Mooring robot

Abstract

To provide a mooring robot suitable for mooring and / or connecting, engaging, fending, or coupling for a vessel to a terminal (for example, a dock, a wharf, a quay, a pontoon, a floating structure, an offshore structure, or another vessel).SOLUTION: A mooring robot 1 includes a base 500 and an extension mechanism 8, the extension mechanism is independent from the base and supports a fender type element or an attachment element 300 in a remote range 10 being remote from the base, the extension mechanism is used for extending a vacuum pad 311 to a vessel which is a mooring subject, the extension mechanism is formed by a Sarrus mechanism, has attaching elements be capable of being extended in the lateral swing direction linearly in the lateral direction from the base, allows for compact exclusive area design by the use of the Sarrus mechanism, and being extremely stable in the direction of surge and the direction of heave.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to mooring robots, and more particularly and not exclusively to mooring robots to be secured to a dock by a SARUS mechanism that extends and retracts vacuum pads (towards and away from the dock) to engage an adjacent vessel to be docked or moored. [Background technology]

[0002] Mooring devices, such as mooring robots, are well known in the art. Examples of such devices are disclosed in patent publications WO 2001 / 62585, EP 2540271, and WO 2001 / 62585. Such mooring devices are used to engage and hold ships at terminals (e.g., wharves at ports). Such mooring devices typically include means for engaging, holding, and accessing the ships (e.g., vacuum pads). These vacuum pads are mounted on arms or arm connectors and moved from the base of the mooring robot.

[0003] When the above-described systems and mooring robots are used, ships often dock alongside a docking terminal. Multiple mooring robots are stationed along the docking terminal. These mooring robots can extend and retract vacuum pads that engage with the docked ship. When the vacuum pads of the mooring robots engage the sides of the ship, the vacuum pads are activated to create a suction force against the ship, rapidly holding the sides of the ship, thereby securely mooring the ship to the docking terminal.

[0004] Current mooring robot arms or arm links can be heavy and unwieldy and use too much dock space. Existing mooring robots may require a large footprint on the dock, and / or the allowable extension and retraction distance of the vacuum pads may be insufficient or longer than necessary. The mooring robot arms or arm links need to be robust enough to withstand the operating forces. In some cases, other elements are required to support the weight of the arm or arm link. These other elements can increase manufacturing costs. In some cases, the arms or arm links require moving arrangements (e.g., hydraulic or cable systems) to extend and / or retract the arms or arm links. These hydraulic devices may need to be large enough to move both the arms or arm links laterally and support at least a portion of the weight of the arms or arm links themselves.

[0005] Where reference is made herein to external sources (e.g., patent specifications and other documents), this is primarily for the purpose of providing a context for the discussion of features of the present invention, and unless otherwise expressly stated, the reference to such sources should not be construed as an admission (in any jurisdiction) that the sources are prior art or form part of the common general knowledge in the field.

[0006] It is an object of the present invention to provide a tethered robot that overcomes or at least mitigates some of the above-mentioned disadvantages, or at least provides a useful choice for the public. (Contents of the invention)

[0007] In a first aspect, the invention may be said to consist in a mooring robot for releasably fastening a vessel to a dock or a second vessel, said mooring robot comprising: a. a base to be attached to the dock or second vessel; b. a mounting element configured to be releasably engageable with a surface of the vessel; and c. At least two linkages that together support the mounting element independently of the base, the at least two linkages being configured to retract and extend to allow the mounting element to move toward and away from the base (hereinafter "laterally"), each linkage including a base arm and a mounting arm pivotally connected together at a rotary intermediate joint, the base arm pivotally connected to the base at a rotary base joint, and the mounting arm pivotally connected to the mounting element at a rotary mounting joint, the three joints (the rotary intermediate joint, the rotary base joint, and the rotary mounting joint) each defining a rotation axis that is spaced apart and parallel to one another, and the rotation axes of the three joints of a first linkage of the at least two linkages are not parallel to the rotation axes of the three joints of at least one second linkage of the at least two linkages.

[0008] In one embodiment, the movable arrangement is operatively actuated directly or indirectly between the base and the mounting element.

[0009] In one embodiment, the movable arrangement is configured to extend and retract the mounting element in the lateral direction.

[0010] In one embodiment, the rotation axis at the intermediate joint is hereinafter referred to as the intermediate rotation axis, the rotation axis at the base joint is hereinafter referred to as the base rotation axis, and the rotation axis at the mounting joint is hereinafter referred to as the mounting rotation axis.

[0011] In one embodiment, the base is fixed or movable relative to the dock or second vessel.

[0012] In one embodiment, the robot includes 3 to 6 or more than 3 to 6 linkages.

[0013] In one embodiment, the robot includes only two of the linkages, the first linkage and the second linkage.

[0014] In one embodiment, for each of the links, the arms are the same length as each other.

[0015] In another embodiment, the lengths of the arms for each of the links are different from one another.

[0016] In one embodiment, the angle of the intermediate rotation axis of the first link is 90 degrees relative to the intermediate rotation axis of the second link (ie, the rotation axes are perpendicular to each other).

[0017] In one embodiment, the angle between the intermediate rotation axes of the two connecting portions is between 5 degrees and 175 degrees.

[0018] In one embodiment, the angle between the intermediate rotation axes of the two connecting portions is between 40 degrees and 150 degrees.

[0019] In one embodiment, the angle between the intermediate rotation axes of the two connecting portions is between 90 degrees and 130 degrees.

[0020] In one embodiment, the angle between the intermediate rotation axes of the two links is 100 degrees.

[0021] In one embodiment, the angle between the intermediate rotation axes of the two links is 120 degrees.

[0022] In one embodiment, the connection transfers a majority of the weight of the attachment element to the dock or second vessel (eg, via the base).

[0023] In one embodiment, the connection only transfers the weight of the attachment element to the dock or second vessel (eg, via the base).

[0024] In one embodiment, the base arm and mounting arm of at least one of the connections are rotatable through 180 degrees relative to one another, or at least until the axes of rotation of the joints are coplanar or close to coplanar.

[0025] In one embodiment, for each link, the maximum rotation angle of the intermediate joint is 180 degrees.

[0026] In one embodiment, each link cannot extend past over-center, or at least past a configuration where the rotation axes of the joints are all coplanar, or past a configuration where the distance between the base rotation axes is the maximum distance away from the mounting rotation axis, or the intermediate rotation axis cannot extend past an imaginary plane on which both the base rotation axis and the mounting rotation axis rest.

[0027] In one embodiment, at least one link is configured to elongate the attachment element under the force of gravity.

[0028] In one embodiment, an intermediate joint of at least one link moves downward upon extension of the link mechanism.

[0029] In one embodiment, at least one link is biased under gravity to retract the attachment element.

[0030] In one embodiment, an intermediate joint of at least one link moves downwards upon retraction of the link mechanism.

[0031] In one embodiment, both intermediate joints move downward upon extension of the linkage mechanism.

[0032] In one embodiment, both intermediate joints move downwards upon retraction of the linkage mechanism.

[0033] In one embodiment, at least one link is self-retracting due to gravity.

[0034] In one embodiment, the two intermediate rotation axes form an imaginary "V" pointing downwards.

[0035] In one embodiment, the two intermediate rotation axes form an imaginary "V" pointing upward.

[0036] In one embodiment, the movable arrangement is a driven actuated arrangement.

[0037] In one embodiment, the movable arrangement is a passive movable arrangement and is configured to resist the lateral movement of the frame.

[0038] In one embodiment, the movable arrangement is a driven actuated arrangement and is configured to actively drive the attachment element in the lateral direction.

[0039] In one embodiment, the movable arrangement comprises one or more selected from a hydraulic actuator, an electric actuator, a chain drive system, and a belt drive system.

[0040] In one embodiment, the movable arrangement is engaged between the base and one or more of the mounting arms.

[0041] In one embodiment, the movable arrangement is configured as a triceps drive defined by an extension extending from the end of the one or more mounting arms at an end distal from the mounting element, and an actuator engaging and extending between the distal end of the extension and the base.

[0042] In one embodiment, the extensions extend past each of the intermediate joints.

[0043] In one embodiment, the movable arrangement is engaged between the base and the mounting element.

[0044] In one embodiment, the movable arrangement includes one or more hydraulic actuators.

[0045] In one embodiment, the moveable arrangement includes a compound hydraulic actuator.

[0046] In one embodiment, the compound hydraulic actuator is configured to extend and retract (eg, in the lateral direction or to extend and retract the linkage).

[0047] In one embodiment, the moveable arrangement includes a hydraulic and / or electric rotary motor disposed at one or more joints of one or more links.

[0048] In one embodiment, the movable arrangement includes a hydraulic and / or electric rotary motor combined with a direct drive or triceps drive.

[0049] In one embodiment, the at least two connectors, the base and the attachment element form a sapphire connector.

[0050] In one embodiment, the attachment element includes an engagement element configured to engage a surface of the marine vessel.

[0051] In one embodiment, the engagement element is a vacuum pad, vacuum cup(s), hook device, charging connection, or other engagement feature configured to releasably engage with the marine vessel.

[0052] In one embodiment, the attachment element includes a slide mechanism intermediate the engagement element and the coupling portion.

[0053] In one embodiment, the sliding mechanism is a substantially vertical elongated guide configured to allow the engagement element to rise and fall relative to the base; and a substantially horizontal elongated guide configured to allow longitudinal movement of the engagement element relative to the base; Contains at least one selected from:

[0054] In one embodiment, the slide mechanism engages the coupling portion.

[0055] In one embodiment, the sliding mechanism allows passive movement of the engagement element.

[0056] In one embodiment, the slide mechanism allows for powered movement of the engagement element.

[0057] In one embodiment, the actuation means is engaged between the base and the slide mechanism.

[0058] In one embodiment, the sliding mechanism element includes a frame.

[0059] In one embodiment, the actuation means is engaged between the base and the frame.

[0060] In one embodiment, the rotary connection includes one or more multi-rotational axis joints that are aligned with one another and cooperate to function as a rotary joint.

[0061] In one embodiment, the arms are substantially wide.

[0062] In one embodiment, the arm is generally rectangular cuboid in shape.

[0063] In one embodiment, the lateral extension and retraction movement of the attachment element is a linear movement.

[0064] In one embodiment, the extension and retraction movement of the attachment element is lateral only.

[0065] In one embodiment, the extension and retraction movement of the mounting element is lateral only, without any movement of the sliding mechanism.

[0066] In one embodiment, the rotary joint is a pin joint.

[0067] In one embodiment, the rotary joint is an elongated pin and socket joint.

[0068] In one embodiment, the arm is a casting.

[0069] In one embodiment, the linkage is capable of supporting an attachment element of over 100 kg.

[0070] In one embodiment, the mounting arm and base arm of the linkage may be flush and adjacent to each other when fully retracted.

[0071] In one embodiment, the weight of the link is greater than 500 kg.

[0072] In one embodiment, the arms are elongated.

[0073] In one embodiment, the arm includes first and second ends, the second end being located at or near the intermediate joint.

[0074] In one embodiment, the arm is substantially straight between its first and second ends.

[0075] In one embodiment, the base arm is substantially straight between its first and second ends.

[0076] In one embodiment, one or both of the mounting arm and base arm includes an L-shaped configuration at the second end thereof.

[0077] In one embodiment, the L-shape allows the mounting arm to fold flush with the base arms of the same connection when retracted.

[0078] In one embodiment, the connection fully supports the weight of the mounting element in both the retracted and extended positions.

[0079] In one embodiment, the maximum extension distance of the attachment element from the base is equal to the total length of the arms minus the overlap of the arms when the intermediate joint is formed.

[0080] In one embodiment, the minimum setback distance of the mounting element from the base is equal to the sum of the thickness of the base arm and the thickness of the mounting arm.

[0081] In one embodiment, the outermost (ship-facing) surface of the engagement element forms a plane with the outermost (ship-facing) surface of the dock when the extension mechanism is fully retracted.

[0082] In one embodiment, the rotation axes of the base joints are coplanar with each other.

[0083] In one embodiment, the axes of rotation of the intermediate joints are coplanar with one another.

[0084] In one embodiment, the rotation axes of the mounting joints are coplanar with each other.

[0085] In one embodiment, the common axis of rotation of each link lies in the same vertical plane or in a plane perpendicular to the direction of extension.

[0086] In one embodiment, the rotation axes of the base joints intersect.

[0087] In one embodiment, the axes of rotation of the intermediate joints intersect.

[0088] In one embodiment, the rotation axes of the attachment joints intersect.

[0089] In one embodiment, the common axes of rotation of each link intersect.

[0090] In one embodiment, the base engages with a movable arrangement disposed on the dock to allow vertical and / or horizontal movement of the base.

[0091] In one embodiment, the base is attached to the dock or a second vessel.

[0092] In one embodiment, the attachment element is releasably engaged with a surface of the vessel.

[0093] In one embodiment, the mounting element is vertically supported only by at least two connections that are independent of the base.

[0094] In one embodiment, the arms of the linkage are of different lengths.

[0095] In one embodiment, the rotation axes of the two base joints are out of plane with each other.

[0096] In one embodiment, the rotation axes of the two mounting joints are out of plane with each other.

[0097] In one embodiment, the axis of rotation of the attachment joint of the linkage is not at the same height or elevation as the axis of rotation of the base joint.

[0098] In one embodiment, the axis of rotation of the attachment joint of the linkage is offset in a direction along the axis of rotation of the base joint.

[0099] In a second aspect, the invention may be said to consist in a mooring robot for releasably fastening a vessel to a dock or a second vessel, said mooring robot comprising: a base to be attached to the dock or second vessel; a mounting element releasably engageable with said vessel; a frame for holding said mounting element; a slat mechanism including the base, a frame, and at least two connectors intermediate the base and the frame, the slat mechanism allowing lateral extension and retraction of the frame away from and toward the base; and A movable arrangement that causes at least one of said extension and retraction.

[0100] In one embodiment, each link includes a respective base arm and a mounting arm.

[0101] In one embodiment, each link includes three rotational joints that allow rotation between the base and base arm, between the base arm and mounting arm, and between the mounting arm and mounting element.

[0102] In one embodiment, the rotation axes of the three rotary joints of the linkage are parallel to one another.

[0103] In one embodiment, the rotation axes of the three rotary joints of the first link are not parallel to the rotation axes of the three rotary joints on the second link.

[0104] In one embodiment, the movable arrangement is a hydraulic actuator configured to drive the frame in the lateral direction.

[0105] In one embodiment, the frame is engaged with a slide mechanism, and the slide mechanism holds the engagement element.

[0106] In one embodiment, the sliding mechanism includes at least one selected from the following: a substantially vertical elongated guide configured to allow the engagement element to rise and fall relative to the base; and A substantially horizontal guide configured to allow the engagement element to move longitudinally relative to the base.

[0107] In one embodiment, the connection supports at least the weight of the frame and mounting element.

[0108] In a third aspect the invention may be said to consist in a mooring robot engaged with a vessel, said mooring robot comprising: a base to be attached to a dock or a second vessel; an engagement element configured to be releasably engageable with a surface of the vessel; at least two links independent of the base, the at least two links configured to support the engaging element and allow lateral movement of the engaging element toward and / or away from the base, each link including a base arm and a mounting arm pivotally connected together by a rotary intermediate joint, the base arm pivotally connected to the base at a rotary base joint, the mounting arm pivotally connected to the mounting element at a rotary mounting joint, the rotation axes of the three joints being parallel to one another, and the rotation axis of a joint of a first link of the at least two links being non-parallel to the rotation axis of a joint of a second link of the at least two links; and A movable arrangement configured to extend and retract the engagement element in the lateral direction.

[0109] In one embodiment, the engagement element is a vacuum pad, vacuum cup(s), hook device, magnetic coupling, charging connection, fluid connection, or other engagement feature that is releasably engaged with the vessel.

[0110] In a fourth aspect, the invention may be said to consist in a mooring robot for releasably engaging a vessel to a dock or to a second vessel, said mooring robot comprising: a. a base to be attached to the dock or second vessel; b. a mounting element releasably engageable with said vessel; c. a frame for holding said mounting element; d. A slat mechanism established by the base, a frame, and at least two connections intermediate the base and the frame, which is capable of extending and retracting the frame in a direction (hereinafter referred to as the "lateral direction") away from and toward the base; and e. A movable arrangement for driving movement of said frame away from said base.

[0111] In a fifth aspect, the invention may be said to consist in an arrangement for engaging or mooring a vessel to a dock or a second vessel, said arrangement comprising: a. a base to be attached to the dock or second vessel; b. Any element that can contact said vessel; c. a frame holding the above elements; d. at least two links intermediate the base and frame, the at least two links cooperating with the base and frame to form a flex mechanism that allows extension or retraction of the frame laterally relative to the base, a first link including an axis of rotation that is non-parallel to the axis of rotation of a second link; and e. A movable arrangement for driving and / or resisting movement of said frame in said lateral direction.

[0112] In one embodiment, each link of the at least two links includes a respective base arm and a mounting arm.

[0113] In one embodiment, each link includes three rotational joints that allow rotation between the base and base arm, between the base arm and the mounting arm, and between the mounting arm and the frame.

[0114] In one embodiment, each rotary joint includes an axis of rotation, and the three axes of rotation of a linkage are parallel to one another, and the axes of rotation of the three rotary joints of a first linkage are not parallel to the axes of rotation of the three rotary joints on the second linkage.

[0115] In one embodiment, the movable arrangement is a hydraulic actuator configured to drive the frame in the lateral direction, or the movable arrangement is a force absorber.

[0116] In one embodiment, the connection supports at least its own weight and at least a portion of the weight of the element. In a sixth aspect, the invention may be said to consist in an arrangement for a fender between a vessel and a dock or a second vessel, and a mooring robot for releasably fastening the vessel to the dock or the second vessel, said arrangement comprising: a) a base to be attached to the dock or second vessel; b) an element configured to be a fender or attachment element releasably engageable with the surface of said vessel; and c) at least two linkages independent of the base, the at least two linkages configured to together at least partially support the element and to retract and extend to allow movement of the element in a direction (hereinafter "lateral direction") toward and away from the base, respectively, each linkage including a base arm and a mounting arm pivotally connected together at a rotary intermediate joint, the base arm pivotally connected to the base at a rotary base joint, and the mounting arm pivotally connected to the element at a rotary mounting joint, the three joints each defining a rotation axis that is spaced apart and parallel to one another, and the rotation axis of the joint of a first linkage of the at least two linkages is not parallel to the rotation axis of the joint of at least one second linkage of the at least two linkages.

[0117] In one embodiment, the mechanism includes a movable arrangement configured to extend and / or retract the attachment element in the lateral direction.

[0118] In one embodiment, the mechanism includes three, four, five or six links.

[0119] In one embodiment, the robot includes two links, the first link and the second link.

[0120] In one embodiment, the angle between the intermediate rotation axes of the first linkage is 90 degrees relative to the intermediate rotation axis of the second linkage (ie, the rotation axes are perpendicular to each other).

[0121] In the mechanism as claimed in claim 6, the angle between the two intermediate joint rotation axes of the two connecting parts is between 90 degrees and 130 degrees.

[0122] In one embodiment, the weight of the element is transferred to the dock or second vessel by the connection alone.

[0123] In one embodiment, at least one link is biased under gravity to retract the element.

[0124] In one embodiment, the movable arrangement is a driven actuated arrangement.

[0125] In one embodiment, the movable arrangement is a driven actuated arrangement configured to actively drive the element in the lateral direction.

[0126] In one embodiment, the movable arrangement is a passive actuation arrangement and is configured to passively drive the element in the lateral direction.

[0127] In one embodiment, the movable arrangement provides movement only in the lateral direction.

[0128] In one embodiment, the movable arrangement is a force absorber, and / or the force absorber is one or more selected from a rubber absorber, a hydraulic absorber, and a foam absorber.

[0129] In one embodiment, the movable arrangement comprises one or more selected from a hydraulic actuator, an electric actuator, a chain drive system, and a belt drive system.

[0130] In one embodiment, the movable arrangement is engaged between the base and one of the mounting arm and the base arm.

[0131] In one embodiment, the movable arrangement is engaged between the base and the element.

[0132] In one embodiment, the movable arrangement includes one or more hydraulic actuators.

[0133] In one embodiment, the moveable arrangement includes a compound hydraulic actuator.

[0134] In one embodiment, the compound hydraulic actuator is configured to extend and retract and / or extend and retract the linkage.

[0135] In one embodiment, the element includes an engagement element configured to engage a surface of the vessel, the engagement element being a vacuum pad, vacuum cup(s), hook device, charging connection, or other engagement feature configured to releasably engage the vessel.

[0136] In a seventh aspect, the invention may be said to consist in a fender between a vessel and a dock or second vessel, said fender comprising: a) a base to be attached to the dock or second vessel; b) an element that can come into contact with the surface of the vessel; c) at least two links independent of the base, the at least two links together supporting the element and configured to retract and extend to allow movement of the element in respective directions toward and away from the base (hereinafter "lateral directions"), each link including a base arm and a mounting arm pivotally connected together at a rotary intermediate joint, the base arm pivotally connected to the base at a rotary base joint, and the mounting arm pivotally connected to the element at a rotary mounting joint, each of the three joints defining a rotation axis that is spaced apart from and parallel to one another, and the rotation axis of the joint of a first link of the at least two links is not parallel to the rotation axis of the joint of at least one second link of the at least two links; d) a force dissipation device including a proximal end connected to a) the base and b) either or both of the dock or the second vessel, and a distal end connected to i) either or both of the attachment arms or the first and second coupling portions and ii) either or both of the elements.

[0137] In an eighth aspect, the invention may be said to consist in an arrangement for a fender between a vessel and a dock or a second vessel, or for a mooring robot for releasably fastening a vessel to a dock or a second vessel, said arrangement comprising: a) a base to be attached to the dock or second vessel; b) an element that can come into contact with the surface of the vessel; c) at least two linkages independent of the base, the at least two linkages together at least partially supporting the element and configured to retract and extend to allow the attachment element to move in directions towards and away from the base, respectively (hereinafter "lateral directions"), each linkage including a base arm and an attachment arm pivotally connected together at a rotary intermediate joint, the base arm pivotally connected to the base at a rotary base joint, and the attachment arm pivotally connected to the element at a rotary attachment joint. Movement of the element towards and / or away from the base follows a linear path.

[0138] In one embodiment, the mechanism does not include a system using vectoring control to maintain the straight path.

[0139] In one embodiment, the linear path is horizontal.

[0140] In one embodiment, the linear path is perpendicular to the axis of rotation of at least one of the revolute joints.

[0141] In one embodiment, the movement of the element / connection is due to an impact (imposition of movement) from the vessel onto the element.

[0142] In one embodiment, the element comprises a fender element configured to fender a surface of the vessel.

[0143] In one embodiment, the element includes an engagement element configured to engage a surface of the vessel, the engagement element including a vacuum pad, vacuum cup(s), hook device, charging connection, or other engagement feature configured to releasably engage the vessel.

[0144] In one embodiment, each of the three joints defines a rotation axis that is spaced apart and parallel to one another, and the rotation axis of a joint of a first link of the at least two links is not parallel to the rotation axis of a joint of at least one second link of the at least two links.

[0145] In one embodiment, the element is an energy absorbing element including a proximal end and a distal end, the proximal end being restrained to the dock, second vessel or base and the distal end being restrained at one or more connections or in a direction approaching the element and / or the element.

[0146] In one embodiment, the energy absorbing element at least partially supports the weight of the element.

[0147] In one embodiment, the mechanism resists shear movement in the energy absorbing element when the element is subjected to an impact from the vessel.

[0148] In one embodiment, a mechanism resists vertical movement of the distal end of the energy absorbing element.

[0149] Other aspects of the present invention may become apparent from the following description, which is given by way of example only, and which refers to the accompanying drawings.

[0150] As used herein, the term "and / or" refers to "and" or "or" or both.

[0151] As used herein, the use of "(s)" after a noun refers to the plural and / or singular form of that noun.

[0152] As used herein, the term "vacuum" refers to a partial vacuum as well as a complete vacuum.

[0153] As used in this specification and claims, the term "comprise" means "consisting at least in part of." When this term appears in a description in this specification and claims, it should be construed that all that is required is for the term to be present in each description before the feature in question, although other features may also be present. Related terms such as "comprise" and "comprised" should be construed in the same manner.

[0154] The disclosures of all applications, patents and publications, if any, cited above and below are incorporated by reference in their entirety.

[0155] The present invention may broadly encompass the components, elements and features referred to or described in the specification of this application, individually or collectively, and any or all combinations or any two or more of said components, elements or features, and where a specific integer (having a known equivalent in the art to which the invention pertains) is recited herein, such known equivalent is deemed to be incorporated herein as if set forth individually. [Brief explanation of the drawings]

[0156] The present invention will now be described, by way of example only, with reference to the drawings in which: [Figure 1] FIG. 13 is a front-upper perspective view of the mooring robot in an extended position. [Figure 2] FIG. 1 is a schematic plan view of a vessel, a dock and an associated mooring robot. [Figure 3] FIG. 13 is a front-upper perspective view of the mooring robot in an extended position without engagement elements. [Figure 4A] FIG. 4 is a front-upper perspective view of the mooring robot of FIG. 3 in an extended position. [Figure 4B] FIG. 4 is a front-upper perspective view of the mooring robot of FIG. 3 in a retracted position. [Figure 5A] FIG. 4B is a side view of FIG. 4A. [Figure 5B] FIG. 4C is a side view of FIG. 4B. [Figure 6A] FIG. 4B is a cross-sectional side view through the mid-plane of FIG. 4A. [Figure 6B] FIG. 4C is a cross-sectional side view through the mid-plane of FIG. 4B. [Figure 7A] FIG. 4B is a top view of FIG. 4A. [Figure 7B] FIG. 4B is a top view of FIG. [Figure 8A] 1 shows the compound hydraulic actuator in an extended position. [Figure 8B] 1 shows the composite hydraulic actuator in a retracted position. [Figure 9] The tethered robot of Figure 3 is shown with a tricep drive configuration. [Figure 10A] FIG. 16 is a front-upper perspective view of a mooring robot with an orthogonal extension mechanism configured for a direct drive mobile arrangement, in an N-type orientation in an extended position. [Figure 10B] FIG. 16 is a front-upper perspective view of a mooring robot with an orthogonal extension mechanism configured for a direct drive mobile arrangement, in an N-type orientation in a retracted position. [Figure 11A] FIG. 16 is a front-upper perspective view of a tethered robot with an orthogonal extension mechanism configured for a tricep drive mobile arrangement, in a V-shaped orientation in an extended position. [Figure 11B] FIG. 16 is a front-upper perspective view of a tethered robot with an orthogonal extension mechanism configured for a tricep drive mobile arrangement, in a V-shaped orientation in a retracted position. [Figure 12A] FIG. 16 is a front-upper perspective view of a tethered robot with an orthogonal extension mechanism configured for a tricep drive mobile arrangement, in an N-type orientation in an extended position. [Figure 12B] FIG. 16 is a front-upper perspective view of a tethered robot with an orthogonal extension mechanism configured for a tricep drive mobile arrangement, in a retracted position and N-type orientation. [Figure 13A] FIG. 1 is a front-top perspective view of a mooring robot with three linkage extension mechanisms. [Figure 13B] FIG. 1 is a front-top perspective view of a mooring robot with three linkage extension mechanisms. [Figure 14] FIG. 1 is a top perspective view of a tethered robot with an orthogonal extension mechanism using a single tricep drive on the base arm, and one linkage is an N-type linkage. [Figure 15A] FIG. 1 is a front view of the mooring robot in an extended position, with the extension mechanism in an M-configuration. [Figure 15B] FIG. 1 is a rear view of the mooring robot in an extended position, with the extension mechanism in an M-configuration. [Figure 16A] FIG. 1 is a front view of the mooring robot in an extended position, with the extension mechanism in a W-configuration. [Figure 16B] FIG. 12 is a rear view of the mooring robot in the extended position, with the extension mechanism in a W-configuration. [Figures 17A-17B] FIG. 10 is a top view of the mounting arm and the base arm separated. [Figure 17C] FIG. 10 is a side view of the mounting arm separated. [Figure 17D] FIG. 10 is a side view of the base arm separated. [Figure 18A] FIG. 10 is a side view of the linkage separated, with arms of different lengths in extended positions. [Figure 18B] FIG. 10 is a side view of the linkage separated, with arms of different lengths in retracted positions. [Figure 19] FIG. 12 is a front-upper perspective view of a mooring robot engaged with a vertical rail. [Figure 20] FIG. 1 is a front-top perspective view of the fenders and fender mechanism on one side of the dock, the mechanism having two connections, one on top and one on the side. [Figure 21]FIG. 21 is an alternative view of FIG. 20, with the two links positioned at 45 degrees on either side of the top. [Figure 22] 21 is an alternative view of FIG. 20, where the two links are positioned at 45 degrees on either side of the side. [Figure 23] 21 is an alternative view of FIG. 20, where the two connectors are located at the side and bottom. [Figure 24] FIG. 1 is a front-up perspective view of a fender and fender mechanism on one side of a dock, the mechanism having three links. [Figure 25] FIG. 1 is a front-up perspective view of the fenders and fender mechanism on one side of the dock, the mechanism having four links. [Figure 26] FIG. 13 is a top front perspective view of the mechanism with the offset base and mounting joint in a collapsed position. [Figure 27] The expanded state of FIG. 26 is shown. [Figure 28] 27 shows a top view of FIG. 26. [Figure 29] A top view of FIG. 27 is shown. [Figure 30] FIG. 12 is a perspective view of an embodiment of a mechanism in which the arm of the intermediate joint is offset from the base and mounting joint. [Figure 31] This is a diagram of Figure 30 in a collapsed state.

[0157] (Detailed explanation) Referring to the above figures, in which like features are designated by like numerals, a mooring robot according to a first aspect of the present invention is generally designated by the reference numeral 1. When generally describing linkage(s), the designation "9" is used. When describing features of linkage 9 herein, for clarity, the designation first linkage 100 is used. The first linkage is designated by the reference numeral 100, and the second linkage is designated by the reference numeral 200. Generally, these links are identical to one another. However, in some embodiments, these links are different from one another. These features are generally the same on the second linkage 200 and the third linkage, etc., except that each feature is designated by the designation "200" or "300" (i.e., the base arm 110 of the first linkage 100, the base arm 210 of the second linkage 200).

[0158] According to the present invention, there is provided a mooring robot 1 suitable for mooring and / or connecting, engaging, fendering or coupling a vessel 2 to a terminal 4 (e.g. a dock, wharf, pier, pontoon, floating structure, offshore structure or another vessel), for the purpose of fendering, mooring or engaging an approaching vessel 2 as a fender, mooring or mating partner.

[0159] Typically, the mooring robot 1 includes a base 500 and an extension mechanism 8. The extension mechanism 8 is independent of the base 500 and supports an element in a distal region 10 remote from the base 500. This element may be configured as a fender-type element 701 (described below) or as an attachment element 300. The attachment element 300 will be described first, but most of the description below may also relate to the fender element 701.

[0160] The attachment element 300 includes an engagement element 310 (e.g., at least one vacuum pad 311 or engagement element 310) at the distal end 10 of the coupling portion 9. The extension mechanism 8 is used to extend the vacuum pad 311 toward the vessel 2 to be moored (until the vacuum pad 311 engages the vessel 2). The vacuum pad 311 is then sucked onto the side 3 of the vessel 2, securing the vessel 2 to the terminal 4 and thereby mooring it. The vacuum pad 311 is movable by the extension mechanism 8 within a range of extension in the side / roll direction (as shown by arrow Y). The vacuum pad 311 may also optionally move in two additional dimensions X and Z by the slide mechanism 320 and / or the movable arrangement 600, where X is the longitudinal / surge direction along the dock 4 and Z is the vertical / heave direction.

[0161] The extension mechanism 8 forms part of a Sarath mechanism. The Sarath mechanism is formed by the base 500, the extension mechanism 8 and the attachment element 300. The Sarath mechanism allows the attachment element 300 to extend laterally in a linear fashion from the base 500 in the roll direction Y. The weight of the attachment element 300 is supported almost entirely or entirely by the extension mechanism 8. The Sarath mechanism 8 or mechanism 8 may be used for mooring or may act as a fender for the vessel.

[0162] The extension mechanism 8 includes two or more linkages 9. These linkages 9 are pivotally connected to both the base 500 and the mounting element 300. The number of linkages 9 required for the self-support of the weight 300 of the mounting element is at least two. More than two linkages 9 can be provided, and an extension mechanism 8 with three linkages 9 is shown in FIG. 13. The description in most of this specification is primarily based on an extension mechanism 8 with two linkages 9. However, it is contemplated that one skilled in the art could modify the extension mechanism 8 (to have more than two linkages 9) for operational reasons.

[0163] In one embodiment, the linkage 100 includes two arms: a base arm 110 and a mounting arm 120. Each base arm 110 is independent of the base 500 and is pivotally connected to the base 500 by a base joint 130 having a respective base rotation axis 131. The mounting arm 120 is pivotally connected to the mounting element 300 at a mounting joint 150 having a respective mounting rotation axis 151. The base arm 110 and the mounting arm 120 are pivotally connected to each other at an intermediate joint 140 having an intermediate rotation axis 141. Each joint (i.e., the base joint 130, the intermediate joint 140, and the mounting joint 150) allows pivotal movement between its respective features (e.g., pivotal movement from the base 500 to the base arm 110, pivotal movement from the base arm 110 to the mounting arm 120, and pivotal movement from the mounting arm 120 to the mounting element 300). Each of the joints 130 , 140 and 150 can also be described as three joints of the linkage 9 .

[0164] The attachment element 300 can be extended and retracted in the lateral direction Y by a movable arrangement 400. In some embodiments, the movable arrangement 400 is a passive or active movable arrangement. An example of a passive movable arrangement is a rubber damper or similar resilient means, or the use of gravity to extend or retract the attachment element 300 depending on the configuration of the extension mechanism 8. A driven actuation arrangement 401 is shown in FIG. 3. In one embodiment, the driven actuation arrangement 401 includes a hydraulic actuator 402. When the hydraulic actuator 402 is actuated, the attachment element 300 can be extended in the lateral direction Y (by extending the extension mechanism 8 in the same direction). Similarly, the hydraulic actuator 402 can be actuated to retract, thereby retracting the attachment element 300 in the lateral direction Y.

[0165] Preferably, the attachment element 300 is fully supported in the heave direction Z by the extension mechanism 8. Preferably, the extension mechanism 8 does not need to support the weight of the linkage 9 and attachment element 300. In one embodiment, the hydraulic actuator 402 may provide force only in the lateral direction Y and does not support any of the weight of the linkage 9 or attachment element 300 in the heave direction Z.

[0166] The combination of the base 500, the attachment element 300, and the extension mechanism 8 extending therebetween forms a Sarath connection / mechanism. An advantage of the Sarath connection is that the attachment element 300 can be fully supported by the extension mechanism. A further advantage of the Sarath connection is that the extension mechanism 8 can be retracted a shorter distance than it can be extended, thereby increasing the retraction and extension distance of the attachment element 300. Furthermore, since the extension mechanism 8 is very compact when retracted, retracting the extension mechanism 8 advantageously reduces the footprint of the mooring robot 1 on the dock. As can be seen, the Sarath connection has multiple configurations of connection portions 9.

[0167] In the preferred embodiment, a two link mechanism 9 is used, although a three link 9 extension mechanism 8 is also shown in Figure 13. Other link configurations may become more or less viable (both in number of links and link orientation) as space constraints, manufacturing costs, material evolution, weight requirements, operating forces, and / or assembly techniques require changes.

[0168] The use of an extension mechanism 8 with two links 9 is primarily shown in Figures 1-12. The extension mechanism 8 with two links 9 can have the links 9 oriented in a number of different orientations. Furthermore, these differently oriented extension mechanisms 8 can be moved by different configurations of the movable arrangement 400.

[0169] One configuration of the extension mechanism 8 is the orthogonal configuration, as shown in Figures 11 and 12. In the orthogonal configuration, the rotational joint axis of the first link 100 is orthogonal to the rotational joint axis of the second link 200. That is, the first link 100 is at a right angle to the second link 200. Furthermore, at least one of the nine joint rotational axes of the link is substantially vertical and / or at least one of the joint rotational axes of the link is substantially horizontal.

[0170] Another configuration of the extension mechanism 8 is a diagonal configuration, as shown at least in FIG. 3 . In this diagonal configuration, it can be seen that the joint rotation axes form an angle A with one another. The angle A can be 90° or less than 180° (e.g., 175°). Furthermore, the joint rotation axis of one of the links 9 is neither vertical nor horizontal. Furthermore, the angle between the rotation axes from the horizontal is the same for both links. That is, the links 9 are oriented symmetrically with respect to one another. That is, the links 9 mirror each other about a mid-plane perpendicular to the roll direction Y. When angles between links 9 are mentioned, this generally refers to a comparison between similar joints (e.g., the angle can be between the intermediate rotation axis 141 of the first link 100 and the intermediate rotation axis 241 of the second link 200).

[0171] Other possible orientations of the link 9 include an "n" orientation and a "v" orientation (simply put, whether the link 9 bends upward or downward during retraction). For example, FIG. 1 shows two v-shaped linkages, each forming an imaginary V and pointing downward. During retraction, the intermediate joint moves upward relative to the base and arm joints. FIGS. 11 and 12 show a v-shaped orientation of a single second link 200. Alternatively, the linkages can form an imaginary n pointing upward, as shown in FIG. 10, in which case the link 200 is bent upward. In an n-type orientation, during retraction, the intermediate joint moves downward relative to the base and arm joints. Changing between an n-type orientation and a v-type orientation affects the bias of the extension mechanism when it extends or retracts under gravity. That is, the direction in which the intermediate joint tends to move downward due to gravity is the preferred direction of movement. That is, in the n-type configuration, the elongation mechanism tends to extend with gravity, and in the v-type orientation, the elongation mechanism tends to retract with gravity.

[0172] When the links 9 are arranged in a diagonal orientation, they may further be arranged in a W-configuration or an M-configuration.

[0173] In a W-shaped orientation, the intermediate rotation axes 141 and 241 of two adjacent intermediate joints 140 and 240 (or base or mounting joints) extend upward from one another. For example, in Figures 3 and 16, the converging and intersecting intermediate rotation axes 141 and 241 imaginarily intersect each other and point upward. This W-configuration provides the benefit of easier access to the joint pins.

[0174] 15, the intermediate rotation axes 141 and 241 of two adjacent intermediate joints 140 and 240 (or base joints or mounting joints) extend downwards from each other, like the interior shape of an "M." This M configuration has several benefits (e.g., improved access to the centrally located direct drive of the moving arrangement 400 and closer grouping of the intermediate joints).

[0175] In the diagonal orientation, the angle A between the two intermediate rotation axes 141 and 241 is preferably greater than 0 degrees and less than 180 degrees. Preferably, the angle A between the two intermediate rotation axes 141 and 241 is between 40 degrees and 150 degrees. Preferably, the angle A between the two intermediate rotation axes 141 and 241 is between 90 degrees and 130 degrees. Preferably, the angle A between the two intermediate rotation axes 141 and 241 is 100 degrees. An angle of 100 degrees has been found to be good for the M-shaped configuration, as this often results in lower stress values ​​compared to other angles in this configuration. Preferably, the angle A between the two intermediate rotation axes 141 and 241 is 120 degrees. An angle of 120 degrees has generally been found to be good for the W-shaped configuration, as this often results in lower stress values ​​compared to other angles in this configuration.

[0176] Depending on the operating loads, the angle A between the links can be adjusted (during manufacturing) to maximize the effectiveness of angle A against the operating loads. For example, for a diagonally oriented extension mechanism, if surge loads in the X direction are likely to be high, angle A can be increased, thus providing more effective resistance to these X direction surge loads. If loads in the Z direction are high, a smaller angle A is used. Analysis of the stresses in the arms and computer modeling are used to determine the optimum angles for specific arm shapes, specific link shapes, link orientations, and common operating loads.

[0177] In summary, the table below shows some of the possible two link extension mechanism configurations. These configurations and orientations can also be applied to extension mechanisms with more than two links. JPEG0007738154000001.jpg71170

[0178] The three joints (including the base joint 130, the intermediate joint 140, and the mounting joint 150) are preferably single-axis revolute joints (i.e., function as revolute joints). These joints can be arranged in numerous configurations as long as they have a single axis of rotation. These joints are preferably pin-and-hole type joints. For example, the base joint 230 on the second link has a pin 232 and a hole 233 as shown in FIG. 3. The hole 133 of the first link 100 can be more easily seen in FIG. 3. Other types of joints can be used. For example, an elongated cylindrical socket is formed in the distal end of the mounting arm, and a complementary cylindrical formation slides within a socket formed in the distal end of the base arm (not shown). These joints can be formed from multiple multi-axis joints that together form a single-axis revolute joint. For example, a joint can be formed with two multi-axis revolute spheres and a socket joint attached to the end of one arm, which can rotate in only a single axis due to limited degrees of freedom.

[0179] Preferably, the rotation axes 131, 141, and 151 of the joints of one link are all parallel to one another. Preferably, this is the case for each link of the extension mechanism, so that link 9 can function as part of the Saras mechanism formed by mounting element 300, extension mechanism 8, and base 500.

[0180] Preferably, the maximum rotation angle of the intermediate joint is 180 degrees, and in such embodiments, the arms may be telescopic or both may have extensions at their distal ends (e.g., the arms shown in Figure 9). If the arms are straight and the joint axis is located at the end of the arm, the rotation angle may be less than 180 degrees.

[0181] Preferably, the linkage 9 cannot be overextended or over-centered. An example of a fully extended state is when the base and mounting pivot axes are spaced apart by the maximum distance. An overextended state is when the arm continues to rotate past the fully extended position. An example of overextension is when the intermediate axis continues to move in the same direction as when extended (after the base and mounting pivot axes are already spaced apart by the maximum distance). The fully extended distance is the total length of the arm, which is between the pivot axes as shown in Figures 17A and 17B. The minimum retract distance is the thickness t of the arm as shown in Figures 17C and 17D.

[0182] When the base arm 110 and the mounting arm 120 are extended to their fully extended positions, they preferably cannot further pivot relative to one another in the same direction. Each linkage may have a limit at each intermediate joint to achieve this. Alternatively or additionally, the base arm 110 or the mounting arm 120 may include a stop that prevents the arms from passing 180° past one another. Alternatively or additionally, the movable arrangement 400 may include a limit (where the movable arrangement 400 cannot or will not extend beyond a certain distance) that prevents the arms from moving closer together or farther apart than 180°. That is, the stroke of the hydraulic actuator may be less than the stroke required to fully extend the arms.

[0183] In combination with the above, the extension mechanism 8 can be configured such that overextension of the arm is avoided by the weight of the linkage 9 and the attachment element 300 working together. In the V-shape, the arm weight acts to avoid overextension of the arm, and if the hydraulic actuator fails or the actuation force goes to zero, the extension mechanism will self-retract due to gravity.

[0184] In one embodiment, the rotation axes 131 and 141 of the joints all lie in a vertical plane. Preferably, similar / common joints (e.g., base joint 130 and base joint 230) have their respective rotation axes in the same plane. Similarly, this applies to intermediate joints 140 and 240 and attachment joints 150 and 250. Preferably, each similar (common) joint between adjacent links has a rotation axis in the same vertical plane (used for horizontal lateral extension of the extension mechanism). Being angled in the same plane, the similar / common rotation axes intersect at a single point.

[0185] In other embodiments, in one such embodiment shown in Figures 26-29, the axis of rotation 131 of one base arm is not in the same vertical plane as the axis of rotation 231 of the second base arm. As such, the axes of rotation of base joints 130 and 230 and / or attachment joints 150 and 250 are offset from one another. This is most easily seen in the plan view of Figure 29. Figure 29 shows extension mechanism 8 in an extended position, with two links at 90 degrees to one another and offset base and attachment joints. Because the pivot points are out of the same plane, overlapping of these arms is possible, leading to a more compact design.

[0186] The arms of a link 9 are typically the same length as each other. That is, the distance between the base pivot 131 and the intermediate pivot 141 is equal to the distance between the intermediate pivot 141 and the mounting pivot 141. However, each arm between the links (i.e., the base arm 110 and the base 210) is always the same length (L as shown in FIG. 17). These arms are shown separated in FIGS. 17A-17D. FIGS. 7A and 7C are top and side views of a mounting arm 120, and FIGS. 17B and 17C are top and side views of a base arm 110. In some embodiments, the arms of a link 9 are not the same length as each other, and an example mounting arm 120 is longer than a base arm 110, as shown in FIGS. 18A and 18B. 18B shows the arms of different lengths in a retracted position, where the base arm 110 is substantially vertical and the mounting arm 120 is off-vertical, but the mounting joint and base joint are substantially horizontal relative to each other. Arms of different lengths may be used where certain space or access constraints are unavoidable or where further nesting of the arms and drive mechanisms is required.

[0187] In other embodiments, the arms of one linkage have different lengths, so that the attachment joint is above or below the base joint (e.g., if the linkage's base joint is horizontal). To activate the extension mechanism, the other arm (assuming there are two linkages, with the other arm at 90 degrees to the first arm) twists so that each base joint is above or below the respective attachment joint. In other words, the rotation axis of the linkage's attachment joint is offset in a direction along the rotation axis of the rotation axis base joint. Offsetting the pivot points allows for overlapping arms (on one or both links), leading to a more compact design.

[0188] In a further embodiment, shown in Figures 30 and 31, for example, the intermediate joint 140 is offset in the direction of rotation relative to the mounting joint and base joint. Offsetting the intermediate joint 140 requires twisting, distortion, or angling of both arms. Offsetting the pivot points causes these arms (of either or both links) to overlap, leading to a more compact design. These arms may have cutouts or recesses 1000 to improve nesting of adjacent links, leading to a more compact retracted design.

[0189] The above variations and embodiments are considered to be within the scope of the present invention and are applicable to many of the other designs and configurations described herein.

[0190] In one embodiment, one or both of the mounting arm 120 and the base arm 110 have an L-shaped feature 123. This L-shaped feature 123 is minimally shown in FIGS. 5A and 17C and 17D, where at least the mounting arm 120 has a curved feature extending toward the intermediate axis 141. The L-shaped feature 123 is not necessarily L-shaped, but rather generally curved or offset from at least the elongated length of the arm. The L-shaped feature 123 allows the mounting arm 120 to fold and nest closer to the base arm 110, thereby allowing the folding of the linkage 100 to be more compact. In one embodiment, the mounting arm 120 includes an abutment surface 124 configured to abut the base arm 110. The abutment surface 124 may be flush with and abut a similar surface on the base arm 110. This abutment surface 124 can act as a stop, so that if excessive force is applied to the mounting element 300, the force will be driven through the abutment surface 124 (rather than through the intermediate joint 140). The L-shaped feature 123 can be located on either the mounting arm 120 or the base arm 110, or both. The L-shaped feature 123 causes the L-shaped feature to twist slightly when the arms are extended 180° from one another, so that it is no longer perfectly straight. Those skilled in the art will appreciate that there are many other ways to compactly fold the arms together without the L-shaped feature 123, using joints that allow for a similar configuration. That is, an intermediate joint pin 142 is located directly between both the mounting arm 120 and the base arm 110, like a door hinge. An example of symmetrical arms, each with a similar L-shaped feature 123, is shown in Figures 17C and 17D, where the intermediate joint 140 (when the arms are engaged with each other) is located midway between the two arms.

[0191] The attachment element 300 is supported and independent from the coupling 9. The attachment element 300 may include multiple sub-elements (e.g., engagement element 310). The engagement element 310 is configured to engage with the vessel 2. The engagement element 310 is configured to engage with a surface or other feature of the vessel 2. Preferably, the engagement element 310 is one or more selected from a vacuum pad, vacuum cup(s), hook device, resilient fender, magnetic connection, fluid transport connection, charging connection, or other engagement feature 2 configured to releasably engage with the vessel. The vacuum pad 311 is shown in FIG. 1. The vacuum pad 311 may be configured to engage with the surface 21 of the vessel 2 as shown in FIG. 2. Vacuum pads or engagement elements are primarily well known in the art.

[0192] The attachment element 300 may further include a slide mechanism 320. The slide mechanism 320 allows the engagement element 310 to move in multiple directions to move the vessel relative to the dock (without having to disengage from the engagement element 310). Preferably, the slide mechanism 320 allows the engagement element 310 to move in both the surge X direction and the heave Z direction, as shown in FIG. 2 . Slide mechanisms 320 are also generally known in the art. When the slide mechanism 320 is present, the coupling 9 is attached to the slide mechanism 320.

[0193] In one embodiment, the attachment element 300 is used to engage the vessel 2. Such engagement may not be used to fasten the vessel 2, but may be used to engage the vessel 2 to transfer power or fluid. In some embodiments, the attachment element 300 may both fasten to the vessel 2 and engage a connection to the vessel 2. There are multiple ways in which the attachment element 300 (when supported by the extension mechanism 8) can be extended and retracted from the base 500.

[0194] The mounting element 300 may further include a frame 330. The frame 330 is configured to connect to the coupling portion 9 (rather than directly connecting the coupling portion 9 to the sliding mechanism 320). The frame 330 facilitates attachment of the coupling portion 9 to the mounting element 300. The sliding mechanism 320 is provided intermediate the frame 330 and the engagement element 310.

[0195] Preferably, the slide mechanism 320 includes at least one selected from a substantially vertical elongated guide 321 configured to allow the engagement element 310 to rise and fall relative to the base (i.e., in the up-and-down or heave direction Z), and a substantially horizontal elongated guide 322 configured to allow the engagement element 310 to move longitudinally relative to the base 500 (i.e., in the fore-and-aft / surge direction X).

[0196] In some embodiments, the slide mechanism 320 allows for passive movement of the engagement element 310, while in other embodiments, the slide mechanism 320 allows for powered movement of the engagement element 310, as shown in Figure 14. Preferably, the movable arrangement 400 is engaged between the base 500 and the frame 330.

[0197] In a further embodiment, the sliding mechanism 320 includes resilient means (e.g., rubber dampers, springs, or fenders) that allow the engaging element 310 to translate and / or rotate in one or more axes, which may be combined with vertical and horizontal sliding movements.

[0198] In some embodiments, a passive mobile arrangement (not shown) may be provided that may absorb shocks or resist forces acting laterally on the attachment element 300, i.e., the mooring robot may act as a damper. However, in other embodiments, the mobile arrangement is an active mobile arrangement 400.

[0199] In one embodiment, the actively movable arrangement 400 is a driven actuated arrangement 401. The driven actuated arrangement 401 includes one or more selected from a hydraulic actuator 402, an electric actuator, a chain drive system, and a belt drive system.

[0200] The movable arrangement 400 may extend between the base 500 and the mounting element 300 (known as a direct drive arrangement). Examples of direct drive arrangements are shown in Figures 1, 3, and 4-8.

[0201] Alternatively, in combination with a direct drive configuration, the movable arrangement 400 may extend between the mounting arm 120 and the base 500. In this configuration, the movable arrangement is known as a tricep drive configuration. The movable arrangement extends from the mounting arm 120 or the base arm 110 via an extension 122, with the other end of the movable arrangement pivotally fixed relative to the base 500, an example of which is shown in Figures 11, 12, and 14.

[0202] In one embodiment, extension 122 extends from distal end 121 of mounting arm 120 (to intermediate joint 140) and functions as a lever to pivotally connect movable arrangement 400, as shown in Figures 11 and 12.

[0203] In one embodiment, the extension 122 extends from the proximal end 111 of the base arm 110, as shown in Figure 14. This allows the movable arrangement 400 to extend between the base 500 and the extension 122 disposed on the base arm 110.

[0204] Tricep drive configurations can have higher deflections and pin loads compared to direct drive configurations.

[0205] The extension 222 and associated moveable arrangement 400 may be provided on one or more links 9. A tricep drive arrangement provided on only one link is shown in Figure 14.

[0206] 400 movable arrangement configurations

[0207] The configuration of the movable arrangement 400 depends on the type of arrangement and the drive of the linkage 9. For example, the W-direction extension mechanism 8 does not allow the use of a triceps drive configuration because there is no space for a triceps drive configuration of the movable arrangement 400. Generally, a direct drive configuration is used in diagonal embodiments. However, FIG. 9 shows an example of a diagonal embodiment using a triceps drive.

[0208] In one embodiment, the movable arrangement 400 is one or more hydraulic actuators 402 and associated features (e.g., pivot joints). In one embodiment, the hydraulic actuator or actuators 402 are a single hydraulic actuator 402 on one or more links in a triceps drive configuration. The hydraulic actuator 402 extends between the extension 122 and the base 500. In a direct drive configuration, the hydraulic actuator 402 extends between the base 500 and the mounting element 300. In a preferred embodiment, the direct drive configuration is a compound hydraulic actuator as shown in FIGS. 7 and 8. The compound hydraulic actuator 402 allows for an increased range of motion. FIG. 8 A 8 shows the compound hydraulic actuator 402 in the extended position. B Shown in Figure 6 is the compound hydraulic actuator 402 and its retracted position. A and Figure 6 B 4A-4D are cross-sectional views through the mid-plane of the mooring robot 1, highlighting the mobile arrangement 400 in the extended and retracted positions, respectively.

[0209] Preferably, the movable arrangement 400 as described above does not support any of the weight of the mounting element 300 in the vertical direction Z. Preferably, the movable arrangement 400 is pivotally connected to a feature that supports the weight of the mounting element 300. However, in other embodiments, the movable arrangement 400 may support a certain weight of either the linkage 9 or the movable arrangement 400, as in an example rotational drive embodiment. The weight supported by the movable arrangement 400 is minimal compared to the total weight of the mounting element 300 and the linkage 9.

[0210] In a further embodiment, the movable arrangement 400 may include rotary drives (not shown) as driven actuation arrangements 401. These rotary drives may be electric or hydraulic motors and are located at one or more joints 9 of one or more linkages. In one embodiment, the rotary drives include hydraulic cylinders configured to rotate rotary splines that actuate the joints.

[0211] In one embodiment, the rotary drive is a hydraulic motor located at intermediate joint 140, driving the relative motion between base arm 110 and mounting arm 120. In some embodiments, rotary drives are located at all three joints of a single linkage. For example, in other embodiments, rotary drives are provided at two linkages 9, at base joints 130 and 230. There are many possible configurations of motion arrangements.

[0212] In further embodiments, the movable arrangement 400 may include one or more of the above-described driven-actuation arrangements (e.g., one or more selected from a tricep drive, a direct drive, and a rotary drive). For example, in one embodiment, the tethered robot 1 includes a tricep drive and a rotary drive. In the fully retracted configuration, a significant force may be required to actuate the tricep drive to extend the linkage or extension mechanism due to minimal leverage. In this case, the rotary drive is actuated to initiate extension of the extension mechanism 8, and after more leverage becomes available, the tricep drive assists or takes over extension of the extension mechanism 8.

[0213] base

[0214] The base 500 is generally positioned to support the coupling 9 and, consequently, the mounting element 300. The base 500 includes feet 511 configured to be attached to a dock or second vessel 2. This attachment may be via a bolted connection or similar permanent connection or another mechanical attachment.

[0215] In some embodiments, the base 500 is attached to a movable arrangement 600 on a dock 2 or any other similar structure (e.g., an offshore structure). The movable arrangement 600 allows the base 500 to move relative to the dock 2. For example, the movable arrangement 600 may allow the base 500 to move laterally along the dock 2 in a surge direction X. In other arrangements or combinations, the movable arrangement 600 as shown in FIG. 19 may allow the base 500 to move vertically in a heave direction Z. The movable arrangement 600 may be a set of sliders or rails.

[0216] The base 500 may be mounted vertically, for example, to the side of the dock 2. The base 500 may be engaged onto a vertical rail on the side of the dock 2 or offshore structure. The movable arrangement 600 allows the movable arrangement 400 disposed on the mounting element 300 to be modified to incorporate the degrees of freedom allowed by the movable arrangement 600. For example, if the movable arrangement 600 allows for a certain amount of vertical movement, the movable arrangement 400 may not require a large amount of vertical movement, or may not require any vertical movement.

[0217] The small footprint base 500 of the present invention allows the base 500 to be engaged with a rail system 600, as shown in FIG. 19. In embodiments in which the base 500 is engaged with a vertical rail system 600, the entire mooring robot 1 can be rotated by 90° so that it is not too wide and can fit on a relatively narrow rail system. In such embodiments, the vacuum pads may be oriented in the same way as shown, but the frame 330, linkage 9, and base 500 are all rotated by 90° in either direction about a horizontal axis extending in the roll direction Y. The angle A between the joints can be adjusted (via the orientation of the links relative to each other and to the dock) so that the appropriate load stress is achieved through the mooring robot.

[0218] fender

[0219] In some embodiments, the mooring robot 1 functions solely as a fender 700. In such embodiments, the element 300 is not capable of releasably engaging the vessel, but merely comes into contact with the vessel. In the fender 700 embodiment, the element 300 does not include attachment features, but simply a large surface (e.g., contact surface 703) that can come into contact with the vessel surface. The fender 700 includes a fender element 701 and an energy absorbing element 702, and employs a mechanism 8 as described herein.

[0220] Much of the above description of the mooring robot 1 is similar to the fender of the present invention using the mechanism 8 described herein. The mechanism 8 includes at least two links, the axes of rotation of which are angled relative to one another, or at least not parallel to one another.

[0221] The energy absorbing element 702 of the fender 700 corresponds to the movable arrangement within the mooring robot 1. Following this analogy, the above descriptions of the position etc. of the movable arrangement correspond to the energy absorbing element 702. The energy absorbing element 702 is preferably located in the center of the fender 700 and the fender element 701.

[0222] The fender element or attachment element follows a straight line path as it moves laterally in and out of the direction toward and away from the lateral base. This is called a parallel motion fender. The contact surface 703 of the fender element 701 can remain parallel to the dock 4, quay wall, or second vessel. The path of the fender element 701 can be described as following a straight line or a straight line path. Here, a straight line path is linear. Preferably, the straight line path is horizontal when the fender 700 is attached to a dock or quay wall, as in the case of a mooring robot. A straight line path can be described as being perpendicular to one of the rotation axes of the revolute joints. By forcing the element to move in a straight line path, shear or angular distortion in the energy absorbing element 702 is avoided or at least reduced. For example, if the fender element 701 is angled relative to the vessel, a reduction in the rated response of the energy absorbing element 702 may be required. A straight path may lead to an increased lifespan of the energy absorbing element 702.

[0223] Prior art fenders may use a single arm that may be so long that the arc described by the fender element at the end of the arm may appear to follow a straight path. These fenders have a large footprint due to the long arm required to achieve the large diameter arc for the appearance of parallel movement.

[0224] The fender 700 or mooring robot 1 does not include a system using vectored control for maintaining a straight path, which is determined by the geometry of the mechanism.

[0225] The movement of the element / connection is due to the impact (imposition of movement) from the vessel by the fender element 701 .

[0226] The energy absorbing element 702 includes a proximal end 704 and a distal end 705, with the proximal end 704 being restrained to the dock, the second vessel or the base and the distal end 705 being restrained to one or more of the couplings 100 and 200 or in a direction approaching the element 701 and / or element 701.

[0227] In one embodiment, the energy absorbing element at least partially supports the weight of the element, however, in some embodiments the mechanism provides full support for the fender element and / or also provides full support for the distal end 705.

[0228] In one embodiment, the mechanism resists shear movement in the energy absorbing element when the element is subjected to an impact from the vessel.

[0229] In one embodiment, the mechanism resists vertical movement of the distal end of the energy absorbing element.

[0230] In a mechanism as claimed in claim 12, the movable arrangement is a passive actuation arrangement and is configured to passively drive the element in the lateral direction.

[0231] A mechanism as claimed in claim 14, wherein the movable arrangement is a force absorber and / or the force absorber is one or more selected from a rubber absorber, a hydraulic absorber and a foam absorber.

[0232] Those skilled in the art will appreciate that the base joint 130 may be partially integrally formed or connected to the base 500. Similarly, portions of the attachment joint 150 may be partially integrally formed or connected to the attachment element 300.

[0233] The base 500, linkage 9 and frame 330 are generally made of metal. The arms are likely to be cast.

[0234] In the above description, when reference is made to elements or integers having known equivalents, such equivalents are intended to be included as if individually set forth.

[0235] Although the invention has been described with reference to specific embodiments for purposes of illustration, it will be understood that modifications and / or enhancements may be made without departing from the scope or spirit of the invention.

Claims

1. A mooring robot (1) configured to releasably fasten a vessel (2) to a dock or a second vessel, said mooring robot comprising: a) a base (500) configured to be attached to the dock or a second vessel; b) a mounting element (300) configured to be releasably engageable with a surface of said vessel; and c) at least two links (9, 100) that together support the mounting element independently of the base, configured to retract and extend to move the mounting element laterally toward and away from the base, respectively, each link (9; 100) including a base arm (110) and a mounting arm (120) pivotally connected together at a rotary intermediate joint (140), the base arm pivotally connected to the base at a rotary base joint (130; 230), and the mounting arm pivotally connected to the mounting element at a rotary mounting joint (150; 250), each of the three joints defining a rotation axis that is spaced apart and parallel to one another, the rotation axis of the joint of a first link of the at least two links being non-parallel to the rotation axis of the joint of at least one second link of the at least two links; and 1. A mooring robot, wherein the base arm (110) and / or the attachment arm (120) of the at least two linkages (9, 100) comprise an L-shaped feature (123), and the base arm (110) and / or the attachment arm (120) are generally curved inward at the respective rotational intermediate joints (140).

2. The mooring robot of claim 1 , wherein the base arms and the attachment arms of the at least two links are the same length as each other.

3. The mooring robot of claim 1 , wherein the at least two linkages have offset base and attachment joints, allowing the base and attachment arms to overlap.

4. The mooring robot of claim 1 , wherein at least one linkage is biased to retract the attachment element under gravity.

5. The mooring robot of claim 1 , wherein the mooring robot includes three links, four links, five links, or six links.

6. 2. The mooring robot of claim 1, wherein the angle between the intermediate rotation axes of the first linkages is 90 degrees relative to the intermediate rotation axis of the second linkages, and the rotation axes are mutually orthogonal.

7. The mooring robot of claim 1 , wherein the weight of the attachment element is transferred to the dock or second vessel solely by the connection.

8. The mooring robot of claim 1 , including a movable arrangement configured to extend and / or retract the attachment element in the lateral direction.

9. The mooring robot of claim 8 , wherein the movable arrangement is a driven actuated arrangement.

10. The mooring robot of claim 8 , wherein the movable arrangement is engaged between the base and one of the attachment arms or attachment elements.

11. 9. The mooring robot of claim 8, wherein the movable arrangement is a force absorber and / or the movable arrangement is a force absorber and one or more selected from a rubber absorber, a hydraulic absorber, and a foam absorber.

12. 2. The mooring robot of claim 1, wherein the attachment element comprises an engagement element configured to engage a surface of the vessel, the engagement element being a vacuum pad, one or more vacuum cups, a hook device, a charging connection, or other engagement feature configured to releasably engage the vessel.

13. 1. A mechanism for fendering between a vessel and a dock or a second vessel, said mechanism comprising: a) a base configured to be attached to the dock or a second vessel; b) a fender element configured to releasably engage a surface of the vessel; and c) at least two linkages which together support the fender element independently of the base, the linkages being configured to retract and extend to move the fender element laterally towards and away from the base, respectively, each linkage including a base arm and an attachment arm pivotally connected together at a rotary intermediate joint, the base arm pivotally connected to the base at a rotary base joint and the attachment arm pivotally connected to the fender element at a rotary attachment joint, each of the three joints defining a rotation axis which is spaced apart from one another and arranged parallel to one another, the rotation axis of the joint of a first linkage of the at least two linkages being non-parallel to the rotation axis of the joint of at least one second linkage of the at least two linkages; and wherein the base arms and / or the mounting arms of the at least two links comprise L-shaped features, and the base arms and / or the mounting arms curve generally inward at their respective rotational intermediate joints.

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