JPH0733075A - Arm type mooring and alongside/off-pier supporting device with damper mechanism for ship - Google Patents
Arm type mooring and alongside/off-pier supporting device with damper mechanism for shipInfo
- Publication number
- JPH0733075A JPH0733075A JP5196897A JP19689793A JPH0733075A JP H0733075 A JPH0733075 A JP H0733075A JP 5196897 A JP5196897 A JP 5196897A JP 19689793 A JP19689793 A JP 19689793A JP H0733075 A JPH0733075 A JP H0733075A
- Authority
- JP
- Japan
- Prior art keywords
- ship
- arm
- mooring
- damper mechanism
- berthing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 39
- 230000009471 action Effects 0.000 abstract description 3
- 238000007665 sagging Methods 0.000 abstract description 2
- 230000010355 oscillation Effects 0.000 abstract 1
- 239000000758 substrate Substances 0.000 description 4
- 239000006096 absorbing agent Substances 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000035939 shock Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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- Vibration Prevention Devices (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、船舶のアームによる係
留・離接岸支援装置に関し、特に船舶の係留・離接岸時
における船舶の動揺に伴って過大な荷重がアームに作用
するのを防止するためのダンパー機構を組込んだ、アー
ム式船舶用係留・離接岸支援装置に関する。 なお、海
洋構造物の係留等にも適用できる。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mooring / berthing / berthing support device using an arm of a ship, and particularly to prevent an excessive load from acting on the arm due to the motion of the marine vessel during the mooring / berthing / berthing of the ship. The present invention relates to an arm type mooring / berthing / berthing support device for ships equipped with a damper mechanism. It can also be applied to mooring offshore structures.
【０００２】[0002]
【従来の技術】従来、船舶の岸壁への係留は、図12に示
すように、船舶01の係留索02を岸壁03上の係船柱04に固
締して行なうのが一般的である。2. Description of the Related Art Conventionally, mooring of a ship to the quay is generally performed by fastening mooring lines 02 of the ship 01 to mooring columns 04 on the quay 03 as shown in FIG.
【０００３】[0003]
【発明が解決しようとする課題】この場合、船舶の岸壁
への引き付けおよび岸壁への係留は係留索によってお
り、係留索にはある程度の伸びがあり、また係留中には
たるみもあるため、接岸中および係留中の波による船舶
の動揺に伴う過大な力も、その伸びやたるみで吸収され
る利点がある。In this case, the mooring line is used for attracting the ship to the quay and mooring it to the quay, and the mooring line has a certain amount of extension, and there is slack during mooring, so that the berth is berthed. Excessive force associated with ship sway due to medium and mooring waves also has the advantage of being absorbed by the stretch and slack.
【０００４】しかし多数の係船索を順次岸壁の係船柱に
固締するのに多数の人手，時間を必要とするという欠点
がある。この欠点を解決すべく、伸縮／旋回／俯仰機構
をもつアームで船舶を接岸させ、あるいは押し出し離岸
させるアーム式係留・離接岸支援装置が提案されている
が、この場合、係船索を用いないため、係船索の有する
伸び，たるみの特性を利用することはできず、船舶の動
揺に伴ってアームに過大の負荷が作用するという問題点
がある。However, there is a drawback in that a large number of manpower and a lot of time are required to fasten a large number of mooring lines to the mooring columns of the quay one after another. In order to solve this drawback, an arm-type mooring / berthing / berthing support device has been proposed in which an arm having a telescopic / turning / elevating mechanism is used to berth or push the ship away from the shore, but in this case, mooring lines are not used. Therefore, it is not possible to utilize the characteristics of extension and slack of the mooring line, and there is a problem that an excessive load acts on the arm as the ship sways.
【０００５】本発明は、このような問題点の解決をはか
ろうとするもので、アームと船舶把持機構との間にダン
パー機構を介在させた船舶用ダンパー機構付きアーム式
係留・離接岸支援装置を提供することを目的とする。The present invention is intended to solve such a problem, and is an arm type mooring / decoupling shore support device with a damper mechanism for a ship in which a damper mechanism is interposed between an arm and a ship gripping mechanism. The purpose is to provide.
【０００６】[0006]
【課題を解決するための手段】上述の目的を達成するた
め、本発明の船舶用ダンパー機構付きアーム式係留・離
接岸支援装置は、上記船舶の離接岸および係留を行なう
べく岸壁に設置されたアームと、同アームの先端部に配
設されて上記船舶の捕獲を行なう機械的把持機構とをそ
なえ、同機械的把持機構が上記アームの先端部にダンパ
ー機構を介して取り付けられていることを特徴としてい
る。In order to achieve the above-mentioned object, an arm type mooring / berthing / berthing support device with a damper mechanism for a marine vessel of the present invention is installed on a quay in order to perform the mooring / berthing and mooring of the above-mentioned marine vessel. An arm and a mechanical gripping mechanism arranged at the tip of the arm to capture the ship, and the mechanical gripping mechanism is attached to the tip of the arm via a damper mechanism. It has a feature.
【０００７】[0007]
【作用】上述の本発明の船舶用ダンパー機構付きアーム
式係留・離接岸支援装置では、アームによる船舶の係留
・離接岸時において、ダンパー機構が、船舶の動揺に伴
う過大な荷重がアームに作用するのを抑制する。In the above-described arm type mooring / berthing / berthing support device with a damper mechanism for a ship according to the present invention, the damper mechanism acts on the arm during the mooring / berthing / berthing of the ship by the arm. Suppress it.
【０００８】[0008]
【実施例】以下、図面により本発明の一実施例としての
船舶用ダンパー機構付きアーム式係留・離接岸支援装置
について説明すると、図１はそのアーム式係留・離接岸
支援装置の全体を示す模式平面図、図２，３は同模式正
面図、図４はそのダンパー機構を一部断面で示す正面
図、図５は同側面図、図６は図４のＡ−Ａ矢視断面図、
図７は図４のＢ−Ｂ矢視断面図、図８，図９，図10，図
11はいずれもその第１〜第４の変形例を示す正面図であ
る。DESCRIPTION OF THE PREFERRED EMBODIMENTS An arm type mooring / decoupling shore support device with a damper mechanism for a ship according to an embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic diagram showing the entire arm type mooring / decoupling shore support device. 2 and 3 are plan views, FIG. 4 is a front view showing a part of the damper mechanism in section, FIG. 5 is a side view of the same, and FIG. 6 is a sectional view taken along the line AA of FIG.
FIG. 7 is a sectional view taken along the line BB of FIG. 4, and FIG. 8, FIG. 9, FIG.
11 is a front view showing the first to fourth modified examples.
【０００９】この実施例の係留・離接岸支援装置も、岸
壁３上で船舶１の船首および船尾（あるいはどちらか一
方）に対応して設置されたアーム２をそなえ、アーム２
の先端に取り付けられた真空吸着盤６からなる機械的把
持機構５により、船舶１の捕獲を行なうものである。な
お、機械的把持機構５として、真空吸着盤６のほか、マ
グネットあるいはフックなどを用いてもよい。The mooring / decoupling shore support system of this embodiment also includes an arm 2 installed on the quay 3 in correspondence with the bow and stern of the ship 1 (or one of them), and the arm 2
The boat 1 is captured by the mechanical gripping mechanism 5 including the vacuum suction plate 6 attached to the tip of the ship. As the mechanical gripping mechanism 5, a magnet or a hook may be used instead of the vacuum suction plate 6.
【００１０】そして、アーム２は、一般のクレーンと同
様に、アーム旋回ポール（モータ駆動式）２ｂ，俯仰用
シリンダ２ａおよび伸縮シリンダ（図示せず）などによ
り旋回，伸縮および俯仰の各作動を行なえるようになっ
ていて、岸壁３に接近してきた船舶１（図１における点
線図示）をとらえた後岸壁３に接続させかつ岸壁３に引
き付けて係留する（図１の実線図示）作用を行なうこと
ができるようになっている。また、船舶１の離岸時は、
アーム２の旋回，伸縮および俯仰の各作動を組み合わせ
て船舶１を押し出すことにより、船舶１を操船の必要な
しに機械的に離岸させることができる。Then, the arm 2 can perform the operations of revolving, extending and retracting by an arm revolving pole (motor-driven type) 2b, a lifting cylinder 2a, a telescopic cylinder (not shown), etc., as in a general crane. The ship 1 (shown by the dotted line in FIG. 1) that has approached the quay 3 is caught and connected to the rear quay 3 and is attracted to the quay 3 to moor (shown by the solid line in FIG. 1). You can do it. Also, when the ship 1 leaves the shore,
By pushing out the ship 1 by combining the operations of turning, expanding and contracting and raising and lowering the arm 2, the ship 1 can be mechanically separated from the shore without the need for maneuvering.
【００１１】ところで、上記の係留・離接岸中、船舶１
は図２，３に示すように、波浪や風の影響で動揺する。
図２，３中の寸法ｌ1，ｌ2，ｌ3はいずれも船舶１の動
揺量を示している。したがって、機械的把持機構５やア
ーム２により船舶１を固定的に把持すると、船舶の動揺
を抑制することになって、アーム２に過大な荷重が作用
することになる。この弊害の発生を避けるため、本発明
では以下に述べるダンパー機構がアーム２と機械的把持
機構５との間に組み込まれている。By the way, during the above-mentioned mooring and berthing, the ship 1
As shown in Figs. 2 and 3, the wave fluctuates due to the influence of waves and wind.
The dimensions l 1 , l 2 , and l 3 in FIGS. 2 and 3 all indicate the amount of shaking of the ship 1. Therefore, when the ship 1 is fixedly held by the mechanical gripping mechanism 5 and the arm 2, the shaking of the ship is suppressed, and an excessive load acts on the arm 2. In order to avoid this adverse effect, a damper mechanism described below is incorporated between the arm 2 and the mechanical gripping mechanism 5 in the present invention.
【００１２】図４，５は、機械的把持機構として真空吸
着盤６が用いられたものにおけるダンパー機構を示して
いて、アーム２の先端部と真空吸着盤６の取付座17との
間にダンパー機構が介設されている。ダンパー機構はユ
ニバーサルジョイント８とこれに直列配設された伸縮ジ
ョイント16とで構成されている。ユニバーサルジョイン
ト８は、取付座17の内面に枢軸８ａを介して接続される
ロッド８ｂと、基板８ｃに立設された枠体８ｄと、ロッ
ド８ｂに取り付けられ枠体８ｄに形成された長穴（アー
ム２の軸線と平行に形成されている）12に係合する枢軸
11と、取付座17と基板８ｃとの間に介設された第１スプ
リング９とで構成されている。4 and 5 show a damper mechanism in which the vacuum suction disk 6 is used as a mechanical gripping mechanism, and the damper is provided between the tip of the arm 2 and the mounting seat 17 of the vacuum suction disk 6. A mechanism is installed. The damper mechanism is composed of a universal joint 8 and an expansion joint 16 arranged in series therewith. The universal joint 8 includes a rod 8b connected to the inner surface of the mounting seat 17 via a pivot 8a, a frame body 8d standing on the substrate 8c, and an elongated hole formed in the frame body 8d attached to the rod 8b ( Pivot for engaging 12) which is formed parallel to the axis of the arm 2)
11 and the first spring 9 provided between the mounting seat 17 and the substrate 8c.
【００１３】伸縮ジョイント16は、アーム２の先端に取
り付けられたアーム端板16ａと、基板８ｃの内面に取り
付けられた内筒16ｂと、アーム端板16ａの外面に取り付
けられ内筒16ｂの外側に嵌合するように配設された外筒
16ｃと、内筒16ｂに取り付けられ外筒16ｃに形成された
長穴（アーム２の軸線と平行に形成されている）14に係
合する枢軸13と、アーム端板16ａと基板８ｃとの間に介
設された第２スプリング10とで構成されている。The expansion joint 16 includes an arm end plate 16a attached to the tip of the arm 2, an inner cylinder 16b attached to the inner surface of the substrate 8c, and an outer end of the inner cylinder 16b attached to the outer surface of the arm end plate 16a. Outer cylinder arranged to fit
16c, a pivot 13 that is attached to the inner cylinder 16b and engages with an elongated hole (formed parallel to the axis of the arm 2) 14 formed in the outer cylinder 16c, and between the arm end plate 16a and the substrate 8c. It is composed of a second spring 10 interposed in the.
【００１４】なお図４，５中の符号７は真空吸着盤６を
真空ポンプ（図示せず）に接続するエアチューブを、符
号15および15ａはいずれもユニバーサルジョイント８が
過度に曲がるのを防止するためのストッパーを示してい
て、枠体８ｄおよび取付座17にそれぞれ溶接されてい
る。Reference numeral 7 in FIGS. 4 and 5 denotes an air tube for connecting the vacuum suction disk 6 to a vacuum pump (not shown), and reference numerals 15 and 15a both prevent the universal joint 8 from excessively bending. The stoppers are for welding to the frame 8d and the mounting seat 17, respectively.
【００１５】上述の構成において、船舶１を係留すべく
アーム２が伸長されて真空吸着盤６が船舶１に到達する
と、真空吸着盤６はエアチューブを介して真空ポンプに
連通されているため、真空吸着盤６が船舶１に吸着しア
ーム２による船舶１の捕獲が行なわれる。そしてアーム
２の収縮，旋回および俯仰操作により船舶１の接岸操作
が行なわれる。このとき、船舶１の上下方向あるいは前
後方向の動揺に対しては、ユニバーサルジョイント８の
角度変化により真空吸着盤６が追従して、アーム２に過
大な負荷が作用することはない、また、接岸中あるいは
係留中における船舶の動揺に対しては、第１および第２
スプリング９，10が作用する。In the above structure, when the arm 2 is extended to moor the ship 1 and the vacuum suction board 6 reaches the ship 1, the vacuum suction board 6 is connected to the vacuum pump through the air tube. The vacuum suction board 6 is sucked onto the ship 1 and the arm 2 captures the ship 1. Then, the berthing operation of the ship 1 is performed by the contraction, turning and elevation of the arm 2. At this time, the vacuum suction plate 6 does not follow the swing of the ship 1 in the up-down direction or in the front-back direction due to the angle change of the universal joint 8, and an excessive load does not act on the arm 2. The first and second measures are taken against the shaking of the ship while the ship is moored or moored.
The springs 9 and 10 act.
【００１６】すなわち、第１スプリング９は無負荷状態
のときｌ6の寸法になるように収縮状態でセットされ、
また第２スプリング10は無負荷状態のときｌ7の寸法に
なるように伸張状態でセットされている。船舶１が動揺
しアーム２を引張るように力Ｐ1が作用すると、第１ス
プリング９が延びると共にユニバーサルジョイント８の
枢軸11が長穴12に沿って移動し、第１スプリング９は最
終的には寸法ｌ8に伸びることができ、真空吸着盤６を
船舶１の動揺に追従させることができる。That is, the first spring 9 is set in a contracted state so as to have a dimension of l 6 in the unloaded state,
The second spring 10 is set in an expanded state so as to have a size of l 7 when it is not loaded. When the ship 1 rocks and the force P 1 acts so as to pull the arm 2, the first spring 9 extends and the pivot 11 of the universal joint 8 moves along the long hole 12, so that the first spring 9 finally becomes. It can be extended to the dimension l 8 , and the vacuum suction plate 6 can follow the sway of the ship 1.
【００１７】また、船舶１の動揺で、アーム２を押す力
Ｐ2が作用すると、第２スプリング10が収縮すると共に
伸縮ジョイント16の枢軸13が長穴14に沿って移動し、第
２スプリング10は最終的には寸法ｌ9まで縮むことがで
き、真空吸着盤６を船舶１の動揺に追従させることがで
きる。つまり、接岸中の引き込みに必要な力Ｐ（Ｐ0＜
Ｐ1，Ｐ0については後述）が働いたとき、第１スプリン
グ９がまだ延びないように第１スプリング９のバネ定数
が設定されている。したがって、係留中においても岸壁
３に船舶１を引き付ける力Ｐではまだ第１スプリング９
は延びることはない。第１スプリング９が延びるのは、
船舶１の動揺により過大な力Ｐxが作用したときだけで
ある。Further, in the upset of the ship 1, the force P 2 for pressing the arm 2 acts, pivot 13 of the expansion joint 16 is moved along the elongated hole 14 together with the second spring 10 is contracted, the second spring 10 Can be finally shrunk to the dimension l 9 , and the vacuum suction board 6 can follow the sway of the ship 1. In other words, the force P (P 0 <
The spring constant of the first spring 9 is set so that the first spring 9 does not extend yet when P 1 and P 0 are actuated). Therefore, even while moored, the force P that attracts the ship 1 to the quay 3 is still applied to the first spring 9
Does not extend. The first spring 9 extends
Only when an excessive force P x acts due to the sway of the ship 1.
【００１８】離岸中においては船舶１をアーム２で押し
出すのであるが、押し出しに必要なＰ0（Ｐ＜Ｐ2）が働
いてもまだ第２スプリング10は縮まないように第２スプ
リング10のバネ定数が設定されている。したがって、押
し出し中動揺により過大な力Ｐxが働いたときにだけ第
２スプリング10は縮む。Ｐ，Ｐ0，Ｐ1，Ｐ2が働かない
無荷重状態では、複数個のスプリング９，10によりアー
ム２をその軸方向に均等に引張ると共に突張っているの
で、ユニバーサルジョイント８で吸着盤６等がたれたり
曲がったりすることはない。また、アーム２が伸び船舶
１の弯曲した外板に当たると第１スプリング９の作用に
よりその弯曲に吸着盤等が追従する。While the ship 1 is pushed out by the arm 2 while the ship is off the shore, even if P 0 (P <P 2 ) necessary for pushing out is exerted, the second spring 10 does not contract yet. The spring constant is set. Therefore, the second spring 10 contracts only when an excessive force P x is exerted due to swaying during extrusion. In the unloaded state in which P, P 0 , P 1 and P 2 do not work, the arms 2 are evenly pulled in the axial direction and bulged by the plurality of springs 9 and 10 so that the universal joint 8 sucks the suction plate 6 There is no sagging or bending. When the arm 2 extends and hits the curved outer plate of the ship 1, the suction plate or the like follows the curved surface by the action of the first spring 9.
【００１９】なお、図４，５では真空吸着盤６が１個の
場合を示しているが、複数個並設することも可能であ
る。図８は、第１の変形例としての機械的把持機構とし
てマグネット６ａを用いた場合を、また図９は、第２の
変形例としての機械的把持機構として油圧シリンダ６ｃ
で操作されるフック６ｄを用いた場合をそれぞれ示して
いる。Although FIGS. 4 and 5 show the case where the number of the vacuum suction plates 6 is one, it is also possible to arrange a plurality of them in parallel. FIG. 8 shows a case where a magnet 6a is used as a mechanical gripping mechanism as a first modification, and FIG. 9 shows a hydraulic cylinder 6c as a mechanical gripping mechanism as a second modification.
The case where the hook 6d operated by is used is shown.
【００２０】また、第３の変形例として図10に示すよう
な、第１スプリングおよび第２スプリングに代えて、第
１油圧緩衝器20および第２油圧緩衝器21を用いることも
可能であり、さらに第４の変形例として図11に示すよう
な、ユニバーサルジョイントに代えて、ボールジョイン
ト22を用いることも可能である。図10中の符号20ａ，21
ｂはいずれも油圧管を示している。Further, as a third modification, as shown in FIG. 10, it is possible to use a first hydraulic shock absorber 20 and a second hydraulic shock absorber 21 in place of the first spring and the second spring, Further, as a fourth modified example, a ball joint 22 may be used instead of the universal joint as shown in FIG. Reference numerals 20a and 21 in FIG.
Both b indicate hydraulic pipes.
【００２１】[0021]
【発明の効果】以上詳述したように、本発明の船舶用ダ
ンパー機構付きアーム式係留・離接岸支援装置によれ
ば、次のような効果ないし利点が得られる。 (1) 従来の係留における係船索の伸び，たるみによる過
大荷重の逃げと同様の作用を、機械的把持機構とアーム
先端部との間にダンパー機構を取り付けることにより行
なわせることができる。 (2) 上記(1)により、従来の船舶用アーム式係留・離接
岸支援装置の前記の問題点を解決することができ、アー
ム式係留・離接岸支援装置の実用性を向上させることが
できる。As described above in detail, according to the arm type mooring / decoupling shore support device with a damper mechanism of the present invention, the following effects and advantages can be obtained. (1) A damper mechanism can be attached between the mechanical gripping mechanism and the arm tip to perform the same function as the extension of a mooring line and the escape of an excessive load due to slack in a conventional mooring. (2) By the above (1), it is possible to solve the above-mentioned problems of the conventional arm-type mooring / decoupling shore support device for ships, and improve the practicality of the arm-type mooring / decoupling shore support device. .
【図１】本発明の一実施例としてのアーム式係留・離接
岸支援装置の全体を示す模式平面図。FIG. 1 is a schematic plan view showing the entire arm-type mooring / decoupling shore support device as one embodiment of the present invention.
【図２】同模式正面図。FIG. 2 is a schematic front view of the same.
【図３】同模式正面図。FIG. 3 is a schematic front view of the same.
【図４】同ダンパー機構を一部断面で示す正面図。FIG. 4 is a front view showing the damper mechanism in a partial cross section.
【図５】同側面図。FIG. 5 is a side view of the same.
【図６】図４のＡ−Ａ矢視断面図。6 is a cross-sectional view taken along the line AA of FIG.
【図７】図４のＢ−Ｂ矢視断面図。FIG. 7 is a sectional view taken along the line BB of FIG.
【図８】同第１の変形例を示す正面図。FIG. 8 is a front view showing the first modified example.
【図９】同第２の変形例を示す正面図。FIG. 9 is a front view showing the second modified example.
【図10】同第３の変形例を示す正面図。FIG. 10 is a front view showing the third modified example.
【図11】同第４の変形例を示す正面図。FIG. 11 is a front view showing the fourth modified example.
【図12】従来の係船索による船舶の係留を示す模式平面
図。FIG. 12 is a schematic plan view showing mooring of a ship by a conventional mooring line.
１ 船舶 ２ アーム ３ 岸壁 ４ 防舷材 ５ 機械的把持機構 ６ 機械的把持機構としての真空吸着盤 ６ａ 機械的把持機構としてのマグネット ７ エアチューブ ８ ユニバーサルジョイント ９ 第１スプリング 10 第２スプリング 11，13 枢軸 12，14 長穴 15，15ａ ストッパー 16 伸縮ジョイント 16ａ アーム端板 17 取付座 20，21 油圧緩衝器 22 ボールジョイント 1 Ship 2 Arm 3 Quay 4 Fender 5 Mechanical gripping mechanism 6 Vacuum suction board as mechanical gripping mechanism 6a Magnet as mechanical gripping mechanism 7 Air tube 8 Universal joint 9 1st spring 10 2nd spring 11,13 Axis 12,14 Oval hole 15,15a Stopper 16 Expansion joint 16a Arm end plate 17 Mounting seat 20,21 Hydraulic shock absorber 22 Ball joint
Claims (1)
おいて、上記船舶の離接岸および係留を行なうべく岸壁
に設置されたアームと、同アームの先端部に配設されて
上記船舶の捕獲を行なう機械的把持機構とをそなえ、同
機械的把持機構が上記アームの先端部にダンパー機構を
介して取り付けられていることを特徴とする、船舶用ダ
ンパー機構付きアーム式係留・離接岸支援装置。1. An arm-type mooring / berthing / berthing support device for a ship, comprising an arm installed on a quay for carrying out the mooring / berthing and mooring of the ship, and an arm provided at the tip of the arm for capturing the ship. An arm-type mooring / decoupling shore support device with a damper mechanism for a ship, comprising a mechanical gripping mechanism for performing the mechanical gripping mechanism, and the mechanical gripping mechanism is attached to the tip of the arm via a damper mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5196897A JP2923174B2 (en) | 1993-07-14 | 1993-07-14 | Ship mooring and berthing support equipment. |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5196897A JP2923174B2 (en) | 1993-07-14 | 1993-07-14 | Ship mooring and berthing support equipment. |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0733075A true JPH0733075A (en) | 1995-02-03 |
| JP2923174B2 JP2923174B2 (en) | 1999-07-26 |
Family
ID=16365474
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5196897A Expired - Lifetime JP2923174B2 (en) | 1993-07-14 | 1993-07-14 | Ship mooring and berthing support equipment. |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2923174B2 (en) |
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| JP2003011883A (en) * | 2001-06-29 | 2003-01-15 | Nippon Steel Corp | Floating mooring device with nonlinear reaction force characteristics |
| US6910435B2 (en) | 2000-02-26 | 2005-06-28 | Mooring Systems Limited | Mooring device |
| US6938570B2 (en) | 2001-04-17 | 2005-09-06 | Mooring Systems Limited | Mooring robot |
| US7055448B2 (en) | 2000-02-26 | 2006-06-06 | Mooring Systems Limited | Method for accommodating large movements in a mooring system |
| US7293519B2 (en) | 2002-07-30 | 2007-11-13 | Cavotec Msl Holdings Limited | Mooring system with active control |
| WO2012060511A1 (en) * | 2010-11-04 | 2012-05-10 | Korea Advanced Institute Of Science And Technology | Mooring system for a vessel |
| US8408153B2 (en) | 2007-09-26 | 2013-04-02 | Cavotec Moormaster Limited | Automated mooring method and mooring system |
| WO2015143488A1 (en) * | 2014-03-25 | 2015-10-01 | Trelleborg Marine Systems Melbourne Pty Ltd | Automated mooring device |
| JP2015174617A (en) * | 2014-03-18 | 2015-10-05 | 賢治 町筋 | Flotation-type structure, and movable joint for use in the same |
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| CN112758251B (en) * | 2020-12-31 | 2021-12-10 | 深圳中科讯联科技股份有限公司 | Automatic mooring device and control method thereof, and water robot and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6910435B2 (en) | 2000-02-26 | 2005-06-28 | Mooring Systems Limited | Mooring device |
| US7055448B2 (en) | 2000-02-26 | 2006-06-06 | Mooring Systems Limited | Method for accommodating large movements in a mooring system |
| US6938570B2 (en) | 2001-04-17 | 2005-09-06 | Mooring Systems Limited | Mooring robot |
| JP2003011883A (en) * | 2001-06-29 | 2003-01-15 | Nippon Steel Corp | Floating mooring device with nonlinear reaction force characteristics |
| US8215256B2 (en) | 2002-07-30 | 2012-07-10 | Cavotec Moormaster Limited | Mooring system with active control |
| US7293519B2 (en) | 2002-07-30 | 2007-11-13 | Cavotec Msl Holdings Limited | Mooring system with active control |
| US8408153B2 (en) | 2007-09-26 | 2013-04-02 | Cavotec Moormaster Limited | Automated mooring method and mooring system |
| WO2012060511A1 (en) * | 2010-11-04 | 2012-05-10 | Korea Advanced Institute Of Science And Technology | Mooring system for a vessel |
| US8499709B2 (en) | 2010-11-04 | 2013-08-06 | Korea Advanced Institute Of Science And Technology | Mooring system for a vessel |
| JP2015174617A (en) * | 2014-03-18 | 2015-10-05 | 賢治 町筋 | Flotation-type structure, and movable joint for use in the same |
| WO2015143488A1 (en) * | 2014-03-25 | 2015-10-01 | Trelleborg Marine Systems Melbourne Pty Ltd | Automated mooring device |
| JP2019519780A (en) * | 2016-06-17 | 2019-07-11 | オルステッド・ウィンド・パワー・エー／エスＯｒｓｔｅｄ Ｗｉｎｄ Ｐｏｗｅｒ Ａ／Ｓ | Equipment for conducting offshore diving surveys |
| WO2023095644A1 (en) * | 2021-11-24 | 2023-06-01 | 崎永海運株式会社 | Fender for ships |
| JPWO2023095644A1 (en) * | 2021-11-24 | 2023-06-01 |
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| Publication number | Publication date |
|---|---|
| JP2923174B2 (en) | 1999-07-26 |
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Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 19990407 |