Patent Description:
Mooring devices such as mooring robots are well known in the art. An example of such devices is disclosed by the <CIT>, <CIT>, and <CIT>. Such mooring devices are used to engage with and hold a vessel to a terminal such as a wharf at a port. Such mooring devices may typically comprise means for engaging and holding approaching vessels, such as vacuum pads. The vacuum pads are moved on arms or arm linkages from a base of the mooring robot.

The use of the systems and mooring robots described above typically includes docking the ship alongside a docking terminal along which a plurality of mooring robots are stationed. The mooring robots can extend and retract a vacuum pad that is to engage with the vessel being docked. Once the mooring robot has its vacuum pad engaged with the side of the vessel, the vacuum pads are actuated, which hold fast against a side surface of the vessel by creating a suction to the vessel, thereby ensuring that the vessel is securely moored to the docking terminal.

The arms or arm linkages of current mooring robots may be clunky and utilise excess dock space. The required footprint on the dock of existing mooring robots can be large, and/or the allowable extension and retraction distance of the vacuum pad may not be sufficient for the needs, or could be greater. The arms or arm linkages of mooring robots need to be strong to withstand the operational forces. In some cases, other elements are required to support the weight of the arms or arm linkages. These other elements may incur more manufacturing cost. In some cases the arms or arm linkages require moving arrangements, such as hydraulics or cable systems to extend and/or retract them. These hydraulics may need to be large enough to move both the arms or arm linkages in the transverse direction, as well as hold at least some of the weight of the arms or arm linkages themselves.

In this specification, where reference has been made to external sources of information, including patent specifications and other documents, this is generally for the purpose of providing a context for discussing the features of the present invention. Unless stated otherwise, reference to such sources of information is not to be construed, in any jurisdiction, as an admission that such sources of information are prior art or form part of the common general knowledge in the art.

<CIT> discloses a device that may be useful for understanding the background of the present technology.

It is an object of the present invention to provide a mooring robot that overcomes or at least partially ameliorates some of the abovementioned disadvantages or which at least provides the public with a useful choice.

The present invention provides a mooring robot according to independent claim <NUM>.

Further embodiments are defined by the additional features of dependent claims <NUM>-<NUM>.

Other aspects of the invention may become apparent from the following description which is given by way of example only and with reference to the accompanying drawings.

The term "vacuum" as used herein, is not necessarily a full vacuum but can be a partial vacuum.

The term "comprising" as used in this specification and claims means "consisting at least in part of". When interpreting statements in this specification and claims which include that term, the features, prefaced by that term in each statement, all need to be present but other features can also be present. Related terms such as "comprise" and "comprised" are to be interpreted in the same manner.

The invention will now be described by way of example only and with reference to the drawings in which:.

With reference to the above drawings, in which similar features are generally indicated by similar numerals, a mooring robot according to a first aspect of the invention is generally indicated by the numeral <NUM>. When generally describing a linkage or linkages, the notation <NUM> is used. When describing features of the linkage <NUM> in this specification, the notation of the first linkage <NUM> will be used for clarity. A first linkage is referenced by the numeral <NUM> and second linkage by the numeral <NUM>. Generally, the linkages are identical to each other, however in some embodiments they are different to each other. The features will generally be the same on a second linkage <NUM> and a third linkage etc, except the respective feature will be prefixed by the <NUM> or <NUM> notation. a base arm <NUM> of the first linkage <NUM>, a base arm <NUM> of a second linkage <NUM>.

According to the invention, there is provided a mooring robot <NUM>, suitable to moor and/or connect, engage, fender, or couple a vessel <NUM> to a terminal <NUM> such a dock, wharf, pier, pontoon, floating structure, off-shore structure, or another vessel. The mooring robot <NUM> is used for purposes of fendering, mooring, or engaging an approaching vessel <NUM> to be fended, moored, or engaged to.

Typically, the mooring robot <NUM> will comprises a base <NUM>, an extension mechanism <NUM> dependent from the base <NUM> and supporting an element at a distal region <NUM> remote the base <NUM>. The element may be configured as a fender type element <NUM> not forming part of the invention (described later) or attachment element <NUM>. The attachment element <NUM> will be described in detail first, however much of the description below may also relate to the fender element <NUM>.

The attachment element <NUM> comprises an engagement element <NUM>, such as at least one vacuum pad <NUM> or like engagement element <NUM>, at a distal end <NUM> of the linkage <NUM>. The extension mechanism <NUM> is used to extend the vacuum pad <NUM> towards a vessel <NUM> to be moored until it engages with the vessel <NUM>, after which the vacuum pad <NUM> sucks onto the side <NUM> of the vessel <NUM> to secure the vessel <NUM> to the terminal <NUM>, thereby mooring it. The vacuum pad <NUM> is moveable by means of the extension mechanism <NUM> in a range of extension in a transverse/sway direction (illustrated as arrow Y). The vacuum pad <NUM> can optionally also move in two further dimensions X and Z by a sliding mechanism <NUM> and/or moving arrangement <NUM>, where X is a fore and aft/surge direction along the dock <NUM> and Z is a vertical/heave direction.

The extension mechanism <NUM> forms part of sarrus mechanism formed of the base <NUM>, extension mechanism <NUM>, and attachment element <NUM>. The sarrus mechanism allows the attachment element <NUM> to extend linearly transversely from the base <NUM> in the sway direction Y. The weight of the attachment element <NUM> is almost fully, or fully, supported by the extension mechanism <NUM>. The sarrus mechanism <NUM> or mechanism <NUM> may be used for mooring or acting as a fender to a vessel.

The extension mechanism <NUM> comprises two or more linkages <NUM>. The linkages <NUM> are pivotably connected to both the base <NUM> and attachment element <NUM>. To self-support the weight of the attachment element <NUM>, there need to be at least two linkages <NUM>. There may be more than two linkages <NUM>, a three-linkage <NUM> extension mechanism <NUM> is shown in <FIG>. Through most of this specification, the description will be based around an extension mechanism <NUM> with two linkages <NUM>. However it is envisaged that a skilled person in the art will be able to modify the extension mechanism <NUM> to have more than two linkages <NUM> where operational use requires such.

The linkage <NUM> comprises two arms; a base arm <NUM> and an attachment arm <NUM>. The base arm <NUM> is respectively dependent from, and pivotably connected to the base <NUM> by base joint <NUM> having a respective base rotational axis <NUM>. The attachment arm <NUM> is pivotably connected to the attachment element <NUM> at an attachment joint <NUM>, having a respective attachment rotational axis <NUM>. The base arm <NUM> and the attachment arm <NUM> are pivotably connected to each other at an intermediate joint <NUM>, having an intermediate rotational axis <NUM>. Each joint, i.e. the base joint <NUM>, intermediate joint <NUM>, and attachment joint <NUM> allow the pivotable movement between their respective features, i.e. base <NUM> to base arm <NUM>; base arm <NUM> to attachment arm <NUM>; and attachment arm <NUM> to the attachment element <NUM>. Each joint <NUM>, <NUM> and <NUM> may also be described as the three joints of a linkage <NUM>.

The attachment element <NUM> can be extended and retracted in the transverse direction Y by a moving arrangement <NUM>. In some embodiment, the moving arrangement <NUM> is either a passive or an active moving arrangement. An example of a passive moving arrangement is a rubber damper or like resilient means, or the use of gravity to extend or retract the attachment element <NUM> depending on the configuration of the extension mechanism <NUM>. A powered actuating arrangement <NUM> is shown in <FIG>. In one embodiment, the powered actuating arrangement <NUM> comprises hydraulic actuators <NUM>. Actuation of the hydraulic actuators <NUM> can extend the attachment element <NUM> in the transverse direction Y, by extending the extension mechanism <NUM> in the same direction. Likewise, the hydraulic actuators <NUM> can be actuated to retract and therefore retract the attachment element <NUM> in the transverse direction Y.

Preferably the attachment element <NUM> is fully supported in the heave direction Z by the extension mechanism <NUM>. Preferably the extension mechanism <NUM> is not required to support the weight of the linkages <NUM> and the attachment element <NUM>. In one embodiment the hydraulic actuator <NUM> can only provide a force in the transverse direction Y, and does not take any weight of the linkages <NUM> or attachment element <NUM> and the heave direction Z.

In combination, the base <NUM>, attachment element <NUM>, and the extension mechanism <NUM> that extends therebetween form a sarrus linkage/mechanism. A benefit of a sarrus linkage is that the extension mechanism can fully support the attachment element <NUM>. A further benefit of a sarrus linkage is that the extension mechanism <NUM> can retract to a small distance compared to the distance it can extend. This allows the attachment element <NUM> to be drawn back and extend out a large distance. Further the extension mechanism <NUM> when retracted has the benefit of providing the mooring robot <NUM> with a small footprint on the dock, as the extension mechanism <NUM> is very compact when retracted. As will be known, a sarrus linkage has a number of configurations of linkages <NUM>.

The use of two linkage mechanisms <NUM> is the preferred embodiment, however a three linkage <NUM> extension mechanism <NUM> is also shown in <FIG>. Should space constraints, manufacturing costs, material advances, weight requirements, operational forces, and/or assembly techniques be changed; then the other linkage configurations, both in number of linkages and orientation of linkages, may become more or less viable.

The use of a two linkage <NUM> extension mechanism <NUM> is shown in most of the <FIG>. The two linkage <NUM> extension mechanism <NUM> may have the linkages <NUM> orientated in a number of different orientations. Furthermore, these differently orientated extension mechanism <NUM> may be moved by different configurations of moving arrangement <NUM>.

One configuration of extension mechanism <NUM> is an orthogonal configuration as shown in <FIG> and <FIG>. In the orthogonal configuration, the rotational joint axes of a first linkage <NUM> are orthogonal to the rotational joint axes of a second linkage <NUM>. the first linkage <NUM> is at right angles to the second linkage <NUM>. Furthermore, at least one of the linkage's <NUM> joint rotational axes are substantially vertical and/or, at least one of the linkage's joint rotational axes are substantially horizontal.

Another configuration of extension mechanism <NUM> is a diagonal configuration as shown in <FIG> at least. In the diagonal configuration. It can be seen that the joint rotational axes are at an angle A to each other. The angle A may be <NUM>° or it may be less than <NUM>°, such as <NUM> degrees. Furthermore, the joint rotational axes of one of the linkages <NUM> are not vertical or horizontal. Furthermore the angle between the rotational axes from the horizontal is equal for both linkages. the linkages <NUM> are generally orientated symmetrically to each other, i. e they are a mirror of each other about a mid-plane orthogonal to the sway direction Y. Where angles between linkages <NUM> are described, it is generally referred that comparison is made between like joints, e.g. the angle may between an intermediate rotational axis <NUM> of a first linkage <NUM> and an intermediate rotational axis <NUM> of a second linkage <NUM>.

Other possible orientations of the linkages <NUM> is an 'n' type orientation and a 'v' type orientation. Simply put, whether the linkage <NUM> bends up or bends down when retracting. For example, <FIG> shows two v type linkages, as each linkage makes a notional V, pointing downwards. When retracting, the intermediate joint will move upwards relative the base joint and arm joint. <FIG> and <FIG>, shows a single second linkage <NUM> in the V type orientation. Alternatively, a linkage may make a notional n pointing upwards, as shown in <FIG>, where linkage <NUM> bends upwards. In the n type orientation, when retracting, the intermediate joint will move downwards relative the base joint and arm joint. Changing between the n type orientation and the v type orientation will affect the bias of the extending mechanism to extend or retract under gravity. Where the intermediate joint wants to move down due to gravity will be the favoured direction to move. an n type configuration, the extending mechanism wants to extend with gravity, and in v type orientation the extending mechanism wants to retract with gravity.

If the linkages <NUM> are arranged in a diagonal orientation, they may be further be arranged as W type configuration or M type configuration.

In a W type orientation the intermediate rotational axes <NUM>,<NUM> of two adjacent intermediate joints <NUM>, <NUM> (or base joints, or attachment joints) extend upwards and towards each other. For example in <FIG> and <FIG>, the notional shape of the converging and intersecting intermediate rotational axes <NUM>, <NUM> intersect each other and points upwards. Like the shape of the inside portion of a 'W'. The W configuration has the benefits of easier access to the joint pins.

In <FIG> the intermediate rotational axes <NUM>, <NUM> of two adjacent intermediate joints <NUM>, <NUM> (or base joints, or attachment joints) extend downwards and towards each other. Like the shape of the inside portion of an 'M'. The M configuration has some benefits, such as better access a direct drive centrally located moving arrangement <NUM> and closer grouping of the intermediate joints.

In the diagonal orientation, preferably the angle A between the two intermediate rotational axes <NUM>, <NUM> is greater than <NUM> and less than <NUM> degrees. Preferably the angle A between the two intermediate rotational axes <NUM>, <NUM> is between <NUM> and <NUM> degrees. Preferably the angle A between the two intermediate rotational axes <NUM>, <NUM> is between <NUM> and <NUM> degrees. Preferably the angle A between the two intermediate rotational axes <NUM>, <NUM> is <NUM> degrees, an angle of <NUM>° has been found good for an M type configuration as it has a generally low-stress value compared to other angles of this configuration. Preferably the angle A between the two intermediate rotational axes <NUM>, <NUM> is <NUM> degrees, an angle of <NUM>° has been found good for a W type configuration as it has a generally low-stress value compared to other angles of this configuration.

Depending on operational loading, the angle A between the linkages can be adjusted (during manufacture) to provide the most effective angle A for the operational loads. For example, with a diagonal orientation extension mechanism, if there are going to be high surge loads in the X directions, then the angle A can be increased which will be more effective for resistance to these X direction surge loads. If there are high loads in a Z direction, then a smaller angle A is used. Analysis and computer modelling of the stresses in the arms is used to determine optimum angles for specifically shaped arms, specifically shaped linkages, orientation of linkages, and common operation loads.

In summary, the table below shows some of the possible two linkage extension mechanisms configurations. These configurations and orientations can also be applied to extension mechanisms with more than two linkages.

The three joints (joints including, base joint <NUM>, intermediate joint <NUM> and attachment joint <NUM>) are preferably single-axis rotational joints, i. e they act as a revolute joint. The joints can be arranged in many arrangements as long as they have a single rotational axis. The joints are preferably a pin and hole joint. For example, the base joint <NUM> on the second linkage has a pin <NUM> and hole <NUM> as shown in <FIG>, the hole <NUM> of the first linkage <NUM> can be seen easier in <FIG>. Other types of joints may be used. For example, an extended cylindrical socket formed in the distal end of the attachment arm and a complementary cylindrical formation to slide within the socket formed in the distal end of the base arm (not shown). The joints may be formed from multiple multi-rotational axis joints, that together form a single axis rotational joint. For example, a joint may be formed of two multi-axis rotational ball and socket joints that are attached to the end of one arm, that due to the limited degree of freedom can only rotate in a single axis.

Preferably the rotational axes <NUM>, <NUM>, <NUM> of the joints of one linkage are all parallel with each other. Preferably, this is true for each linkage of the extension mechanism. This allows the linkages <NUM> to act as part of the sarrus mechanism that is formed by the attachment element <NUM>, extension mechanism <NUM>, and base <NUM>.

Preferably the intermediate joint has a maximum rotational angle of <NUM> degrees, this would be in an embodiment where the arms are able to nest, or both have an extension at their distal ends, such as the arms shown in <FIG>. Where arms are straight and the joint axes are located at the ends of the arms the rotational angle maybe less than <NUM> degrees.

Preferably the linkages <NUM> cannot over-extend or go over-centre. An example of fully extended is when both the base rotational axis and attachment rotational axis are at a maximum distance apart from each other. Over extending is when the arms continue to rotate past the fully extended position. An example of over extending is when the intermediate axis continues to move in the same direction as when it was when extending, after both the base rotational axis and attachment rotational axes already gone to a maximum distance from each other. A fully extended distance will be combined length of the arms, where the length is between the rotational axes as shown in <FIG>. A minimum retraction distance will be the thickness t of the arms, as shown in <FIG>.

When the base arm <NUM> and attachment arm <NUM> extend to a fully extended position, preferably they cannot continue pivoting with respect to one another in the same direction. Each linkage may have a limitation on each intermediate joint to effect this. Alternatively, or in combination, the base arm <NUM> or attachment arm <NUM> comprises a stop that prevents the respective arms from going past <NUM>° with one another. Alternatively, or in combination, the moving arrangement <NUM> may comprise a limitation where the moving arrangement <NUM> cannot or does not extend past a certain distance, thus preventing the arms getting to or going past <NUM>° with each other. , a hydraulic actuator may have a stroke that is less than that required to extend the arms fully.

In combination with the above, the extension mechanism <NUM> may be so configured that the weight of the linkages <NUM> in combination with the attachment element <NUM> prevents the arms over-extending. In the v type, the weight of the arms works to keep the arms from over extending, and if a hydraulic actuator fails or the actuation force goes to zero, the extension mechanism will self-retract due to gravity.

In one embodiment, the rotational axes <NUM>,<NUM> of the joints are all on vertical planes. Preferably like/common joints, such as the base joint <NUM> and base joint <NUM> et cetera have a respective rotational axis on the same plane. Likewise, this is true for the intermediate joints <NUM>,<NUM> and attachment joints <NUM>,<NUM>. Preferably each like (common) joint between adjacent linkages has rotational axes on the same vertical plane (where the extension mechanism is used to extend in the horizontal transverse direction). Due to being on the same plane and at an angle, the like/common rotational axes will intersect at a point.

In other embodiments, one such embodiment shown in <FIG>, the rotational axis <NUM> of one base arm, is not on the same vertical plane as the rotational axis <NUM> of a second base arm. As such the base joint <NUM> and base joint <NUM> and/or attachment joints <NUM>,<NUM> have a respective rotational axis offset from each other. This is most easily seen in the plan view of <FIG> which shows an extension mechanism <NUM> extended, with two linkages at <NUM> degrees to each other and having off-set base joint and attachment joints. Out of plane pivot points allow for the arms to overlap leading to a more compact design.

The arms of a linkage <NUM> are typically the same length as each other, i. e the distance between the base pivoting axis <NUM> and intermediate pivoting axis <NUM> is equal to the distance between the intermediate pivoting axis <NUM> and the attachment pivoting axis <NUM>. The respective arms between linkages however, i.e. a base arm <NUM> and a base <NUM> are always the same length (L, as shown in <FIG>). The arms in isolation are shown in <FIG>, where <FIG> and <NUM> C show a plan view and side view of an attachment arm <NUM>, and <FIG> show a plan view and side view of a base arm <NUM>. In some embodiments the arms of a linkage <NUM> are not the same length as each other, an example of an attachment arm <NUM>, being longer than the base arm <NUM> is shown in <FIG> shows the different length arms in the retracted position, where the base arm <NUM> is substantially vertical, and the attachment arm <NUM> is off-vertical, yet the attachment joint and base joint are substantially horizontal with each other. Having different length arms may be used where specific space constraints or access constraints are required, or further nesting of the arms and drive mechanisms are required.

In other embodiments the arms of one linkage have different lengths not forming part of the invention, so that (for example if the linkage had its base joint horizontal) the attachment joint would be above or below the base joint. For the extension mechanism to operate, then other arm (assuming a two linkage sarrus, and the other arm is at <NUM> degrees to the first arm) is kinked so that the respective base joint is above or below the attachment joint respectively. In other words, a linkage's attachment joint's rotational axis is offset in the direction along the rotational axis the base joint's rotational axis. Off-set pivot points allow for the arms (of either or both linkages) to overlap leading to a more compact design.

In further embodiments, one as shown in <FIG>, the intermediate joint <NUM> is offset in a direction of the rotational axis compared to the attachment joint and base joint. Both arms are required to be kinked, skewed or angled to allow the intermediate joint <NUM> to be offset. Offset pivot points allow for the arms (of either or both linkages) to overlap leading to a more compact design. The arms may have cut outs, or recesses <NUM> to allow adjacent linkages to better nest and lead to a more compact retracted design.

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

In one embodiment, one or both of the attachment arm <NUM> and the base arm <NUM> have an L shaped feature <NUM>. This L shaped feature <NUM> is shown in the least <FIG> and <FIG>, where at least attachment arm <NUM> has a curved feature going towards the intermediate axis <NUM>. The L-shape <NUM> is not necessary L shaped, but at least has a general curve or offset from the elongate length of the arm. The L shape <NUM> allows the attachment arm <NUM> to fold back upon and nest closer to the base arm <NUM>. This allows a more compact folding of the linkage <NUM>. In one embodiment, the attachment arm <NUM> comprises an abutting surface <NUM> that is configured to abut against the base arm <NUM>. The abutting surface <NUM> can abut flush against a like surface on the base arm <NUM>. The abutting surface <NUM> may act as a stop so that any undue force onto the attachment element <NUM> is driven through the abutting surface <NUM> and not the intermediate joint <NUM>. The L shape <NUM> can be located on either the attachment arm <NUM> or the base arm <NUM> or both. Due to the L-shape <NUM>, when the arms extend towards <NUM>° to each other, there will not be perfectly straight due to the slight kink of the L-shape. A skilled person in the art will realise there are many ways to achieve a compact folding of the arms to each other without an L shape <NUM>, by instead utilising a joint that allows a similar configuration. where the intermediate joint pin <NUM> is located directly in-between both the attachment arm <NUM> and base arm <NUM>, like a door hinge. An example of symmetrical arms each with a like L-shape <NUM> is shown in <FIG>, where the intermediate joint <NUM> (when the arms are engaged to each other) would be in the middle of the two arms.

The attachment element <NUM> is supported and dependent from the linkages <NUM>. The attachment element <NUM> may comprise a number of sub-elements such as an engagement element <NUM>. The engagement element <NUM> is configured to engage with a vessel <NUM>. The engagement element <NUM> is configured to engage with a surface or other feature of a vessel <NUM>. Preferably the engagement element <NUM> is one or more selected from a vacuum pad, vacuum cup or cups, hook device, resilient fender, magnetic connection, fluid transfer connection, a charging connection, or other engagement feature configured to releasably engage with a vessel <NUM>. A vacuum pad <NUM> is shown in <FIG>. The vacuum pad <NUM> may be configured to engage with a surface <NUM> of a vessel <NUM> as shown in <FIG>. Vacuum pads or engagement elements are generally well known in the art.

The attachment element <NUM> may further comprise a sliding mechanism <NUM>. The sliding mechanism <NUM> allows the engagement element <NUM> to move in multiple directions to allow for the vessel move relative the dock, without having to disengage the engagement element <NUM>. Preferably, the sliding mechanism <NUM> allows the engagement element <NUM> to move in both the surge X and heave Z direction as shown in <FIG>. The sliding mechanism <NUM> is generally known in the art also. Where there is a sliding mechanism <NUM>, the linkages <NUM> attach to the sliding mechanism <NUM>.

In one embodiment, the attachment element <NUM> is for engaging a vessel <NUM>. Such engagement may not be for fastening a vessel <NUM>, but instead may be used to engage with a vessel <NUM> to transfer power or fluid. In some embodiments, the attachment element <NUM> can both fasten a vessel <NUM> and engage a connection to a vessel <NUM>. There are a number of ways that the attachment element <NUM> can be extended and retracted from the base <NUM> when being supported by the extension mechanism <NUM>.

The attachment element <NUM> may further comprise a frame <NUM>. The frame <NUM> is configured to connect to the linkages <NUM> instead of the linkages <NUM> connecting directly to the sliding mechanism <NUM>. The frame <NUM> allows the linkages <NUM> to be easily attached to the attachment element <NUM>. Intermediate the frame <NUM> and the engagement element <NUM> is the sliding mechanism <NUM>.

Preferably the sliding mechanism <NUM> comprises at least one selected from a substantially vertical elongate guide <NUM> configured to allow the engagement element <NUM> to raise and lower (i.e. in the up and down or heave direction Z) with respect to the base; and a substantially horizontal elongate guide <NUM> configured to allow the engagement element <NUM> to move fore and aft (i.e. in the back-and-forth/surge direction X) with respect to the base <NUM>.

In some embodiments, the sliding mechanism <NUM> allows passive movement of the engagement element <NUM>. Whereas in other embodiments the sliding mechanism <NUM> allows powered movement of the engagement element <NUM>, as shown in <FIG>. Preferably the moving arrangement <NUM> is engaged between the base <NUM> and the frame <NUM>.

In further embodiments, the sliding mechanism <NUM> comprises resilient means such as rubber dampers, springs, or fenders that allow the engagement element <NUM> to one or both of; translate; and rotate in one or more axes. This may be in combination with vertical and horizontal sliding movement.

In some embodiments, there may be a passive moving arrangement (not shown) that can absorb any impact, or resist forces, onto the attachment element <NUM> acting in the transverse direction. the mooring robot can act as a damper. However, in other embodiments, the moving arrangement is an active moving arrangement <NUM>.

In one embodiment, the active moving arrangement <NUM> is a powered actuating arrangement <NUM>. Wherein the powered actuating arrangement <NUM> comprises one or more selected from a hydraulic actuator <NUM>, an electric actuator, a chain drive system, and belt drive system.

The moving arrangement <NUM> may extend either between the base <NUM> and the attachment element <NUM> - known as a direct-drive configuration. Examples of a direct drive configuration are shown in <FIG>, <FIG>, <FIG>.

Alternatively, or in combination with the direct-drive configuration, the moving arrangement <NUM> also extends between the attachment arm <NUM> and the base <NUM>. In this arrangement, the moving arrangement is known as a tricep-drive configuration. Wherein the moving arrangement extends from a none-claimed extension <NUM> off either the attachment arm <NUM> or base arm <NUM>, and the other end of the moving arrangement is fixed pivotably relative to the base <NUM>, an example of this is shown in <FIG>, <FIG>, <FIG>.

In one embodiment, the extension <NUM> extends off the distal end <NUM> (towards the intermediate joint <NUM>) of the attachment arm <NUM> to act as a lever for the moving arrangement <NUM> to pivotably connect to, as shown in <FIG> and <FIG>.

In one embodiment, the extension <NUM> extends off the proximal end <NUM> of a base arm <NUM> as shown in <FIG>. This allows a moving arrangement <NUM> to extend between the base <NUM> and the extension <NUM>, located on the base arm <NUM>.

The tricep-drive configuration may have higher deflections and pin loads compared to the direct-drive configuration.

The extension <NUM>, and associated moving arrangement <NUM> may be present on one or more linkages <NUM>. A tricep drive configuration present on only one linkage is shown in <FIG>.

The configuration of the moving arrangement <NUM> depends on the type of configuration and drive of the linkages <NUM>. For example, a W orientation extension mechanism <NUM> does not lend to the use of a tricep drive configuration because of the lack of space for the tricep drive configuration moving arrangement <NUM>. Generally, in the diagonal embodiments, a direct drive configuration is utilised. However <FIG> shows an example of a diagonal embodiment with a tricep drive.

In one embodiment, the moving arrangement <NUM> is one or more hydraulic actuators <NUM> and associated features such as pivoting joints etc. The hydraulic actuator or actuators <NUM> in one embodiment is a single hydraulic actuator <NUM> on one or more linkages in the tricep drive configuration. The hydraulic actuator <NUM> extends between the extension <NUM> and the base <NUM>. In the direct-drive configuration, the hydraulic actuator <NUM> extends between the base <NUM> and the attachment element <NUM>. In the preferred embodiment, the direct-drive configuration is a compound hydraulic actuator <NUM> as shown in <FIG> and <FIG>. The compound hydraulic actuator <NUM> allows a greater range of travel. <FIG> shows the compound hydraulic actuator <NUM> in an extended position, and <FIG> shows the compound hydraulic actuator <NUM> and a retracted position. <FIG> show a cross-sectional view through the midplane of a mooring robot <NUM>, to highlight the moving arrangement <NUM> and the extended and retracted position respectively.

Preferably the moving arrangement <NUM> as described above does not support any weight of the attachment element <NUM> in the vertical direction Z. Preferably the moving arrangement <NUM> is pivotably connected to the features that support it. However, in other embodiments, the moving arrangement <NUM> can support some weight of either the linkages <NUM> or moving arrangement <NUM>, for one example - in a rotary drive embodiment. The weight that the moving arrangement <NUM> supports is minimal compared to the overall weight of the attachment element <NUM> and linkages <NUM>.

In a further embodiment, the moving arrangement <NUM> may be comprised of or comprise rotary drivers (not shown) as a powered actuating arrangement <NUM>. The rotary drivers may be electric or hydraulic motors located at one or more joints of one or more linkages <NUM>. In one embodiment, a rotary driver comprises a hydraulic cylinder configured to turn a rotary spline that actuates a joint.

In one embodiment, the rotary driver is a hydraulic motor located at the intermediate joint <NUM> to drive relative motion between a base arm <NUM> and an attachment arm <NUM>. In some embodiments, there is a rotary driver located at all three joints of one linkage. In other embodiments for example, there is a rotary driver on two linkages <NUM>, at the base joints <NUM>, <NUM>. There are many configurations the movement arrangement may take.

In a further embodiment, the moving arrangement <NUM> may comprise one or more of the above powered actuating arrangement. For example, one or more selected from a tricep drive, direct drive, and rotary driver. For example, in one embodiment, the mooring robot <NUM> comprises a tricep drive and a rotary driver. When in the fully retracted configuration, there may be a very large force required due to minimal leverage to actuate the tricep drive to extend the linkage or extension mechanism. In this case the rotary driver will be actuated to start off the extension of the extension mechanism <NUM>, and once a greater leverage is able to be utilised, the tricep drive will aid or take over extension of the extension mechanism <NUM>.

The base of <NUM> is generally arranged to support the linkages <NUM> and in turn the attachment element <NUM>. The base <NUM> comprises a foot <NUM> that is configured to be mounted to a dock or second vessel <NUM>. The mounting may be via bolted connection, or like permanent connection or another mechanical type fit.

In some embodiments, the base <NUM> is mounted to a movable arrangement <NUM> on the dock <NUM>, or any other like structure such as an offshore structure. The movable arrangement <NUM> can allow the base <NUM> to move relative to the dock <NUM>. For example, the movable arrangement <NUM> may allow the base <NUM> to move laterally in the surge direction X along the dock <NUM>. In other arrangements or in combination, the movable arrangement <NUM> as shown in <FIG> may allow the base <NUM> to move vertically in the heave direction Z. The movable arrangement <NUM> may be a set of sliders or rails.

The base <NUM> may be vertically mounted to the side of a dock <NUM> for example. The base <NUM> may be engaged onto vertical rails on the side of a dock <NUM> or offshore structure. With the movable arrangement <NUM>, the moving arrangement <NUM> located at the attachment element <NUM> may be modified to incorporate the potential freedom that the movable arrangement <NUM> allows. For example if the movable arrangement <NUM> allows some vertical movement, then the moving arrangement <NUM> may not require as much, or no, vertical movement.

The present invention with the base <NUM> having a small footprint leads itself to the base <NUM> being engaged to a rail system <NUM> as shown in <FIG>. In embodiments where the base <NUM> is engaged to a vertical rail system <NUM>, the entire mooring robot <NUM> may be rotated <NUM>° so that it is not very wide and can fit on a relatively narrow rail system. In such an embodiment, the vacuum pad may be in the same orientation as shown in figures, but the frame <NUM>, the linkages <NUM> and base <NUM> have all been rotated <NUM>° in either direction about a horizontal axis extending in the sway direction Y. The angle A between the joints may be adjusted (via orientation of the linkages with respective to each other and the dock) so that appropriate loading stresses through the mooring robot are found.

In some embodiments the mooring robot <NUM> acts purely acts purely as a fender <NUM> not forming part of the invention. In such unclaimed embodiments the element <NUM> may not releasable engage with said vessel, but merely make contact with the vessel. In the fender <NUM> embodiment not forming part of the invention the element <NUM> does not comprises an attachment feature, but is merely a large surface, such as a contact surface <NUM>, capable of contacting a surface of a vessel. The fender <NUM> comprises a fender element <NUM>, and an energy absorbing element <NUM> and utilising the mechanism <NUM> as herein described.

Much of the above description of the mooring robot <NUM> is analogous with a fender that utilises a mechanism <NUM> herein described. The mechanism <NUM> comprising at least two linkages. Where the rotational axes of the linkages are at angles to each other, or at least not parallel to each other.

The energy absorbing element <NUM> of the fender <NUM> is equivalent to the moving arrangement within the mooring robot <NUM>. This analogy allows the previous description of location etc of the moving arrangement to be equivalent to the energy absorbing element <NUM>. The energy absorbing element <NUM> is preferably located central to the fender <NUM> and fender element <NUM>.

The fender element or attachment element will follow a straight line path as the fender element or attachment element move in and out in the transverse direction towards and away from the base. This is called a parallel motion fender. As the contact surface <NUM> of the fender element <NUM> is able to stay parallel the dock <NUM>, quay, or second vessel. The path of the fender element <NUM> may be described as following a straight line or straight path. Where the straight path is linear. Preferably the straight path is horizontal in instances where the fender <NUM> is attached to a dock or quay, likewise for the mooring robot. The straight path may be described as orthogonal to any of the rotational axes of the revolute joints. A straight path of movement of the element prevents or at least reduces any shear or angular distortion being put into the energy absorbing element <NUM>. For example, if the fender element <NUM> is at an angle to the vessel, the rated reaction of the energy absorbing element <NUM> needs to be reduced. A straight path may increase life of the energy absorbing element <NUM>.

Prior art fenders may utilise single arms, these single arms may be quite long, and as such the arc that scribed 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 arms required to achieve a large diameter arc for apparent parallel motion.

The fender <NUM> or mooring robot <NUM> does not comprise a system utilising vectored control for maintaining said straight path. The straight path is dictated by the geometry of the mechanism.

The movement of the element/linkage is due to impact (imparting of motion) from a vessel with the fender element <NUM>.

The energy absorbing element <NUM> comprises a proximal end <NUM> and distal end <NUM>, wherein the proximal end <NUM> is restrained to either the dock, second vessel, or base and the distal end <NUM> is restrained to one or more linkages <NUM>, <NUM> at or towards the element <NUM> and/or the element <NUM>.

In one embodiment, the energy absorbing element at least partially supports the weight of the element. However in some embodiments the mechanism fully supports the fender element, and/or as well as fully supporting the distal end <NUM>.

In one embodiment, the mechanism resists shear movement in the energy absorbing element when the element is impacted by a vessel.

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

The mechanism may comprise a moving arrangement that is a passive actuating arrangement configured to passively drive the element in the transverse direction.

The mechanism may comprise a moving arrangement that is an energy absorber, and/or where the energy absorber is one or more selected from a rubber absorber, pneumatic absorber and foam absorber.

A skilled person in the art will realise the base joints <NUM> may partly be integrally formed or connected with the base <NUM>. Likewise, part of the attachment joints <NUM> may be integrally formed or connected to the attachment element <NUM>.

The base <NUM>, linkages <NUM>, and frame <NUM> are generally composed of metal. The arms are likely to be cast.

Where in the foregoing description reference has been made to elements or integers having known equivalents, then such equivalents are included as if they were individually set forth.

Claim 1:
A mooring robot (<NUM>) configured to releasably fasten a vessel (<NUM>) to a dock or to a second vessel, the mooring robot comprising:
a) a base (<NUM>) configured to attach to said dock or second vessel;
b) an attachment element (<NUM>) configured to releasably engage with a surface of said vessel; and
c) at least two linkages (<NUM>, <NUM>) dependent from the base and together supporting the attachment element, each linkage (<NUM>; <NUM>) comprising a base arm (<NUM>) and an attachment arm (<NUM>) pivotably connected together at a revolute intermediate joint (<NUM>), the base arm pivotably connected to the base at a revolute base joint (<NUM>; <NUM>) and the attachment arm pivotably connected to the attachment element at a revolute attachment joint (<NUM>; <NUM>), wherein the three joints each define a rotational axis that are spaced apart and parallel to each other, and wherein the rotational axes of the joints of a first linkage of the at least two linkages are not parallel to the rotational axes of the joints of at least one second linkage of the at least two linkages,
wherein the at least two linkages are configured to retract and extend to move the attachment element in a transverse direction towards and away from the base respectively, and the base arm (<NUM>) and the attachment arm (<NUM>) of the at least two linkages (<NUM>, <NUM>) are a same length as each other.