing limits tether movement in first and second mutually orthogonal axes, but does not limit tether movement in a third axis, orthogonal to both the first and second axes, and a second configuration in which the housing limits tether movement in the first axis, but does not limit tether movement in the second and third axes.

5. The coupler of any one of claims 1 to 4, wherein the coupler is configured to wrap the connector multiple times around the tether.

6. A coupler according to any preceding claim, wherein the connector comprises a length of wire.

7. A coupler according to any preceding claim, wherein the securing member is operable to twist free ends of the connector together to secure the connector to the tether.

8. 8. The coupler of claim 1, wherein the coupler comprises a feeding mechanism configured to feed the connector from a supply towards the fixing member, the fixing member comprising a disconnecting element configured to disconnect the connector from the supply.

9. The coupler of claim 8 , wherein the cutting element comprises a lip extending around the stationary member.

10. 10. The coupler of claim 8 or claim 9, wherein the feed mechanism is configured to feed the connector towards the fixed member at a first speed and the roller is configured to rotate at a second speed, the second speed being faster than the first speed.

11. A coupler according to any one of claims 8 to 10, wherein the securing member is operable to twist free ends of the connector together to secure the connector to the line and to disconnect the connector from the supply.

12. 12. A coupler according to any one of claims 8 to 11, wherein the fixing member is rotatable about an axis of rotation to fix the connector to the line and is translatable along the axis of rotation to move the cutting element relative to the supply to disconnect the connector from the supply.

13. 13. The coupler of claim 12, wherein the locking member comprises a cylindrical cam engageable with a protrusion on the coupler to translate the locking member along the axis of rotation as the locking member rotates about the axis of rotation.

14. A coupler according to any one of claims 8 to 13, wherein the fixing member comprises a bending surface, the fixing member being alignable with the feeding mechanism such that the connector is oriented towards the bending surface to cause the connector to bend.

15. 15. The coupler of claim 1, wherein the fixing member comprises a pair of ridges configured for the connector to pass therethrough, the pair of ridges engaging the connector when the fixing member is rotated such that the connector twists when the fixing member is rotated.

16. A line steering system for a tugboat comprising a coupler according to any one of claims 1 to 15.

17. A tugboat comprising a coupler according to any one of claims 1 to 15 or a line steering system according to claim 16.

18. 1. A method of connecting a marine vessel line and a tug line, the method comprising: providing a connector; placing the marine vessel line and the tug line in a connection zone of a coupler, the coupler comprising a guide portion configured to receive the connector and guide it around the connection zone, and a fixing member configured to secure the connector to the line; bending the connector before it is received in the guide portion; guiding the connector around the connection zone and wrapping it around the line; and fixing the connector to the line with the fixing member such that the lines are connected.

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