The present disclosure pertains to the field of mooring of vessels. The present disclosure relates to a mooring device for securing a vessel to a mooring point, a mooring system for securing a vessel to a mooring point, and a vessel comprising the mooring system.

BACKGROUND

Mooring refers to an act of securing a vessel to a permanent structure, which permanent structure will hereinafter be referred to as a mooring point. A vessel may be secured to a mooring point to forestall free movement of the vessel on the water. An anchor mooring fixes the vessel's position relative to a point on the bottom of a waterway without connecting the vessel to shore.

The mooring point may be any variety of shore fixture from trees and rocks to specially constructed areas such as quays, wharfs, jetties, piers, anchor buoys, and/or mooring buoys.

Mooring is often accomplished using thick ropes called mooring lines or hawsers. The lines may be fixed to deck fittings on the vessel at one end and to fittings such as bollards, rings, and cleats at the other end.

Mooring typically requires cooperation between people on shore and on a vessel. Heavy mooring lines are often passed from larger vessels to people on shore by smaller, weighted heaving lines. The mooring line is then pulled onto shore by means of the heaving line and are then manually connected to the mooring point by the people on shore. Once a mooring line is attached to a mooring point, it is pulled tight. Large ships generally tighten their mooring lines using heavy machinery, such as so called mooring winches or capstans.

Typically, a plurality of mooring lines is required to secure a vessel. The heaviest cargo ships may require more than a dozen mooring lines, while small vessels can generally be moored by two to six mooring lines. Hence, mooring of a vessel involves hard labor with risk for injuries for the people on shore. Further, mooring operations are time consuming and must be planned in advance to ensure that people are available onshore to assist during mooring.

SUMMARY

Accordingly, there is a need for devices and systems for securing a vessel to a mooring point, which mitigate, alleviate or address the shortcomings existing and provide a facilitated and less labor intense mooring operation.

A mooring device for securing a vessel to a mooring point is disclosed. The mooring device comprises a main body having a guide section and a receiving section for receiving the mooring point. The guide section is arranged along a perimeter of the receiving section, the guide section being arc shaped and having a center axis. The mooring device further comprises a guiding arc being arranged in the guide section of the main body, wherein the guiding arc is arranged concentrically with and rotatably around the center axis of the guide section. The mooring device further comprises a catching device arranged at the circumference of the guiding arc for catching and holding a line, the guiding arc comprising an open section allowing the mooring point to enter the receiving section. The guiding arc is configured to rotate in a first direction around the receiving section of the main body such that, when the mooring point is located in the receiving section, the catching device forms a trajectory encircling the mooring point, such that, when the line is caught and held by the catching device, the line encircles the mooring point located in the receiving section. One or more edges of the receiving section may be smoothened, such as being rounded, to reduce wear on a line sliding along the edge of the receiving section.

Further, a mooring system for securing a vessel to a mooring point is disclosed. The mooring system comprising the mooring device and a line. The catching device catches the line and pulls a section of the line that is caught in the catching device along a trajectory encircling the receiving section, such that the line encircles a mooring point located in the receiving section.

Further, a vessel comprising the mooring system is disclosed. It is an advantage of the present disclosure that the time and effort for performing a mooring procedure may be reduced, since the mooring device can grab the line and place the line around a mooring point in one single rotational movement, without requiring manual handling of the line. The mooring device of the present disclosure thus enables remotely operated vessels to moor to offshore mooring points, such as pylons, or in remote locations without assistance from shore personnel.

Further, the risk of personnel getting injured is reduced, since no personnel is required for direct handling of the line. The personnel may be located at a safe distance from the line in turn providing a safe mooring operation.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and other features and advantages of the present disclosure will become readily apparent to those skilled in the art by the following detailed description of exemplary embodiments thereof with reference to the attached drawings, in which:

Fig. 1 illustrates an exploded top down view of an example mooring device according to this disclosure,

Fig. 2 illustrates a top down view of an example mooring device comprising a drive system according to this disclosure,

Fig. 3A illustrates an exploded side view of an example mooring device according to this disclosure in an open position for receiving a mooring point,

Fig. 3B illustrates a side view of an example mooring device according to this disclosure in an open position for receiving a mooring point,

Fig. 3C illustrates an exploded side view of an example mooring device according to this disclosure in a closed position,

Fig. 3D illustrates a side view of an example mooring device according to this disclosure in a closed position,

Fig. 4A illustrates a side view of an example catching device according to some first embodiments herein, Fig. 4B illustrates a side view of an example catching device according to some second embodiments herein in a closed position for catching a line,

Fig. 4C illustrates a side view of an example catching device according to some second embodiments herein in an open position for releasing a line,

Fig. 5A-5H illustrates different states of the mooring device in a mooring system for securing a vessel to a mooring point during a mooring operation,

Fig. 6 illustrates an example mooring system according to this disclosure,

Fig. 7A illustrates an example vessel comprising the mooring device according to this disclosure in a retracted position, and

Fig. 7B illustrates an example vessel comprising the mooring device according to this disclosure in an extended position.

DETAILED DESCRIPTION

Various example embodiments and details are described hereinafter, with reference to the figures when relevant. It should be noted that the figures may or may not be drawn to scale and that elements of similar structures or functions are represented by like reference numerals throughout the figures. It should also be noted that the figures are only intended to facilitate the description of the embodiments. They are not intended as an exhaustive description of the disclosure or as a limitation on the scope of the disclosure.

In addition, an illustrated embodiment needs not have all the aspects or advantages shown. An aspect or an advantage described in conjunction with a particular embodiment is not necessarily limited to that embodiment and can be practiced in any other embodiments even if not so illustrated, or if not so explicitly described.

The figures are schematic and simplified for clarity, and they merely show details which aid understanding the disclosure, while other details have been left out. Throughout, the same reference numerals are used for identical or corresponding parts.

A mooring device for securing a vessel to a mooring point is disclosed. The mooring device comprises a main body having a guide section for receiving a guiding arc and a receiving section for receiving the mooring point. The guide section being arranged along and/or around a perimeter of the receiving section. The guide section being arc shaped and having a center axis. The mooring device further comprises the guiding arc being arranged in the guide section of the main body. The guiding arc is arranged concentrically with and rotatably around the center axis of the guide section. The mooring device further comprises a catching device arranged at the circumference of the guiding arc for catching and holding a line, such as a mooring line. The guiding arc comprises an open section allowing the mooring point to enter the receiving section. The guiding arc is configured to rotate in a first direction around the receiving section of the main body, such that, when the mooring point is located in the receiving section, the catching device forms a trajectory encircling the mooring point, such that, when the line is caught and held by the catching device, the line encircles (at least partly) the mooring point located in the receiving section. The receiving section may be an open section in the main body, such as a through-going cut out in the main body. The receiving section may be defined by one or more side walls of the main body. An opening may be provided in the side of the main body for allowing an object, such as a mooring point, to be inserted into the receiving section. In other words, the opening in the side of the main body may be an opening providing access to the receiving section in a direction perpendicular to the center axis of the guide section. The receiving section is arranged within the perimeter of the guide section and the guiding arc, such that the guide section and guiding arc surrounds the receiving section. The periphery of the receiving section may have one of the following shapes, U-shaped, arc shaped, V-shaped, or trapez-shaped. The dimensions of the receiving section are selected such that the receiving section and the opening in the side wall can accommodate a mooring point. The dimensions may be dependent on the size of the mooring point. In one or more example mooring device(s), a diameter or a width of the receiving section may be in the range of 0,5-3 meters, such as in the range of 1-2 meters, such as in the range of 1 ,2-1 ,5 meters. The receiving section may be a through hole arranged in the main body, such as in a main plane of the main body and being surrounded by the guide section. The guide section may be a groove, such as a milled groove, or a rail, mounted on the surface of the main body, surrounding the through hole. The through hole and the guide section may be truncated, such that the guide section and the through hole are open to one side of the main body. The guide section and/or the receiving section being truncated shall herein be interpreted as the main body having an imaginary cut going through the through hole and the guide section. The main body, the guiding arc and/or the catching device of the mooring device may be made out of metal, such as stainless steel or aluminum.

The mooring point may be any variety of shore fixtures, from trees and rocks to specially constructed fixed structures or areas such as quays, wharfs, jetties, piers, anchor buoys, mooring buoys, and/or wire or rope loops connected to any of the previous structures.

The catching device may catch the line at a first end of the line. A surface of the catching device being configured to be in contact with the line may comprise a plurality of protrusions or a coating, such as a rubber material, for increasing friction between the surface and the line. In one or more example embodiments, the mooring line may comprise a sleeve arranged at the first end of the line, the sleeve may comprise a friction enhancing material or coating, such as a rubber material, for increasing friction between the catching device and the line. This may reduce the risk of the line unintentionally releasing from the catching device.

The mooring device may further comprise a locking device for preventing the guiding arc from rotating in a second direction opposite the first direction. The locking device may be a ratchet, such as a ratchet element, arranged on the main body and being configured to engage the guiding arc, such that the ratchet allows a rotation of the guiding arc in one direction and prevents a rotation in the opposite direction. In some embodiments, the locking device may be a pin arranged on the main body and being configured to engage the guiding arc when the guiding arc is in a fixed position, thereby preventing the guiding arc from rotating. Due to the guiding arc being prevented from rotating in the direction opposite of the first direction, the end section of the line caught by the catching device will be restricted in movement, instead the other end of the line may be un-winded from the other end. The first end of the line may be secured by the catching device and the guiding arc may be prevented from rotating by the locking device, such that when the mooring device moves away from the mooring point the line is un-winded from a storage to which a second end of the line is attached, such as from a winch, such as from a tension winch, such as from a drum of the winch. The size of the loop of the line can thereby be increased to allow the mooring device (and a vessel comprising the mooring device) to move away from the mooring point while the line still encircles (at least partly) the mooring point. In order to adjust the distance of a vessel to a shore or to a fixed structure, the tension in the line may be adjusted by means of for example the winch, such as the tension winch, to provide less or more slack in the line.

The mooring device may comprise a releasing device for releasing the line from the catching device. The releasing device allows the line to be removed from the mooring point by pulling a second end of the line to unloop the line from the mooring point. The releasing device may be configured to decrease the force by which the catching device holds the line, for example by increasing a gap between two surfaces between which the line is clamped, wedged or gripped. Previously, when for example a vessel would leave shore or leave the fixed structure to which the mooring point is connected, people on shore would have to manually remove the line from the mooring point, or the vessel would have to be brought close to the mooring point, such that people onboard of the vessel could remove the line from the mooring point which is time consuming. Hence, the mooring device of the present disclosure further reduces the time and effort for releasing the vessel from the mooring point. In one or more example mooring devices, the releasing device may be an actuating member, such as an actuator, pushing the line out of the catching device.

The catching device may comprise one or more jaws being configured to grasp the line in a closed position of the jaws. The jaws may be pivotably arranged to each other around a pivot point, such that the jaws can pivot between a closed and an open position. In the closed position the catching device is configured to catch and hold the line and in the open position the catching device may be configured to release the line. The catching device may further comprise a spring, which spring presses the jaws together in the closed position. The releasing device may comprise an actuating member configured to move at least one of the one or more jaws into an open position in which the jaws are configured to release the line. The releasing device may be located at a perimeter of the guiding section, such that the releasing device contacts the catching device when the catching device passes the location of the releasing device during rotation and forces the one or more jaws into the open position. When the catching device passes the actuating member during rotation of the guiding arc, the actuating member may contact one or more of the jaws of the catching device and may exert a force on the one or more jaws. The force exerted on the one or more jaws by the actuating member overcomes the spring force from the spring, which allows the one or more jaws to pivot from the closed position into the open position which releases the line. The actuating member may be fixedly arranged to the main body at a perimeter of the guiding section. The releasing device may further comprise a following member arranged on one of the one or more jaws and protruding outwards in a radial direction of the guiding arc, such that the following member is configured to contact and follow the actuating member mounted at the perimeter of the guiding section. The mooring device may further comprise a cover plate arranged over the guide section at the working position, which cover plate is configured to contact, such as abut, at least one of the one or more jaws of the catching device, to ensure that the jaws cannot open when the line is held by the one or more jaws of the catching device. In the working position the catching device may be positioned under the cover plate, such that the cover plate contacts the one or more jaws and forces them into the closed position.

The guiding arc may be configured to be arranged in a working position, which may also be referred to as an initial position or an open position, in which the open section is arranged to allow the mooring point to be inserted into and/or removed from the receiving section of the main body. In the working position the openings in the guiding arc, the guide section and the receiving section are aligned such that the mooring point can be inserted into the receiving section. In the initial position the guiding arc may be fully arranged within the main body, such as within the guide section of the main body. In addition to allowing an object to be inserted into the receiving section through the aligned openings and, this position also protects the guiding arc during a mooring procedure. If the guiding arc would be in a protruding position, such as when the leading free end or the trailing free end has left the guide section, the guiding arc might be damaged or deformed if it would come in contact with the mooring point or any other fixed structure during the mooring procedure, such as when the mooring device is brought in vicinity of the mooring point to position the mooring point in the receiving section. Damage or deformation of the guiding arc may lead to malfunction of the mooring device since the guiding arc may no longer align with the guide section and thus prevent rotation of the guiding arc. Thus, positioning the guiding arc in the initial position protects the guiding arc from being damaged or deformed during a mooring procedure.

The main body may further comprise a line guiding device, such as a fairlead, for releasably holding the line in a position where the catching device can catch the line during rotation of the guiding arc, which position may also be referred to as a catching position. The line may be arranged in the line guiding device, such that it is releasable held in a line catching position by the line guiding device. When the line is arranged in the line guiding device the line is arranged such that it intersects a path of travel of the catching device during rotation of the guiding arc, thereby allowing the catching device to catch the line during rotation of the guiding arc. The line guiding device may further comprise one or more guiding rollers being rotatable arranged to the main body, such that, when the line is abutting the rollers and is being pulled, the rollers roll along the line, thereby reducing friction between the line and the line guiding device. This reduces the wear on the line and consequently reduces a risk of failure of the line, thereby increasing safety during the mooring operation.

The guiding arc may be configured to be arranged in the catching position in which the catching device is arranged to catch the line. In the catching position the catching device is positioned to grab the line held by the guiding device. The line may for example be grabbed by wedging the line between a wedge-shaped section of the catching device and a surface of the guiding arc facing the wedge-shaped section of the catching device.

The mooring device may further comprise a drive system for rotating the guiding arc in relation to the main body. The drive system may comprise a motor, such as an electric, hydraulic or pneumatic motor, for creating a torque, and a transmission for transferring the torque to the guiding arc. The transmission may be a gear drive or a sprocket drive. The transmission may comprise a plurality of pinions or sprockets, arranged to be in driving contact with a gear rim or a chain. The pinions or sprockets may be synchronized so that they perform a synchronized rotation. The plurality of pinions may be arranged on the main body, such as around a perimeter of the guide section. The gear rim may be arranged on the guiding arc, such as on an outer circumference of the guiding arc. In some embodiments, the pinions may be arranged on the guiding arc, while the gear rim is arranged on the main body, such as on an inner circumference of the guide section. In some embodiments, the transmission may comprise a plurality of sprockets being arranged to contact and to mesh with the chain. The plurality of sprockets may be arranged on the main body, such as around a periphery of the guide section, and the chain may be arranged on the guiding arc, such as on an outer circumference of the guiding arc. In some embodiments, the sprockets may be arranged on the guiding arc, while the chain is arranged on the main body. The pinions or sprockets may be arranged such that at least one pinion or sprocket is in contact with the gear rim or the chain at any angular position of the guiding arc in relation to the main body. This ensures that at least one pinion or sprocket is always in driving contact with the gear rim or chain during a full rotation of the guiding arc, such that the guiding arc can be rotated by the drive system independent of the angular position of the guiding arc in relation to the main body.

The main body may comprise a mounting section for mounting the mooring device to a vessel. The mounting section may be configured to be pivotably and/or slidably mounted to a vessel, such as to a side of a vessel. In one or more example mooring device(s), the mounting section may comprise a pivoting member configured to be connected to the vessel. The mounting section may be configured to be mounted to a first end of an arm. A second end of the arm may be configured to be mounted to a side of the vessel. The arm may be an articulated arm mounted to the vessel via one or more pivot points. In some embodiments the arm may be a telescopic arm, such that the mooring device may be extracted from the vessel to reach a mooring point. The arm may be comprised in the mooring device or in a mooring system.

Further, a mooring system for securing a vessel to a mooring point is disclosed. The mooring system comprises the mooring device and a line, such as a mooring line. Furthermore, the mooring system may comprise a tension winch for winding and unwinding the line. The mooring system may also comprise an arm, wherein a first end of the arm may be mounted to the mounting section of the mooring device and a second end of the arm may be configured to be mounted to a side of the vessel. The arm may be an articulated arm mounted to the vessel via one or more pivot points. In some embodiments the arm may be a telescopic arm, such that the mooring device may be extracted from the vessel to reach a mooring point. The catching device of the mooring device catches the line and pulls a section of the line that is caught in the catching device along a trajectory encircling the receiving section, such that the line encircles (at least partly) a mooring point located in the receiving section. The line encircling the mooring point shall herein be understood as the mooring point being encircled by one or more elements of the mooring system, such as by the main body (such as the receiving section) of the mooring device, the guiding arc of the mooring device and/or the line. Hence, the line encircles at least a part of the mooring point. The remaining parts of the mooring point that are not encircled by the line are encircled by the main body and/or the guiding arc, such that the mooring point is fully encircled by elements of the mooring system.

Further a vessel comprising the mooring system is disclosed. The vessel may for example be a ship or a mooring support vessel, such as a tugboat. The mooring device of the mooring system may be movably arranged to the vessel. The mooring device may for example be movably arranged via one or more articulated joints, such as pivot points, such that an angular position of the mooring device may be changed in relation to the vessel. In one or more example vessels, the mooring device may be comprised in a bulwark of the vessel, such that the mooring device is integrated in, such as constitutes a part of, the bulwark of the vessel. The mooring device may be configured to pivot from an upright, which may also be referred to as a vertical position, in which the center axis of the guide section is (substantially) horizontally arranged, to a horizontal position in which the center axis of the guide section is (substantially) vertically arranged. In the horizontal position the mooring device may be configured to receive a mooring point located on a shore or on a fixed structure. The vessel may further comprise a pin for securing the mooring device to the bulwark in the upright position. The pin may for example engage a receiving section, such as hole, indentation or groove in the main body of the mooring device. In the upright position the receiving section of the mooring device may constitute, or may be used as, a fairlead in the bulwark of the vessel.

In one or more example vessels, the mooring device may be arranged to the vessel on an arm, such as an articulated arm. The mooring device may for example be movably arranged via an articulated arm, such that the mooring device may be extracted from the side of the vessel towards a mooring point on shore, and/or via a slide rail, such that the mooring device is slidably arranged along the side of the vessel. By having the mooring device being movably arranged to the vessel, the position of the mooring device may be adjusted to facilitate an insertion of a mooring point into the receiving section of the mooring device. In one or more example vessels, the vessel may comprise one or more mooring systems arranged on a side, a stern and/or a bow of the vessel.

Fig. 1 illustrates an exploded top down view of an example mooring device 1 for securing a vessel to a mooring point. The mooring point may be any variety of shore fixture, such as a tree or a rock, or a specially constructed area, such as a quay, a wharf, a jetty, a pier, an anchor buoy, and/or a mooring buoy. The mooring device 1 comprises a main body 10 having a guide section 11 and a receiving section 12 for receiving the mooring point. The mooring point may be inserted into the receiving section via an opening 12A of the receiving section 12. The guide section 11 is arranged around a perimeter of the receiving section 12. The guide section 11 is arc shaped and has a center axis 3. The guide section 11 being arc shaped shall herein be interpreted as being shaped as part of a circumference of a circle, i.e., any point along the perimeter of the guide section 11 is located at same radius from the center axis 3. The guide section 11 may however not span an entire 360° to form a circle, instead the guide section 11 may comprise an opening, such as an open section 11b, through which an object, such as a mooring point can be inserted into the receiving section 12. In other words, the guide section 11 may have the shape of a truncated circle, such as a circular arc. The guide section 11 may be a groove that is milled into a surface of the main body 10, or a rail mounted on the surface of the main body 10.

The mooring device 1 further comprises a guiding arc 21 being arranged in the guide section 11 of the main body 10 and a catching device 22 arranged at a circumference of the guiding arc 21 for catching and holding a line. The guiding arc 21 is arranged concentrically with and rotatably around the center axis 3 of the guide section 11. 1 shall be noted that fig. 1 shows an exploded view of the mooring device 1 , wherein the dotted lines indicate the position of the guiding arc 21 in relation to the main body 1 in an assembled state of the mooring device 1. The guiding arc 21 comprises an open section 23 allowing the mooring point to enter the receiving section 12. The size of the opening 23 is defined by the distance between two free ends 21 A, 21 B of the guiding arc 21. The guiding arc 21 is configured to rotate in a first direction Ri around the receiving section 12 of the main body 10 such that, when the mooring point is located in the receiving section 12, the catching device 22 (which is fixed to the guiding arc 21 ) forms a trajectory encircling the mooring point, such that, when the line is caught and held by the catching device 22, the line encircles the mooring point located in the receiving section 12. The opening 12A may be smaller than the opening 23 and/or the opening 11 b. When the openings 11b, 12A, and 23 are aligned, access is provided to the receiving section 12, such that an object, such as a line, can be inserted into or removed from the receiving section 12 in a direction perpendicular to the center axis 3. The angular span a of the guiding arc 21 and b of the guide section 11 may be up to implementation and is to be selected such that the opening 23 between the free ends 21 A, and 21 B of the guiding arc 21 and the opening 11b in the guide section 11 are large enough to allow the mooring point to be inserted through the openings, while ensuring that the guiding arc 21 stays in contact with the guide section 11 throughout a complete revolution of the guiding arc 21 in the guide section 11. Thus, the angular span a of the guiding arc 21 and the angular span b of the guide section 11 are selected such that the sum of the angular spans a and b is larger than 380°, such that the angular spans a and b always overlap when the guiding arc 21 rotates a full revolution in relation to the main body. The guiding arc 21 may span an angle a larger than 180° and smaller than 360°, such as in the range from 200° to 240°. The guide section 11 may span an angle b larger than 180° and smaller than 360°, such as in the range from 200° to 240°. Consequently, the opening 23 of the guiding arc 21 and the opening 11 b of the guide section 11 may span less than 180°, such as 360° minus the span of the guiding arc 21 or the guide section 11 correspondingly, to ensure that the free end 21 A of the guiding arc 21 is engaged with the guide section 11 and the drive system 30 on the opposite side of the opening 11 b before the free end 21 B exits the guide section 11 and disengages the drive system 30.

The main body 10 may further comprise a line guiding device 13, such as a fairlead, for releasably holding the line in a position where the catching device 22 can catch the line during rotation of the guiding arc 21 , which may also be referred to as a catching position Pc. The main body 10 may further comprise a mounting section 14 for mounting the mooring device 1 to a vessel. The mounting section 14 may comprise or be mounted to a pivoting member, for pivotably mounting the mooring device to a vessel, such as to a side, such as to a bulwark of the vessel. The mounting section 14 may be mounted to a distal end of a telescopic arm which proximal end is mounted to a side of the vessel, such that the mooring device may be extracted from the vessel to reach a mooring point.

The mooring device 1 may further comprise a drive system 30, for rotating the guiding arc 21 in relation to the main body 10. An example drive system 30 is shown in Fig. 2. The drive system 30 may comprise a motor 31 , such as an electric, hydraulic or pneumatic motor, for creating a torque and a transmission 32 for transferring the torque to the guiding arc 21. The transmission 32 may be a gear drive or a sprocket drive. The transmission 32 may comprise a plurality of pinions 33a or sprockets 33b, arranged to be in driving contact with a gear rim 34a or a chain 34b. The pinions 33a or sprockets 33b may be synchronized so that they perform a synchronized rotation. In some embodiments, the transmission 32 may comprise a plurality of pinions 33a, arranged to contact and to mesh with a gear rim 34a. The plurality of pinions 33a may be arranged on the main body 10, such as around a perimeter of the guide section 11 , and the gear rim 34a may be arranged on the guiding arc 21 , such as on an outer circumference of the guiding arc 21. In some embodiments, the pinions 33a may be arranged on the guiding arc 21, while the gear rim 34a is arranged on the main body 10, such as on an inner circumference of the guide section 11. In some embodiments, the transmission 30 may comprise a plurality of sprockets 33b being arranged to contact and to mesh with the chain 34b. The plurality of sprockets 33b may be arranged on the main body 10, such as around a periphery of the guide section 11 , and the chain 34b may be arranged on the guiding arc 21 , such as on an outer circumference of the guiding arc 21. In some embodiments, the sprockets 33b may be arranged on the guiding arc 21 , while the chain 34b is arranged on the main body 10. The pinions 33a or sprockets 33b may be arranged such that at least one pinion or sprocket is in contact with the gear rim 34a or the chain 34b at any angular position of the guiding arc 21 in relation to the main body 10. This ensures that at least one pinion or sprocket is always in driving contact with the gear rim or chain during a full rotation of the guiding arc 21 , such that the guiding arc 21 can be rotated by the drive system 30 independent of the angular position of the guiding arc 21 in relation to the main body 10.

The guiding arc 21 may be configured to only perform a rotation in the first direction Ri. In order to prevent a rotation in the opposite direction the mooring device 1 may further comprise a locking device (not shown in fig. 1) for preventing the guiding arc 21 to rotate in a second direction opposite the first direction Ri. The locking device may for example be a ratchet, such as a ratchet element, or a pin arranged on the main body 10 and configured to engage the guiding arc 21 , such that the ratchet allows a rotation of the guiding arc 21 in one direction and prevents a rotation in the opposite direction.

The guiding arc 21 is configured to rotate in relation to the main body 10 around the center axis 3, wherein the guiding arc 21 , during a full rotation may assume one or more positions relative to the main body 10. The guiding arc 21 may be configured to be arranged in a working position Pw, in which the open section 23 is arranged to allow the mooring point to be inserted into and/or removed from the receiving section 12 of the main body 10. In order to allow the mooring point to be inserted into and/or removed from the receiving section 12 of the main body 10, the open section 23 of the guiding arc 21 may be aligned with an open section of the main body 10.

Fig. 3A-3D illustrate a front view of the mooring device 1 , seen in a direction of the receiving section, according to some embodiments herein.

In Fig. 3A shows an exploded front view of the mooring device 1. The guiding arc 21 is arranged such that the open section 23 of the guiding arc 21 is aligned with the open section 11 b of the guide section 11 of the main body 10, such that a mooring point can be inserted into the receiving section 12. An opening 12A of the receiving section 12 may be smaller than the opening 23 and/or the opening 11 b. The catching device 22 is arranged in a working position, in which the mooring point can be inserted into and/or removed from the receiving section 12 of the main body 10 in a direction perpendicular to the center axis 3. This position of the guiding arc 21 corresponds to the position shown in Fig. 1. The catching device 22 may be wedge-shaped, such that, when the catching device passes the line guiding device 13 during rotation of the guiding arc 21 , the line (not shown in Fig. 3A) is wedged firmly between the catching device 22 and a surface of the guiding arc 21 facing the catching device 22.

Fig. 3B shows the mooring device of Fig. 3A in an assembled state. The guiding arc 21 is rotatably arranged inside the guide section 11 and can rotate around the center axis 3 in relation to the main body. As can be seen in Fig. 3B, the open section 23 of the guiding arc 21 is optionally aligned with the open section 11 B of the guide section 11 of the main body 10, such that the guiding arc 21 may be completely located within the guide section 11 , (as indicated by the dotted lines of the guiding arc 21 ). This may protect the guiding arc 21 during catching of the mooring point, such as during insertion of the mooring point into the receiving section 12 or removal of the mooring point from the receiving section 12.

Fig. 3C shows an exploded front view of the mooring device 1 according to some embodiments herein. In Fig. 3C the guiding arc 21 has been rotated 180° around the center axis 3, such that the open section 23 of the guiding arc 21 is facing away from the open section 11 B of the guide section 11. In this position the guiding arc 21 blocks the open section 11 B of the guide section 11 , such that the mooring point cannot be inserted into and/or removed from the receiving section 12. In the embodiments shown in Fig. 3C the mooring device 1 comprises a drive system 30 for driving the guiding arc 21. The drive system 30 comprises motor (not shown in Fig. 3C) and a transmission 32 for transferring a torque from the motor to the guiding arc 21. The transmission 32 may comprise a plurality of pinions 33a arranged on the main body 10 and in driving contact with a gear rim 34a arranged on the guiding arc 21. The plurality of pinions 33a may be arranged around the perimeter of the guide section 11 , and the gear rim 34a may be arranged on the outer circumference of the guiding arc 21.

Fig. 3D shows the mooring device in an assembled state and in the position where the guiding arc 21 has been rotated such that the open section 23 of the guiding arc 21 is facing away from the open section 11 B of the guide section 11. In the embodiment shown in Fig. 3D, the transmission 32 comprises a plurality of sprockets 33b arranged on the main body 10 and being in driving contact with a chain 34b arranged on the guiding arc 21. The plurality of sprockets 33b may be arranged around the perimeter of the guide section 11 , and the chain 34b may be arranged on the outer circumference of the guiding arc 21. The chain 34b may for example be welded to the guiding arc 21.

Fig. 4A shows the catching device 22 according to some embodiments herein. The catching device 22 is arranged on the guiding arc 21 at a circumference of the guiding arc 21 , such that the catching device 22 follows the guiding arc 21 when the guiding arc 21 rotates around the center axis 3. The catching device 22 may comprise a wedge shape, such that, when the catching device 22 passes the line guiding device during rotation of the guiding arc 21 , the line 4 is wedged firmly between the catching device 22 and a surface 21 C of the guiding arc 21 facing the catching device 22. The geometrical shape of the catching device may be configured to ensure that the line 4 is securely held by the catching device 22. A surface of the catching device 22 being configured to be in contact with the line 4 may comprise a plurality of protrusions or a coating, such as a rubber material, for increasing friction between the surface and the line 4. This may reduce the risk of the line 4 unintentionally releasing from the catching device 22. In one or more example mooring devices, and/or mooring systems, the line 4 may comprise a sleeve being configured to increase the friction between the catching device 22 and the line 4. The sleeve may for example comprise a rubber material. The sleeve may further reduce wear on the line 4.

Fig. 4B shows a further embodiment of the catching device 22. The catching device 22 may comprise one or more jaws 22A being configured to grasp the line 4 in a closed position of the jaws 22A. The jaws 22A may be pivotably arranged to each other around a pivot point 22B, such that the jaws 22A can pivot between a closed and an open position. In the closed position the catching device 22 is configured to catch and hold the line 4 and in the open position the catching device 22 may be configured to release the line 4. The catching device 22 may further comprise a spring 22B, which spring 22B presses the jaws 22A together in the closed position. The mooring device 1 may also comprise a releasing device 40 for releasing the line 4 from the catching device 22. The releasing device 40 may comprise an actuating member 41 configured to move at least one of the one or more jaws 22A into the open position in which the jaws 22A are configured to release the line 4. When the catching device 22 passes the actuating member 41 during rotation of the guiding arc 21 , the actuating member 41 may contact one or more of the jaws 22A of the catching device 22 and may exert a force on the one or more jaws 22A. The force exerted on the one or more jaws 22A by the actuating member overcomes the spring force from the spring 22B, which allows the one or more jaws 22A to pivot from the closed position into the open position which releases the line 4. The actuating member 41 may be fixedly arranged to the main body 10 at a perimeter of the guiding section 11. The releasing device 40 may further comprise a following member 42 arranged on one of the one or more jaws 22A and protruding outwards in a radial direction of the guiding arc 21 , such that the following member 42 is configured to contact and follow the actuating member 41 mounted at the perimeter of the guiding section 11.

In some embodiments the actuating member 41 may be a cam track and the following member 42 may be configured to follow the cam track. In order to release the line 4 from the catching device 22, the guiding arc 21 may be rotated in the first direction Ri away from the working position Pw until the following member 42 reaches the actuating member 41 and starts to climb the cam track which moves the jaws 22A from the closed to the open position. Fig. 4B shows the catching device 22 in a closed position, while the open position of the catching device 22 is shown in Fig. 4C. Once the catching device 22 has passed the releasing device 40, such as when the following member 42 has passed the actuating member 41 , the spring 22B forces the catching member 22 back into the closed position.

Figs. 5A to 5H disclose different states of the mooring device 1 in a mooring system 100 for securing a vessel to a mooring point 2 during a mooring operation. The mooring system 100 comprises the mooring device 1 and a line 4, such as a mooring line. The line 4 may be connected to a tension winch (not shown) for winding and unwinding the line 4.

In Fig. 5A the mooring system is depicted in a working position Pw, which may also be referred to as an initial position. In the initial position the open section 23 of the guiding arc 21 is aligned with the open section 11 B of the guide section 11 of the main body 10, such that a mooring point 2 can be inserted into the receiving section 12 in a direction perpendicular to the center axis 3 of the receiving section 12. The line 4 is arranged in the line guiding device 13, such that it is releasable held in a line catching position Pc by the line guiding device 13. When the line 4 is arranged in the line guiding device 13 the line is arranged such that it intersects a path of travel of the catching device 22 during rotation of the guiding arc 21. In the example shown in Fig. 5A a mooring point has been inserted into the receiving section 12. This may for example be the case when a vessel comprising the mooring system 100 sails into shore and places the mooring device 1 around the mooring point 2 by inserting the mooring point 2 into the receiving section of the main body 10. In the initial position the guiding arc 21 may be fully arranged within the main body 10, such as within the guide section 11 of the main body 10. In addition to allowing an object to be inserted into the receiving section 12 through the aligned openings 23 and 11 b, this position also protects the guiding arc 21 during a mooring procedure. If the guiding arc 21 would be in a protruding position, such as when the leading free end 21A or the trailing free end 21 B has left the guide section, the guiding arc 21 might be damaged or deformed if it would come in contact with the mooring point 2 or any other fixed structure during the mooring procedure, such as when the mooring device 1 is brought in vicinity of the mooring point 2 to position the mooring point in the receiving section 12. Damage or deformation of the guiding arc 21 may lead to malfunction of the mooring device 1 since the guiding arc 21 may no longer align with the guide section 12 and thus prevent rotation of the guiding arc 21. Thus, positioning the guiding arc in the initial position protects the guiding arc 21 from being damaged or deformed during a mooring procedure. Fig. 5B shows the mooring device 1 in a catching position Pc. When a mooring point 2 has been inserted into the receiving section 12 of the main body 10, the guiding arc 21 is rotated in relation to the main body 10 around the center axis 3. The guiding arc 21 may be configured to be arranged in the catching position Pc in which the catching device 22 is arranged to catch the line 4. In other words, the guiding arc 21 is rotated relative to the main body 10 from the working position P _w to the catching position. When the guiding arc 21 reaches the catching position Pc the catching device 22 is located in front of the line guiding device 13 and catches the line 4 being releasably held by the line guiding device 13. The line 4 may e.g. be wedged or gripped by the catching device 22. As can be seen in Fig 5B, in this position a leading free end 21 A of the guiding arc 21 has left the guide section 11 of the main body 10 and starts to encircle the receiving section 12, and the mooring point 2 located therein. The guiding arc 21 thus starts to bridge the gap between the two free ends 11 A of the guide section 11. The leading free end 21 A shall herein be interpreted as the free end of the guiding arc 21 that is facing forward in the direction of rotation, while the other free end 21 B may herein be referred to as the trailing free end.

When the guiding arc 21 continues its rotation around the center axis 3, the catching device 22 pulls the line 4 with it while encircling the mooring point 2, as disclosed in Fig. 5C. The leading free end 21 A of the guiding arc 21 has almost bridged the gap between the free ends 11 A of the guide section 11. In this position the guiding arc 21 substantially covers the opening, such as the open section 11 B, of the guiding section 11. Thus, the guiding arc 21 restricts access to the receiving section 12 in the direction perpendicular to the center axis 3. As can be seen, in this position only two of the sprockets and/or pinions 33A, 33B are in contact with and are driving the guiding arc 21 (in this case the two left sprockets and/or pinions 33A, 33B in Fig. 5C), since the open section 23 is facing the other two sprockets 33A and/or pinions 33B.

In Fig. 5D the leading free end 21 A of the guiding arc 21 has completely bridged the gap between the free ends 11 A of the guide section 11. Both the leading free end 21 A and the trailing free end 21 B overlap with the guide section 11, such that both ends 21 A, 21 B of the guiding arc are guided by the guide section. In this position the guiding arc 21 completely covers the opening, such as the open section 11 B, of the guiding section 11. Thus, the guiding arc 21 restricts access to the receiving section 12 in the direction perpendicular to the center axis 3. As can be seen, in this position only two of the sprockets and/or pinions 33A, 33B are in contact with and are driving the guiding arc 21 (in this case the two top sprockets and/or pinions).

In Fig. 5E the guiding arc 21 has performed substantially a 180° rotation from the catching position Pc, such that the catching device 22 is located opposite of the line guiding device 13. The line 4, which is guided by the line guiding device 13 and the catching device 22, is contacting the mooring point 2 and starts to form a loop, at least partly, around it. The trailing free end 21 B of the guiding arc 21 has left the guide section 11 of the main body 10 and is starting to make its way across the open section 11 B of the guiding section 11.

In doing so, the guiding arc 21 is starting to provide access to the receiving section 12 again, thus allowing the mooring point 2 to be inserted into or removed from the receiving section 12. In this position of the guiding arc 21 , only a subset of the sprockets 33A and/or pinions 33B are in contact with and are driving the guiding arc 21. In this case however, the two right sprockets 33A and/or pinions 33B in Fig. 5E are in contact with the guiding arc 21 , since the open section 23 is facing the two left sprockets 33A and/or pinions 33B.

In Fig. 5F the guiding arc 21 has completed a full revolution around the center axis 3 and is back in the initial position, which may also be referred to as the working position Pw.

The open section 23 of the guiding arc 21 is once again aligned with the open section 11 B of the guide section 11 of the main body 10, such that a mooring point 2 can be removed from the receiving section 12 in the direction perpendicular to the center axis 3 of the receiving section 12. Through the encircling motion of the catching device 22 around the mooring point 2, the line 4 has been pulled around and formed a loop around at least a part of the mooring point 2.

Once the line 4 has been pulled around the mooring point 2, the mooring device 1 can be pulled away from the mooring point 2, such that the mooring point 2 is removed from the receiving section 12 through the open sections 23 and 11B, as shown in Fig. 5G. This may for example be the case when a vessel comprising the mooring system 100 pulls away from the mooring point 2 to make fast to an additional mooring point with an additional mooring device. A first end of the line 4 is secured by the catching device 22 and the guiding arc 21 may be prevented from rotating by the locking device, such that when the mooring device 1 moves away from the mooring point 2 the line 4 is un-winded from a storage to which a second end of the line 4 is attached, such as from a tension winch, such as from a drum of the winch. The size of the loop of the line can thereby be increased to allow the mooring device 1 (and a vessel comprising the mooring device 1) to move away from the mooring point while still encircling the mooring point 2. In order to adjust the distance of a vessel to a shore or to a fixed structure, the tension in the line 4 may be adjusted by means of for example a winch, such as a tension winch, to provide less or more slack in the line 4.

Fig. 5H discloses a scenario where the mooring device 1 is released from the mooring point 2. The mooring device 1 may comprise a releasing device for releasing the line 4, such as the first end of the line 4 from the catching device 22. Thereby, the line 4 may be removed from the mooring point 2 by pulling the second end of the line to unloop the line 4 from the mooring point 2. The releasing device may be configured to decrease the force by which the catching device holds the line 4, for example by increasing a gap between two surfaces between which the line 4 is clamped, wedged or gripped. Previously, when for example a vessel would leave shore or leave the fixed structure to which the mooring point 2 is connected, people on shore would have to manually remove the line 4 from the mooring point 2, or the vessel would have to be brought close to the mooring point 2, such that people onboard of the vessel could remove the line from the mooring point 2 which would be time consuming. Hence, the mooring device 1 of the present disclosure further reduces the time and effort for releasing the vessel from the mooring point 2. In some embodiments, the catching device 22 may comprise one or more jaws being configured to grasp the line 4 in a closed position of the jaws. The releasing device 40 may comprise an actuating member 41 configured to move at least one of the one or more jaws into an open position in which the jaws are configured to release the line 4.

The mooring device 1 may further be comprised in a mooring system 100 for securing a vessel to a mooring point 2. Fig. 6 shows an example mooring system 100 according to some embodiments herein. The mooring system 100 comprises the mooring device 1 and the line 4. During a mooring procedure the catching device 22 of the mooring device 1 catches the line 4 when the catching device 4 is in the catching position and pulls a section of the line 4 that is caught in the catching device 22 along a trajectory encircling the receiving section 12, such that the line 4 encircles, at least partly, a mooring point 2 located in the receiving section 12. In one or more example mooring system(s), the line 4 may comprise a sleeve for increasing friction between the line 4 and the catching device 22. The mounting section 14 may be configured to be pivotably and/or slidably mounted to a vessel, such as to a side of a vessel. In one or more example mooring systems 100, the mounting section 14 may thus comprise a pivoting member configured to be connected to the vessel. In one or more example mooring systems 100, the mounting section 14 may be mounted to a first end of an arm 50. A second end of the arm 50 may be mounted to a side of the vessel. The arm 50 may be an articulated arm mounted to the vessel via one or more pivot points 51. In some embodiments the arm may be a telescopic arm, such that the mooring device 1 may be extracted from the vessel to reach a mooring point 2. Furthermore, the mooring system may comprise a tension winch 52 for winding and unwinding the line 4.

Fig. 7a and 7B disclose an example vessel 200 comprising a plurality of mooring system 100 and or mooring device 1 , disclosed herein. The vessel 200 may comprise one or more mooring systems 100 arranged on a side of the vessel 100. The mooring device 1 of the mooring system 100 may be movably arranged to the vessel 200. The mooring device 1 may for example be movably arranged via one or more articulated joints, such as pivot points, such that an angular position of the mooring device 1 may be changed in relation to the vessel 200. The mooring device 1 may be mounted directly to the vessel 200 via a pivoting member. In one or more example embodiments, the mooring device 1 may be comprised in a bulwark 201 of the vessel 200, such that the mooring device 1 is integrated in, such as constitutes a part of, the bulwark 201 of the vessel 200. The mooring device 1 may be configured to pivot from an upright position, which may also be referred to as a vertical position, in which the center axis 3 of the guide section is (substantially) horizontally arranged, to a horizontal position in which the center axis 3 of the guide section is (substantially) vertically arranged. In the horizontal position the mooring device 1 may be configured to receive a mooring point 2 located on a shore or on a fixed structure. The mooring device 1 may in one or more examples, be configured to be arranged in any position, such as at any angle around the pivot point, between the upright position and the horizontal position in order to receive a mooring element located on a shore or on a fixed structure. The mooring device 1 may, in some embodiments, be mounted to the vessel via an arm 50, such as an articulated arm, such that the mooring device 1 may be extracted from the side of the vessel towards a mooring point on shore, and/or via a slide rail, such that the mooring device 1 is slidably arranged along the side of the vessel 200. By having the mooring device 1 being movably arranged to the vessel 200, the position and/or direction of the mooring device 1 may be adjusted to facilitate an insertion of a mooring point into the receiving section of the mooring device 1.

Fig. 7 A shows the plurality of mooring devices 1 in the upright position in which the center axis 3 of the guide section is (substantially) horizontally arranged. A first mooring device out of the plurality of mooring devices 1 (seen to the left in Fig. 7A) is mounted on the arm 50, such as the articulated arm. A second mooring device out of the plurality of mooring devices 1 (seen to the right in Fig. 7A) is mounted directly to the side of the vessel and is and integrated part of the bulwark 201 of the vessel 200. The first and the second mooring devices 1 are pivotably arranged to the side of the vessel 200 around a pivot axis 202.

Fig. 7B shows the first and second mooring devices 1 in a horizontal position in which the center axes of the guide sections of the first and second mooring devices are (substantially) vertically arranged. In this position the first and second mooring devices 1 are arranged to receive a mooring point 2 arranged at a side of the vessel 200. The first mooring device 1 mounted on the arm 50 may extend further from the vessel 200 than the second mooring device 1 mounted directly to the vessel 200, while the second mooring device may be more steadily mounted to the vessel. As can be seen in Fig. 7A, the second mooring device 1 may leave an opening in the bulwark 202, when the second mooring device 1 is in the horizontal position.

Embodiments of the mooring device, the mooring system and the vessel according to the disclosure are set out in the following items:

Item 1. A mooring device (1 ) for securing a vessel to a mooring point (2), the mooring device (1) comprising: a main body (10) having a guide section (11) and a receiving section (12) for receiving the mooring point, the guide section (11) being arranged around a perimeter of the receiving section (12), the guide section (11) being arc shaped and having a center axis (3), the mooring device (1 ) further comprising a guiding arc (21 ) being arranged in the guide section (11 ) of the main body (10), wherein the guiding arc (21 ) is arranged concentrically with and rotatably around the center axis (3) of the guide section (11), and a catching device (22) arranged at the circumference of the guiding arc (21) for catching and holding a line, wherein the guiding arc (21) comprises an open section (23) allowing the mooring point to enter the receiving section (12), wherein the guiding arc (21) is configured to rotate in a first direction (Ri) around the receiving section (12) of the main body (10) such that, when the mooring point (2) is located in the receiving section (12), the catching device (22) forms a trajectory encircling the mooring point, such that, when the line is caught and held by the catching device (22), the line encircles the mooring point located in the receiving section (12).

Item 2. The mooring device (1) according to Item 1, wherein the mooring device (1) further comprises a locking device for preventing the guiding arc (21) to rotate in a second direction opposite the first direction (Ri).

Item 3. The mooring device (1 ) according to any one of the previous Items, wherein the mooring device (1) comprises a releasing device (40) for releasing the line from the catching device (22).

Item 4. The mooring device (1 ) according to any one of the previous Items, wherein the catching device (22) comprises one or more jaws being configured to grasp the line in a closed position of the jaws, and wherein the releasing device (40) comprises an actuating member (41) configured to move at least one of the one or more jaws into an open position in which the jaws are configured to release the line.

Item 5. The mooring device (1) according to any one of the previous Items, wherein the guiding arc (21) is configured to be arranged in a working position (P _w ) in which the open section (23) is arranged to allow the mooring point to be inserted into and/or removed from the receiving section (12) of the main body (10). Item 6. The mooring device (1 ) according to any one of the previous Items, wherein the main body (10) further comprises a line guiding device (13) for releasably holding the line in a catching position (Pc).

Item 7. The mooring device (1) according to Item 6, wherein the guiding arc (21) is configured to be arranged in the catching position (Pc) in which the catching device (22) is arranged to catch the line.

Item 8. The mooring device (1 ) according to any one of the previous Items, wherein the mooring device (1) comprises a drive system (30), for rotating the guiding arc (21) in relation to the main body (10), wherein the drive system comprises a motor for creating a torque and a transmission for transferring the torque to the guiding arc (21).

Item 9. The mooring device (1) according to Item 8, wherein the drive system (30) comprises a chain (34) arranged on an outer circumference of the guiding arc (21) and a plurality of sprockets (33) arranged on the main body (10), wherein the sprockets (33) are arranged to be in driving contact with the chain (34).

Item 10. The mooring device (1) according to Item 9, wherein the sprockets are arranged such that at least one sprocket is in contact with the chain at any angular position of the guiding arc (21 ) in relation to the main body (10).

Item 11. The mooring device (1 ) according to any one of the previous Items, wherein the main body (10) comprises a mounting section (14) for mounting the mooring device (1) to a vessel.

Item 12. A mooring system (100) for securing a vessel to a mooring point, the mooring system (100) comprising a mooring device (1) according to any one of the previous Items and a line (4), wherein the catching device (22) catches the line (4) when the catching device (22) is in the catching position (Pc) and pulls a section of the line (4) that is caught in the catching device (22) along a trajectory encircling the receiving section (12), such that the line (4) encircles a mooring point (2) located in the receiving section (12). Item 13. A vessel (200) comprising a mooring device (1) according to any one of the Items 1 to 11.

Item 14. The vessel according to Item 13, wherein the vessel further comprises a mooring system according to claim 12.

Item 15. The vessel (200) according to Item 13 or 14, wherein the mooring device (1) is movably arranged to the vessel (200).

The use of the terms “first”, “second”, “third” and “fourth”, “primary”, “secondary”, “tertiary” etc. does not imply any particular order, but are included to identify individual elements. Moreover, the use of the terms “first”, “second”, “third” and “fourth”, “primary”,

“secondary”, “tertiary” etc. does not denote any order or importance, but rather the terms “first”, “second”, “third” and “fourth”, “primary”, “secondary”, “tertiary” etc. are used to distinguish one element from another. Note that the words “first”, “second”, “third” and “fourth”, “primary”, “secondary”, “tertiary” etc. are used here and elsewhere for labelling purposes only and are not intended to denote any specific spatial or temporal ordering. Furthermore, the labelling of a first element does not imply the presence of a second element and vice versa.

It is to be noted that the word "comprising" does not necessarily exclude the presence of other elements or steps than those listed.

It is to be noted that the words "a" or "an" preceding an element do not exclude the presence of a plurality of such elements.

It should further be noted that any reference signs do not limit the scope of the claims, and that the example embodiments may be combined.

Although features have been shown and described, it will be understood that they are not intended to limit the claimed disclosure, and it will be made obvious to those skilled in the art that various changes and modifications may be made without departing from the scope of the claimed disclosure. The specification and drawings are, accordingly to be regarded in an illustrative rather than restrictive sense. The claimed disclosure is intended to cover all alternatives, modifications, and equivalents.