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EP 3 064 647 B1 |
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EUROPEAN PATENT SPECIFICATION |
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Mention of the grant of the patent: |
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20.05.2020 Bulletin 2020/21 |
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Date of filing: 03.03.2016 |
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International Patent Classification (IPC):
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DEVICE AND METHOD FOR ARRANGEING A PROTECTIVE MATERIAL MAT ON A BOTTOM UNDER WATER
VORRICHTUNG UND VERFAHREN UM EINE SCHÜTZENDE MATERIALROLLE AUF EINEM UNTERWASSERGRUND
ANZUORDNEN
DISPOSITIF ET METHODE POUR ARRANGER UN ROULEAU D'UN MATERIAU PROTECTEUR AU FOND D'E
L'EAU
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Designated Contracting States: |
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AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL
NO PL PT RO RS SE SI SK SM TR |
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Priority: |
05.03.2015 NL 2014401
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Date of publication of application: |
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07.09.2016 Bulletin 2016/36 |
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Proprietor: Aannemingsmaatschappij
De Vries & van de Wiel B.V. |
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1741 LA Schagen (NL) |
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Inventor: |
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- D'HAEZE, Floris
9090 Melle (BE)
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Representative: Brouwer, Hendrik Rogier et al |
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Arnold & Siedsma
Bezuidenhoutseweg 57 2594 AC The Hague 2594 AC The Hague (NL) |
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References cited: :
WO-A1-00/26478 NL-A- 6 916 144
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FR-A1- 2 734 291 US-A1- 2004 129 376
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Note: Within nine months from the publication of the mention of the grant of the European
patent, any person may give notice to the European Patent Office of opposition to
the European patent
granted. Notice of opposition shall be filed in a written reasoned statement. It shall
not be deemed to
have been filed until the opposition fee has been paid. (Art. 99(1) European Patent
Convention).
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TECHNICAL FIELD OF THE INVENTION
[0001] The invention relates to a device for arranging a protective material mat on a bottom
lying at least partially under water. The invention also relates to a method for arranging
a protective material mat on a bottom under water wherein use is made of the invented
device.
BACKGROUND OF THE INVENTION
[0002] Arranging a protective material mat on a bottom under water may for instance be necessary
in the context of widening and/or deepening a channel. During such operations the
existing watertight bottom layer is often removed. Water from the channel can hereby
penetrate into the ground and adversely affect the groundwater level. Such an effect
- generally a raising - of the groundwater level is undesirable as it can have adverse
consequences for the ecology of the area, but also for agriculture and the stability
of nearby embankments and water barriers. Seepage of water out of the channel into
the ground moreover lowers the water level in the channel, which can make navigation
through the channel more difficult or even impossible. For the above stated reasons
it is important during widening and/or deepening of a channel to arrange a new protective
layer as quickly as possible on the bottom, which new layer must in any case partially
restore the watertightness and provide further protection against erosion and other
instabilities. In addition, there is often lack of space in channels, and the devices
utilized for arranging a protective layer must operate efficiently in order to impede
shipping traffic as little as possible.
[0003] The new protective layer can be realized in many ways. A known method shown in e.g.
NL6916144A and
FR2734291A, comprises of arranging a protective material mat, for instance a geotextile or bentonite
mat, on a bottom under water. The bentonite mats in particular are suitable for forming
a watertight protective layer. A known method shown in e.g.
WO 00/26478 and
US2004/129376, comprises of unrolling the bentonite mats from the waterside in a direction running
transversely of the navigation direction in the channel. This method is time-consuming
however, and it has moreover been found that it is difficult to obtain the desired
watertightness.
SUMMARY OF THE INVENTION
[0004] The invention has for its object to provide an improved device and method for arranging
a protective material mat on a bottom under water.
[0005] Provided for this purpose is a device as according to claim 1.
[0006] Using the invented device a protective layer can be formed in efficient and accurate
manner on an underwater excavated bottom. The guide construction provides for an accurate
positioning of a side edge of a material mat for placing before this material mat
is unrolled onto the bottom using the manipulating tool. Carrying out the positioning
of a material mat side edge from the floating support body with the guide construction
mounted on the floating support body achieves an accuracy which cannot be achieved
with the known method, even with the use of divers.
[0007] The floating support body can comprise any floating device but is preferably a pontoon
provided with a number of spud poles. Such a pontoon is brought into a desired position
in the channel and temporarily fixed by lowering the spud poles against or into the
bottom. Because the position of the pontoon can be accurately determined, for instance
with a global positioning system (GPS), the position of the guide frame connected
to the pontoon is also fixed, and so also the starting position. A material mat can
in this way be precisely positioned on the bottom.
[0008] A preferably applied embodiment of the invention provides a device, wherein this
further comprises a pouring device for arranging pouring material on a material mat
unrolled onto the bottom, wherein the pouring device comprises a throughfeed unit
for the pouring material with an inlet along which the material is received and an
outlet along which the material is deposited onto the material mat, wherein the outlet
of the throughfeed unit is movable relative to the support body. The pouring device
is preferably provided on the floating support body and ensures that pouring material,
such as for instance gravel, is subsequently poured onto a material mat unrolled onto
the bottom with the manipulating tool. This practically immediate pouring onto the
material mat ensures that this mat cannot shift relative to other, already unrolled
mats. It has been found that an even greater watertightness can in this way be guaranteed.
[0009] According to another embodiment there are further advantages to providing a device
wherein the manipulating tool is movable in a plane of the support body. A plane of
the support body is formed for instance by a work deck of the support body on which
the manipulating tool, the guide construction and/or the pouring device are placed.
The present embodiment provides a movable connection of the manipulating tool to for
instance the work deck of the support body. Such a connection can for instance comprise
a pair of rails over which the manipulating tool provided with wheels can be displaced.
In another useful embodiment the pouring device as well as the manipulating tool is
also movable in a plane of the support body.
[0010] Another embodiment of the invention provides a device wherein the floating support
body has a direction of forward movement and the manipulating tool and/or the outlet
of the throughfeed unit is movable in a direction running transversely of the direction
of forward movement. In some cases the direction of forward movement of the support
body substantially corresponds to the direction of navigation in the channel. In such
a case the material mats are unrolled substantially transversely of the direction
of navigation in the channel, and the pouring material is likewise poured substantially
transversely of the direction of navigation onto a placed material mat.
[0011] According to the invention the material mats are unrolled from the support body onto
the bottom by the manipulating tool. It is useful here for the support body to be
provided with an opening or moon pool which provides access to a water mass located
under the support body and along which the manipulating tool can carry a material
mat under water. It is important here that the manipulating tool is also able reach
underwater positions which are difficult to access. In an embodiment the manipulating
tool comprises for this purpose a robot arm which is connected to the support body
and provided with a pick-up tool for a material mat.
[0012] In a further improved embodiment the robot arm comprises at least two members coupled
for movement relative to each other, wherein a first member is connected to the support
body, a second member is connected to the pick-up tool and the second member is curved
so that the pick-up tool can be carried at least partially under the support body.
[0013] There are further advantages in respect of accessibility when the pick-up tool is
also connected to a robot arm for rotation around a longitudinal axis of the robot
arm. This results in additional degrees of freedom during manipulation of a material
mat.
[0014] A side edge of a material mat is brought according to the invention into a desired
and precisely determined starting position by having the guide construction, and more
specifically the guide frame, extend into the starting position. In an embodiment
the guide frame is connected to the support body such that the guide frame of the
guide construction can be carried from a rest position to an operating position, in
which operating position the guide frame extends underwater from the support body
into the starting position. The guide frame can thus be connected for instance for
pivoting around a preferably horizontal axis to the support body.
[0015] A further improvement can be achieved with an embodiment in which the engaging means
for a material mat side edge can be carried to the starting position from a clamping
position located above water. This can for instance take place in that the engaging
means for a material mat side edge comprises clamps movable along lateral girders
of the guide frame into the starting position. In this embodiment the clamps engage
a side edge of a material mat and the clamps are then slid, for instance by means
of a drive, into the starting position along the lateral girders of the guide frame
which are situated partially in the water. It will be apparent that other possible
embodiments are available to the skilled person.
[0016] With the invented device a protective material mat can be arranged on a bottom under
water in efficient and precise manner. Provided for this purpose according to the
invention is a method according to claim 12. During these operations the support body,
for instance in the form of a pontoon provided with spud poles or an assembly of pontoons,
is preferably fixed in a position relative to the bottom. Once a number of material
mats have been laid, the support body is uncoupled from the bottom and positioned
and preferably fixed in a new location, after which the above stated steps are repeated.
[0017] The advantages of the invention become particularly manifest in an embodiment of
the method wherein pouring material is arranged by a pouring device on a material
mat unrolled onto the bottom, wherein an inlet of a throughfeed unit of the pouring
device receives the pouring material and an outlet deposits the pouring material onto
the material mat, wherein the outlet of the throughfeed unit is moved relative to
the support body. A suitable embodiment pours the pouring material onto a material
mat unrolled onto the bottom in a previous position of the support body, preferably
the immediately preceding position of the support body.
[0018] Suitable embodiments of the invented method comprise methods wherein the manipulating
tool is moved in a plane of the support body and/or wherein the floating support body
is advanced in a direction of forward movement and the manipulating tool and/or the
outlet of the throughfeed unit is moved in a direction running transversely of the
direction of forward movement and/or wherein the manipulating tool comprises a robot
arm connected to the support body and the material mat is picked up with a pick-up
tool provided on the robot arm.
[0019] In another suitable embodiment the pick-up tool is carried at least partially under
the support body with at least two members of the robot arm coupled for movement relative
to each other, wherein a first member is connected to the support body and a second
curved member is connected to the pick-up tool, wherein the pick-up tool is rotated
around a longitudinal axis of a robot arm.
[0020] In another embodiment the robot arm comprises at least two members coupled for movement
relative to each other, wherein a first member is connected to the support body, a
second member is connected to the pick-up tool and the second member is connected
to the first member for pivoting out of a plane (generally a vertical plane) comprising
the first member. The pick-up tool can hereby be carried at least partially under
the support body.
[0021] Other further embodiments relate to a method wherein the guide frame of the guide
construction is carried from a rest position to an operating position, in which operating
position the guide frame extends underwater from the support construction into the
starting position and/or wherein the engaging means for a material mat side edge is
carried to the starting position from a clamping position located above water and
wherein clamps of the engaging means for a material mat side edge are moved along
lateral girders of the guide frame into the starting position.
[0022] Although the device and method according to the invention are particularly suitable
for arranging a protective layer in the context of deepening and/or widening a channel,
they can also be applied extremely well in other circumstances. It is thus possible
for instance to apply the device and method for the purpose of providing underwater
pipelines and other structures with a protective layer. The material mat to be arranged
on the underwater bottom or other structure located underwater can comprise any material
mat which is unreliable from a carrier frame in which the mat is accommodated. The
pouring material to be arranged can for instance be sand, gravel or clay and sometimes
even comprise rocks and pieces of concrete or cement. The pouring material preferably
comprises gravel.
BRIEF DESCRIPTION OF THE FIGURES
[0023] The invention will now be further elucidated on the basis of the description of the
accompanying figures, without otherwise being limited thereto. In the figures:
Figure 1 is a schematic perspective view of a part of the device according to an embodiment
of the invention;
Figure 2 is a schematic perspective detail view of a manipulating tool according to
an embodiment of the invention;
Figure 3 is a schematic top view of a device according to an embodiment of the invention;
Figure 4 is a schematic side view of the embodiment of the device according to the
invention shown in figure 3;
Figure 5 is a schematic front view of a guide construction according to an embodiment
of the invention;
Figure 6 is a schematic front view of a detail of the guide construction shown in
figure 5;
Figure 7 is a schematic perspective view of a part of the device according to another
embodiment of the invention; and
Figures 8A, 8B and 8C are schematic front views of a manipulating tool according to
an embodiment of the invention in different positions.
DESCRIPTION OF EXEMPLARY EMBODIMENTS
[0024] A device 1 according to an exemplary embodiment of the invention is shown with reference
to figure 1. Using device 1 a protective material mat 2 can be arranged on a bottom
3 under water 4. The shown device 1 comprises a floating support body in the form
of a pontoon assembly 5 consisting of different mutually coupled pontoons. Pontoon
assembly 5 is constructed such that it encloses an open space or moon pool 51 (see
figures 3 and 4) through which the underlying water is accessible. Provided on a work
deck 50 of pontoon assembly 5 is a manipulating tool 6 with which a rolled-up material
mat 2 received in a carrier frame 60 can be manipulated. Several positions of the
same manipulating tool 6 are shown in figure 1, although it is also possible to provide
pontoon assembly 5 with a plurality of manipulating tools 6. It is noted that in figures
1 and 7 the connection of manipulating tool 6 to pontoon assembly 5 is not shown.
This connection is for instance the lever crane 61 shown in figures 3 and 4. A guide
construction 7 for material mat 2 is further mounted on a side edge of moon pool 51.
Guide construction 7 comprises a guide frame 71 and a framework 73 which is movable
along two lateral girders 72 of the frame into a desired starting position 30 and
which is provided on an underside with an engaging means for a side edge of a material
mat 2 in the form of a clamp 74. Guide frame 71 is connected to the side edge of moon
pool 51 for pivoting around a substantially horizontal axis 52, this allowing guide
frame 71 to be carried from a rest position (not shown), in which the frame is clear
of bottom 3, to the operating position shown in figure 1 in which guide frame 71 extends
in the water 4 from the side edge of moon pool 51 into a desired starting position
30 on bottom 3. A side edge of a material mat 2 picked up by manipulating tool 6 can
be placed in this precisely determined starting position 30 by clamping the side edge
of material mat 2 fixedly in clamp 74, wherein clamp 74 (and framework 73) are situated
in a clamping position A located above water (see figure 5) and then sliding clamp
74 with framework 73, optionally by means of a drive (not shown), in the direction
75 along the lateral girders 72 of guide frame 71 which are located partially in the
water 3 and into the starting position 30. Clamp 74 is situated here in a low position
B located underwater. Manipulating tool 6 can (partially) follow this movement here
so as to prevent excessive unrolling of material mat 2 out of carrier frame 60. Once
starting position 30 has been reached, material mat 2 is unrolled onto the bottom
from carrier frame 60.
[0025] In order to increase accuracy the pontoon assembly 5 is fixed to the bottom during
unrolling of material mats 2. Pontoon assembly 5 is provided for this purpose according
to figure 3 with a number of fixed spud poles 54 and two spud carriages 55, in each
of which a spud pole 56 is received. By means of spud carriages 55 a pontoon assembly
5 anchored to the bottom 3 can make a limited movement in the direction of forward
movement 57 of pontoon assembly 5 as according to the arrow 58 shown in figure 3.
Because the position of the fixed pontoon assembly 5 can be accurately determined
with a global positioning system (GPS), the position of the guide frame 7 connected
to pontoon assembly 5 is also fixed, and so also the starting position 30 from which
a material mat 2 is unrolled by manipulating tool 6. A material mat 2 can in this
way be positioned accurately on bottom 3.
[0026] The embodiment shown in figures 3 and 4 further comprises a pouring device 8 which
is arranged downstream (relative to the direction of forward movement 57) on pontoon
assembly 5 and with which material mats 2 already unrolled onto bottom 3 can be provided
with pouring material 81 for the purpose of stabilizing the material mats 2. Pouring
device 8 comprises a throughfeed unit for the pouring material 81 in the form of a
chute 82 with a funnel-shaped inlet 83 along which the material for pouring 81 is
received and an outlet 84 along which the material 81 is deposited onto material mats
2. Outlet 84 here forms a flattened funnel. Chute 82 can be displaced in the transverse
direction 59 along rails 85 running transversely of the direction of movement 57,
whereby chute 82 can cover substantially the whole width of pontoon assembly 5. Chute
82 can if desired take a (partly) flexible form between inlet 83 and outlet 84, for
instance comprise a flexible tube. In such an embodiment it is possible to hold inlet
83 of chute 82 at a fixed position and move only outlet 84. A loading crane 86 likewise
displaceable in the transverse direction 59 along a suitable guide 90 further provides
for supply of sufficient pouring material 81, such as for instance gravel, to inlet
funnel 83 of the chute.
[0027] In order to obtain a flat poured layer with an even more precisely defined height
level, an embodiment of the invention comprises a device in which chute 82 comprises
a telescopically slidable part, whereby a lower edge of outlet 84 of chute 82 can
be held at the same height irrespective of the rolling of pontoon assembly 5. A suitable
measuring and control system here controls the movement of the telescopic part. It
is also possible to provide the device with measuring means configured to determine
and control the quantity of material present in chute 82 or the flow rate through
chute 82.
[0028] Manipulating tool 6 comprises in the embodiment shown in figures 3 and 4 a lever
crane 61 displaceable in transverse direction 59 along a suitable guide 91. Lever
crane 61 is provided with a robot arm comprising two members (62, 63) coupled for
movement relative to each other. Members (62, 63) can be moved in known manner relative
to each other and lever crane 61 by means of hydraulic cylinders 64. Second member
63 is connected to a pick-up tool for a material mat 2 in the form of a carrier frame
60. Carrier frame 60 is provided with two end plates with holes in which a material
mat 2 rolled up on a rod can be arranged. The end plates are optionally provided with
an adjustable rolling resistance so that the unrolling of a material mat 2 can take
place in controlled manner. Second member 63 is curved so that carrier frame 60 can
be carried at least partially under pontoon assembly 5, as shown for instance in figure
1 by the position furthest to the left of manipulating tool 6. Second member 63 is
curved such that a lower part thereof moves out of the plane which comprises first
member 62. Carrier frame 60 is further connected to a free outer end of second member
63 such that frame 60 can be rotated in a direction 65 around a longitudinal axis
of second member 63, as shown in the inset of figure 2. Underwater positions which
are difficult to access can hereby also be reached.
[0029] In another embodiment manipulating tool 6 comprises a lever crane 61 displaceable
in transverse direction 59 along the suitable guide 91, wherein this crane is provided
according to the embodiment shown in figures 7 and 8A-8C with a robot arm comprising
two members (162, 163) coupled for movement relative to each other. In figure 7 the
robot arm is shown in three different positions which are shown in front view in figures
8A, 8B and 8C. Members (162, 163) can be moved in known manner relative to each other
and lever crane 61 by means of hydraulic cylinders 164. Second member 163 is connected
to a pick-up tool for a material mat 2 in the form of carrier frame 60. Second member
163 is not curved in this embodiment but has a linear progression in a lengthwise
direction of member 163. In order to enable placing of carrier frame 60 at least partially
under pontoon assembly 5 as shown by the position of manipulating tool 6 furthest
to the left in figure 7, second member 163 is connected to first member 162 by means
of a hinge connection 166 which is controllable with hydraulic cylinders 165 and which
enables pivoting of second member 163 out of a vertical plane 167. Carrier frame 60
is further connected to a free outer end of second member 163 such that frame 60 can
be rotated in a direction 168 around a longitudinal axis of second member 163.
[0030] Pontoon assembly 5 is further optionally provided with a number of fixed chutes 87
and with a number of containers 88 which serve as control room 88a, as HPU container
88b and as storage 88c for material mats 2 for placing.
[0031] With the invented device a number of protective material mats 2 can be arranged in
efficient and accurate manner on a bottom 3 under water. For this purpose a material
mat 2 received in carrier frame 60 is picked up by manipulating tool 6 and a side
edge of material mat 2 is secured in clamp 74 in an above water clamping position
A of framework 73. Framework 73 is then moved along lateral girders 72 of guide construction
7 into a desired starting position 30, wherein the side edge of material mat 2 is
carried along therewith. The desired starting position 30 can for instance be defined
by the base of a sheet piling that has been arranged in the dike body or bank of the
channel for widening, after which the bank has been cleared away as far as the sheet
piling in order to effect the widening. Material mat 2 is then unrolled from this
starting position 30 onto bottom 3 by manipulating tool 6. During these operations
the pontoon assembly 5 is fixed in a position relative to bottom 3 with the spud poles.
During laying of material mats 2 the pontoon assembly 5 is displaced if desired over
a limited distance in the direction of movement 57 by moving spud carriages 55 in
the direction 58, which corresponds to the direction of movement 57 of pontoon assembly
5. Once a number of material mats 2 have been laid in this manner, pontoon assembly
5 is uncoupled from bottom 3 by raising spud poles (54, 56) and positioned and preferably
fixed in a new position, after which the above stated steps are repeated and the material
mats 2 laid in the previous step are provided with a stabilizing poured layer of pouring
material 81 by pouring device 8, as shown for instance in figure 4. Although not essential,
the direction of forward movement 57 of pontoon assembly 5 usually substantially corresponds
to the direction of navigation in the channel. In such a case the material mats 2
are thus unrolled substantially transversely of the direction of navigation in the
channel and pouring material 84 is likewise poured substantially transversely of the
direction of navigation onto a placed material mat 2. It is useful in this embodiment
to place material mats 2 over only a portion of the channel width so that the remaining
portion of the channel width remains available for shipping traffic. This portion
can then be provided later with material mats 2.
[0032] The invention is not limited to the above described embodiments otherwise than by
the scope of the appended claims.
1. Device for arranging a protective material mat (2) on a bottom (3) under water, wherein
the device comprises a floating support body (5) for a manipulating tool (6) and for
a guide construction (7) for the material mat, wherein the manipulating tool is configured
to pick up a material mat roll, carry it underwater and unroll the material mat roll
on the bottom from a starting position (30), and wherein the guide construction comprises
a guide frame (71) and an engaging means (74) for a side edge of the material mat,
the engaging means being movable along the guide frame from a position (A) above the
water to the starting position under water in order to bring said side edge to said
starting position.
2. Device as claimed in claim 1, wherein it further comprises a pouring device for arranging
pouring material on a material mat unrolled onto the bottom, wherein the pouring device
comprises a throughfeed unit for the pouring material with an inlet along which the
material is received and an outlet along which the material is deposited onto the
material mat, wherein the outlet of the throughfeed unit is movable relative to the
support body.
3. Device as claimed in claim 1 or 2, wherein the manipulating tool is movable in a plane
of the support body.
4. Device as claimed in any of the foregoing claims, wherein the floating support body
has a direction of forward movement and the manipulating tool and/or the outlet of
the throughfeed unit is movable in a direction running transversely of the direction
of forward movement.
5. Device as claimed in any of the foregoing claims, wherein the manipulating tool comprises
a robot arm which is connected to the support body and provided with a pick-up tool
for a material mat.
6. Device as claimed in claim 5, wherein the robot arm comprises at least two members
coupled for movement relative to each other, wherein a first member is connected to
the support body, a second member is connected to the pick-up tool and the second
member is curved so that the pick-up tool can be carried at least partially under
the support body.
7. Device as claimed in claim 5, wherein the robot arm comprises at least two members
coupled for movement relative to each other, wherein a first member is connected to
the support body, a second member is connected to the pick-up tool and the second
member is connected to the first member for pivoting out of a plane comprising the
first member.
8. Device as claimed in any of the claims 5-7, wherein the pick-up tool is connected
to the robot arm for rotation around a longitudinal axis of the robot arm.
9. Device as claimed in any of the foregoing claims, wherein the guide frame of the guide
construction can be carried from a rest position to an operating position, in which
operating position the guide frame extends underwater from the support construction
into the starting position.
10. Device as claimed in any of the foregoing claims, wherein the engaging means for a
material mat side edge can be carried to the starting position from a clamping position
located above water.
11. Device as claimed in any of the foregoing claims, wherein the engaging means for a
material mat side edge comprises clamps movable along lateral girders of the guide
frame into the starting position.
12. Method for arranging a protective material mat on a bottom under water, wherein a
manipulating tool and a guide construction for the material mat are provided on a
floating support body; the manipulating tool picks up a material mat roll; a side
edge of the material mat is attached to an engaging means of the guide construction;
the engaging means is moved along a guide frame of the guide construction into a starting
position and carries the side edge of the material mat with it into the starting position;
and the material mat is unrolled from the starting position on the bottom by the manipulating
tool.
13. Method as claimed in claim 12, wherein pouring material is arranged by a pouring device
on a material mat unrolled onto the bottom, wherein an inlet of a throughfeed unit
of the pouring device receives the pouring material and an outlet deposits the pouring
material onto the material mat, wherein the outlet of the throughfeed unit is moved
relative to the support body.
14. Method as claimed in claims 12-13, wherein the manipulating tool comprises a robot
arm connected to the support body and the material mat is picked up with a pick-up
tool provided on the robot arm.
15. Method as claimed in any of the claims 12-14, wherein the guide frame of the guide
construction is carried from a rest position to an operating position, in which operating
position the guide frame extends underwater from the support construction into the
starting position, and wherein the engaging means for a material mat side edge is
carried to the starting position from a clamping position located above water.
1. Vorrichtung zur Anordnung einer schützenden Materialmatte (2) auf einem Unterwassergrund
(3), wobei die Vorrichtung einen schwimmenden Trägerkörper (5) für ein Bedienungswerkzeug
(6) und für eine Führungskonstruktion (7) für die Materialmatte aufweist, wobei das
Bedienungswerkzeug konfiguriert ist, um eine Materialmattenrolle zu greifen, sie Unterwasser
zu befördern und die Materialmattenrolle von einer Anfangsposition (30) auf dem Grund
abzuwickeln, und wobei die Führungskonstruktion einen Führungsrahmen (71) und eine
Eingreifeinrichtung (74) für einen Seitenrand der Materialmatte aufweist, wobei die
Eingreifeinrichtung von einer Position (A) über dem Wasser zu der Anfangsposition
unter Wasser entlang des Führungsrahmens beweglich ist, um den Seitenrand in die Anfangsposition
zu bringen.
2. Vorrichtung nach Anspruch 1, wobei sie ferner eine Gussvorrichtung zum Anordnen von
Gussmaterial auf einer auf den Grund abgewickelten Materialmatte aufweist, wobei die
Gussvorrichtung eine Durchlaufeinheit für das Gussmaterial mit einem Einlass, entlang
dem das Material aufgenommen wird, und einem Auslass, entlang dem das Material auf
der Materialmatte abgelagert wird, aufweist, wobei der Auslass der Durchlaufeinheit
relativ zu dem Tägerkörper beweglich ist.
3. Vorrichtung nach Anspruch 1 oder 2, wobei das Bedienungswerkzeug in einer Ebene des
Trägerkörpers beweglich ist.
4. Vorrichtung nach einem der vorhergehenden Ansprüche, wobei der schwimmende Trägerkörper
eine Richtung einer Vorwärtsbewegung hat und das Bedienungswerkzeug und/oder der Auslass
der Durchlaufeinheit in einer Richtung beweglich ist/sind, die quer zu der Richtung
der Vorwärtsbewegung verläuft.
5. Vorrichtung nach einem der vorhergehenden Ansprüche, wobei das Bedienungswerkzeug
einen Roboterarm aufweist, der mit dem Trägerkörper verbunden ist und mit einem Greifwerkzeug
für eine Materialmatte versehen ist.
6. Vorrichtung nach Anspruch 5, wobei der Roboterarm wenigstens zwei Elemente, die für
die Bewegung relativ zueinander gekoppelt sind, aufweist, wobei ein erstes Element
mit dem Trägerkörper verbunden ist, ein zweites Element mit dem Greifwerkzeug verbunden
ist, und das zweite Element gekrümmt ist, so dass das Greifwerkzeug wenigstens teilweise
unter dem Trägerkörper befördert werden kann.
7. Vorrichtung nach Anspruch 5, wobei der Roboterarm wenigstens zwei Elemente, die für
die Bewegung relativ zueinander gekoppelt sind, aufweist, wobei ein erstes Element
mit dem Trägerkörper verbunden ist, ein zweites Element mit dem Greifwerkzeug verbunden
ist, und das zweite Element mit dem ersten Element verbunden ist, um aus einer Ebene,
die das erste Element aufweist, heraus zu schwenken.
8. Vorrichtung nach einem der Ansprüche 5 - 7, wobei das Greifwerkzeug für die Drehung
um eine Längsachse des Roboterarms mit dem Roboterarm verbunden ist.
9. Vorrichtung nach einem der vorhergehenden Ansprüche, wobei der Führungsrahmen der
Führungskonstruktion von einer Ruheposition in eine Betriebsposition befördert werden
kann, wobei sich der Führungsrahmen in dieser Betriebsposition unter Wasser von der
Trägerkonstruktion in die Anfangsposition erstreckt.
10. Vorrichtung nach einem der vorhergehenden Ansprüche, wobei die Eingreifeinrichtung
für einen Materialmattenseitenrand von einer Einspannposition, die über Wasser angeordnet
ist, zu der Anfangsposition befördert werden kann.
11. Vorrichtung nach einem der vorhergehenden Ansprüche, wobei die Eingreifeinrichtung
für einen Materialseitenrand Klammern aufweist, die entlang seitlicher Unterzüge des
Führungsrahmens in die Anfangsposition beweglich sind.
12. Verfahren zur Anordnung einer schützenden Materialmatte auf einem Unterwassergrund,
wobei ein Bedienungswerkzeug und eine Führungskonstruktion für die Materialmatte auf
einem schwimmenden Trägerkörper bereitgestellt werden; wobei das Bedienungswerkzeug
eine Materialmattenrolle greift; wobei ein Seitenrand der Materialmatte an einer Eingreifeinrichtung
der Führungskonstruktion befestigt wird, wobei die Eingreifeinrichtung entlang eines
Führungsrahmens der Führungskonstruktion in eine Anfangsposition bewegt wird und den
Seitenrand der Materialmatte mit sich in die Anfangsposition befördert; und wobei
die Materialmatte durch das Bedienungswerkzeug von der Anfangsposition auf dem Grund
abgewickelt wird.
13. Verfahren nach Anspruch 12, wobei ferner durch eine Gussvorrichtung Gussmaterial auf
einer auf den Grund abgewickelten Materialmatte angeordnet wird, wobei ein Einlass
einer Durchlaufeinheit der Gussvorrichtung das Gussmaterial aufnimmt und ein Auslass
das Gussmaterial auf der Materialmatte ablagert, wobei der Auslass der Durchlaufeinheit
relativ zu dem Tägerkörper bewegt wird.
14. Verfahren nach einem der Ansprüche 12 - 13, wobei das Bedienungswerkzeug einen Roboterarm
aufweist, der mit dem Trägerkörper verbunden ist, und die Materialmatte mit einem
auf dem Roboterarm bereitgestellten Greifwerkzeug gegriffen wird.
15. Verfahren nach einem der Ansprüche 12 - 14, wobei der Führungsrahmen der Führungskonstruktion
von einer Ruheposition in eine Betriebsposition befördert wird, wobei sich der Führungsrahmen
in dieser Betriebsposition unter Wasser von der Trägerkonstruktion in die Anfangsposition
erstreckt, und wobei die Eingreifeinrichtung für einen Materialmattenseitenrand von
einer Einspannposition, die über Wasser angeordnet ist, in die Anfangsposition befördert
wird.
1. Dispositif pour agencer un tapis de matériau protecteur (2) sur un fond (3) sous l'eau,
dans lequel le dispositif comprend un corps de support flottant (5) pour un outil
de manipulation (6) et pour une construction de guidage (7) pour le tapis de matériau,
dans lequel l'outil de manipulation est configuré pour ramasser un rouleau de tapis
de matériau, le porter sous l'eau et dérouler le rouleau de tapis de matériau sur
le fond à partir d'une position de départ (30), et dans lequel la construction de
guidage comprend un cadre de guidage (71) et un moyen d'engagement (74) pour un bord
de côté du tapis de matériau, le moyen d'engagement étant mobile le long du cadre
de guidage d'une position (A) au-dessus de l'eau à la position de départ sous l'eau
afin d'amener ledit bord de côté à ladite position de départ.
2. Dispositif selon la revendication 1, dans lequel il comprend en outre un dispositif
de versage pour agencer un matériau de versage sur un tapis de matériau déroulé sur
le fond, dans lequel le dispositif de versage comprend une unité d'alimentation traversante
pour le matériau de versage avec une entrée le long de laquelle le matériau est reçu
et une sortie le long de laquelle le matériau est déposé sur le tapis de matériau,
dans lequel la sortie de l'unité d'alimentation traversante est mobile par rapport
au corps de support.
3. Dispositif selon la revendication 1 ou 2, dans lequel l'outil de manipulation est
mobile dans un plan du corps de support.
4. Dispositif selon l'une quelconque des revendications précédentes, dans lequel le corps
de support flottant a une direction de déplacement vers l'avant et l'outil de manipulation
et/ou la sortie de l'unité d'alimentation traversante sont mobiles dans une direction
s'étendant transversalement à la direction de déplacement vers l'avant.
5. Dispositif selon l'une quelconque des revendications précédentes, dans lequel l'outil
de manipulation comprend un bras robotisé qui est relié au corps de support et muni
d'un outil de ramassage pour un tapis de matériau.
6. Dispositif selon la revendication 5, dans lequel le bras robotisé comprend au moins
deux organes couplés pour un déplacement de l'un par rapport à l'autre, dans lequel
un premier organe est relié au corps de support, un second organe est relié à l'outil
de ramassage et le second organe est incurvé de sorte que l'outil de ramassage puisse
être porté au moins partiellement sous le corps de support.
7. Dispositif selon la revendication 5, dans lequel le bras robotisé comprend au moins
deux organes couplés pour un déplacement de l'un par rapport à l'autre, dans lequel
un premier organe est relié au corps de support, un second organe est relié à l'outil
de ramassage et le second organe est relié au premier organe pour pivoter hors d'un
plan comprenant le premier organe.
8. Dispositif selon l'une quelconque des revendications 5 à 7, dans lequel l'outil de
ramassage est relié au bras robotisé pour une rotation autour d'un axe longitudinal
du bras robotisé.
9. Dispositif selon l'une quelconque des revendications précédentes, dans lequel le cadre
de guidage de la construction de guidage peut être porté d'une position de repos à
une position de fonctionnement, position de fonctionnement dans laquelle le cadre
de guidage s'étend sous l'eau à partir de la construction de support jusque dans la
position de départ.
10. Dispositif selon l'une quelconque des revendications précédentes, dans lequel le moyen
d'engagement pour un bord de côté de tapis de matériau peut être porté jusqu'à la
position de départ à partir d'une position de serrage située au-dessus de l'eau.
11. Dispositif selon l'une quelconque des revendications précédentes, dans lequel le moyen
d'engagement pour un bord de côté de tapis de matériau comprend des éléments de serrage
mobiles le long de poutres latérales du cadre de guidage jusque dans la position de
départ.
12. Procédé d'agencement d'un tapis de matériau protecteur sur un fond sous l'eau, dans
lequel un outil de manipulation et une construction de guidage pour le tapis de matériau
sont prévus sur un corps de support flottant ; l'outil de manipulation ramasse un
rouleau de tapis de matériau ; un bord de côté du tapis de matériau est attaché à
un moyen d'engagement de la construction de guidage ; le moyen d'engagement est déplacé
le long d'un cadre de guidage de la construction de guidage jusque dans une position
de départ et porte le bord de côté du tapis de matériau avec lui jusque dans la position
de départ ; et le tapis de matériau est déroulé à partir de la position de départ
sur le fond par l'outil de manipulation.
13. Procédé selon la revendication 12, dans lequel un matériau de versage est agencé par
un dispositif de versage sur un tapis de matériau déroulé sur le fond, dans lequel
une entrée d'une unité d'alimentation traversante du dispositif de versage reçoit
le matériau de versage et une sortie dépose le matériau de versage sur le tapis de
matériau, dans lequel la sortie de l'unité d'alimentation traversante est déplacée
par rapport au corps de support.
14. Procédé selon les revendications 12 et 13, dans lequel l'outil de manipulation comprend
un bras robotisé relié au corps de support et le tapis de matériau est ramassé avec
un outil de ramassage prévu sur le bras robotisé.
15. Procédé selon l'une quelconque des revendications 12 à 14, dans lequel le cadre de
guidage de la construction de guidage est porté d'une position de repos à une position
de fonctionnement, position de fonctionnement dans laquelle le cadre de guidage s'étend
sous l'eau à partir de la construction de support jusque dans la position de départ,
et dans lequel le moyen d'engagement pour un bord de côté de tapis de matériau est
porté jusqu'à la position de départ à partir d'une position de serrage située au-dessus
de l'eau.
REFERENCES CITED IN THE DESCRIPTION
This list of references cited by the applicant is for the reader's convenience only.
It does not form part of the European patent document. Even though great care has
been taken in compiling the references, errors or omissions cannot be excluded and
the EPO disclaims all liability in this regard.
Patent documents cited in the description