| 主权项 |
1. A transfer system for transfer of a liquid between a ship and a liquid supply unit, connectable via a first end to the liquid supply unit and via a second end to a manifold on the ship, and having at least six degrees of freedom of movement, the transfer system comprising:
an articulated arm, connected at a first end to the liquid supply unit and carrying, at a second end, a connecting device; and a connection pipe located on the ship, wherein
the connection pipe is connected at a first end to the manifold on the ship,the connection pipe is connectable at a second, free end to the connecting device of the articulated arm,the articulated arm includes
a succession of arm segments pivotally connected in series and including at least three rotating joints,a stationary vertical support arm segment,an internal arm segment, andan external arm segment,each arm segment of the succession of arm segments, the stationary vertical support arm segment, the internal arm segment, and the external arm segment has a respective first end, a respective second end, and a respective longitudinal axis,the support arm segment is connected by the first end of the support arm segment to the liquid supply unit, and by the second end of the support arm segment, via a first rotating joint having a horizontal rotational axis, to the first end of the internal arm segment,the internal arm segment is pivotally connected to the first end of the external arm segment via a first elbow, and the first elbow has
a first elbow portion with an axis extending along the longitudinal axis of the internal arm segment and connected to the second end of the internal arm segment via a second rotating joint having a rotational axis extending along the longitudinal axis of the internal arm segment, anda second elbow portion with an axis perpendicular to the axis of the first elbow portion and connected via a third rotating joint with a rotational axis extending along the axis of the second elbow portion to the first end of the external arm segment, which is perpendicular to the longitudinal axis of the external arm segment,the external arm segment carries, at the second end of the external arm segment, the connecting device, andthe connection pipe located on the ship comprises remaining rotating joints providing, with the articulated arm, the six degrees of freedom of movement of the transfer system, each remaining rotating joint having a rotational axis and an elbow portion so that the rotational axes of the remaining rotating joints extend perpendicular to one another. |
