CN108674582A - A kind of automatic magnetic mooring gear - Google Patents
A kind of automatic magnetic mooring gear Download PDFInfo
- Publication number
- CN108674582A CN108674582A CN201810557408.7A CN201810557408A CN108674582A CN 108674582 A CN108674582 A CN 108674582A CN 201810557408 A CN201810557408 A CN 201810557408A CN 108674582 A CN108674582 A CN 108674582A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- hydraulic cylinder
- ship
- mooring
- magnechuck
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/02—Magnetic mooring equipment
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
Abstract
A kind of automatic magnetic mooring gear, belongs to ship equipment technical field.The device is for the berthing between the berthing or water craft of dock ship.Automatic magnetic mooring gear includes pedestal, control cabinet, mechanical arm, hydraulic cylinder, globe joint, magnechuck, displacement sensor and three-dimensional force transducer.Displacement sensor measures its position and automatically controls each hydraulic cylinder after control cabinet calculates during ship berthing, to which control machinery arm and magnechuck carry out damping and mooring to ship, horizontal, vertical, vertical force size suffered by ship is measured by three-dimensional force transducer during mooring, the position of mechanical arm is adjusted to inhibit ship motion amplitude and speed through control cabinet control hydraulic cylinder.Two mooring gears form one group, respectively set one group in ship head and the tail, the big ship of displacement can increase a group number, realize automatic mooring.The device is simple, saves space, and mooring speed is fast, efficient, effectively inhibits ship to move and avoid the collision of ship and harbour, improves safety.
Description
Technical field
The present invention relates to a kind of automatic magnetic mooring gears, belong to ship equipment technical field.
Background technology
It is most of at present still to use traditional hawser Mooring Arrangements for the ship that harbour is stopped, by several personnel and
Ship is fixed to harbour designated position by driver with hawser is shared.The personnel that this mode needs are more, coordinate and cumbersome,
It is time-consuming and laborious；And the position and control stopped are less accurate, may cause hull that friction or collision occurs with harbour, although code
Head is provided with the damping device of tire, but huge impact force can also cause hull certain damage；It is generated after ship berthing
Impact force, mooring force and bear against power and can also have an adverse effect to harbour；Furthermore the ship of this mode berthing rocks seriously, especially
It is rolling, influences the safety and comfort of ship.
Berthing for water craft, it requires the topside of two ships to be close together and is fixed up, such as LNG ship treats benefit
Receive wounded etc. from its ship to ship filling, warship supply, hospital ship, it is necessary to consider this operating mode of water craft berthing.Conventional
Mode is also that heaving pile is fixed, and this mode requires two ship waterlines roughly equal to the height on deck, prevents from leading hawser and lead
Cable hole is damaged；Hawser is led only by pulling force not by pressure, ship acts on generation swaying effect in wave simple harmonic quantity and may cause not
It is disconnected to collide；In addition, the rolling of ship may cause higher equipment or structure on deck to collide under wind wave action,
There are security risks.
Obviously, the problem of hawser mooring maximum, which is it, can only limit ship offshore, can not limit ship and be limited in hawser
Movement in range.For above-mentioned many deficiencies, there is that some can solve the measure of subproblem and invention is suggested.Than
Such as hanging type folding mooring gear, multi-purpose vessel berthing device, also there is shipping magnetic mooring apparatus, but all there is stability
Bad, the problems such as damping direction is single, needs corollary equipment to be used more.Particular for the significant situation of harbour SEA LEVEL VARIATION
Berthing situation between marine ships, the prior art can not achieve high quality mooring, and therefore, ship berthing mode and equipment also need
It is further perfect.
Invention content
The present invention is directed to ship mooring scheme the deficiencies in the prior art, proposes a kind of automatic magnetic mooring gear, the device
Energy automatic sensing vessel position simultaneously quickly carries out mooring to ship, prevents ship from friction occurs with harbour and collides, mooring is completed
The device can discharge and inhibit movement of the ship on six-freedom degree by adjusting cylinder stroke and mechanical arm position afterwards
Amplitude and speed improve mooring stability.
The technical solution adopted by the present invention is：A kind of automatic magnetic mooring gear, it includes pedestal, control cabinet, mechanical arm
And hydraulic cylinder, it further includes globe joint, magnechuck, displacement sensor and three-dimensional force transducer, and the mechanical arm includes the
One mechanical arm, second mechanical arm and third mechanical arm, the hydraulic cylinder include first hydraulic cylinder, second hydraulic cylinder, third hydraulic pressure
Cylinder and the 4th hydraulic cylinder, the globe joint include the first globe joint and the second globe joint；On the pillar of the pedestal
The first fork fork configuration hinge connection at end and first mechanical arm, one end hinge connection base of first hydraulic cylinder and second hydraulic cylinder
Seat, other end hinge connection first mechanical arm；One end of the second mechanical arm and the second fork configuration of first mechanical arm are cut with scissors
One end hinge of chain link, the third fork configuration of the other end and one end hinge connection of third mechanical arm, third hydraulic cylinder connects
Connect first mechanical arm, other end hinge connection second mechanical arm；The other end of the third mechanical arm passes through the second globe joint
Connect trident mechanical arm, one end hinge connection second mechanical arm of the 4th hydraulic cylinder, other end hinge connection third mechanical arm；Institute
The first globe joint connection magnechuck on trident mechanical arm yoke end is stated, is equipped on magnechuck for perceiving berthing
The displacement sensor of vessel position and for perceive ship longitudinal and transverse, vertical upper stress three-dimensional force transducer；The control cabinet
According to the information of displacement sensor on magnechuck and three-dimensional force transducer, control first hydraulic cylinder, second hydraulic cylinder, third liquid
The impulse stroke of cylinder pressure and the 4th hydraulic cylinder.
The trident mechanical arm uses circumferentially uniformly distributed trident structure.
The hinge connection uses axis pin or bolt arrangement.
The pedestal and control cabinet are fixed on convenient for the quayside edge of berthing or ship main deck edge.
The beneficial effects of the invention are as follows：This automatic magnetic mooring gear include pedestal, control cabinet, mechanical arm, hydraulic cylinder,
Globe joint, magnechuck, displacement sensor and three-dimensional force transducer.Globe joint connection electromagnetism on trident mechanical arm is inhaled
Disk is equipped with displacement sensor for perceiving berthing vessel position and for perceiving ship longitudinal and transverse, vertical on magnechuck
The three-dimensional force transducer of upper stress.Control cabinet is according to the information of displacement sensor on magnechuck and three-dimensional force transducer, control
The impulse stroke of each hydraulic cylinder.The mooring gear can reduce the manpower needed when ship berthing and time, improve berthing efficiency；
Displacement sensor during berthing on magnetic mooring apparatus may detect the distance of hull offshore, timely automated each electricity of adjustment
The position of magnetic-disc prevents from generating friction and collision between ship and harbour；It can be in real time according to the movement shape of ship after the completion of mooring
State controls the movement that hydraulic cylinder and magnechuck discharge external force and inhibit ship by control cabinet, reduce ship motion amplitude and
Speed；The variation of the relative altitude of harbour and ship or ship and ship and the size of ship vertical force can be detected, when super
Adjust automatically mooring point prevents from constraining the too strong the phenomenon that deformation of hull occur and destroying in the position in vertical direction when crossing threshold value.
The present invention makes up the deficiency of traditional Mooring Arrangements, and device is simple, integration is strong, adapts to the big situation of range of stage,
Realize the mooring to ship high quality.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of automatic magnetic mooring gear.
In figure：1, pedestal, 1a, pillar, 2, first mechanical arm, 2a, the first fork configuration, 2b, the second fork configuration, 3,
Two mechanical arms, 3a, third fork configuration, 4, third mechanical arm, the 5, first globe joint, 5a, trident mechanical arm, 6, electromagnetism inhales
Disk, 7, first hydraulic cylinder, 8, second hydraulic cylinder, 9, third hydraulic cylinder, the 10, the 4th hydraulic cylinder, 11, control cabinet, 12, second is spherical
Connector.
Specific implementation mode
Fig. 1 is a kind of structural schematic diagram of automatic magnetic mooring gear.In figure, this automatic magnetic mooring gear includes
Pedestal 1, control cabinet 11, mechanical arm, hydraulic cylinder, globe joint, magnechuck 6, displacement sensor and three-dimensional force transducer.Machinery
Arm includes first mechanical arm 2, second mechanical arm 3 and third mechanical arm 4.Hydraulic cylinder include first hydraulic cylinder 7, second hydraulic cylinder 8,
Third hydraulic cylinder 9 and the 4th hydraulic cylinder 10.Globe joint includes the first globe joint and the second globe joint.The pillar of pedestal 1
It cuts with scissors one end of first fork configuration 2a hinge connections of the upper ends 1a and first mechanical arm 2, first hydraulic cylinder 7 and second hydraulic cylinder 8
Chain link pedestal 1, other end hinge connection first mechanical arm 2.Second fork of one end of second mechanical arm 3 and first mechanical arm 2
Shape structure 2b hinge connections, the third fork configuration 3a of the other end and one end hinge connection of third mechanical arm 4, third hydraulic cylinder
9 one end hinge connection first mechanical arm 2, other end hinge connection second mechanical arm 3.The other end of third mechanical arm 4 passes through
Globe joint 12 connects trident mechanical arm 5a, one end hinge connection second mechanical arm 3 of the 4th hydraulic cylinder 10, and other end hinge connects
Connect third mechanical arm 4.The second globe joint 5 on trident mechanical arm 5a yokes end connects magnechuck 6, in magnechuck 6
Be equipped with displacement sensor for perceiving berthing vessel position and for perceive ship longitudinal and transverse, vertical upper stress three-dimensional
Force snesor.Control cabinet 11 controls first hydraulic cylinder according to the information of displacement sensor and three-dimensional force transducer on magnechuck 6
7, second hydraulic cylinder 8, the impulse stroke of third hydraulic cylinder 9 and the 4th hydraulic cylinder 10.
Trident mechanical arm 5a uses circumferentially uniformly distributed trident structure.Hinge connection uses axis pin or bolt arrangement.
Pedestal 1 and control cabinet 11 are fixed on convenient for the quayside edge of berthing or ship main deck edge.
Pedestal 1 is bolted mode and is fixed on harbour, the supporting structure as entire automatic magnetic mooring gear.
2 one end of first mechanical arm is hinged on pedestal 1, and with first hydraulic cylinder 7 and second hydraulic cylinder 8 by first mechanical arm 2 and base
Seat 1 connects, the angles and positions of first hydraulic cylinder 7 and second hydraulic cylinder 8 for controlling and adjusting first mechanical arm 2.Second machine
3 one end of tool arm is hinged on the other end of first mechanical arm 2, and with third hydraulic cylinder 9 by second mechanical arm 3 and first mechanical arm
2 connections, third hydraulic cylinder 9 are used to control and adjust position and the angle of second mechanical arm 3.4 one end of third mechanical arm is hinged on
The other end of second mechanical arm 3, and connected third mechanical arm 4 and second mechanical arm 3 by the 4th hydraulic cylinder 10, the 4th hydraulic pressure
Cylinder 10 is used to control and adjust angle of the magnechuck 6 with respect to second mechanical arm 3.First globe joint 5 is in an automatic magnetic
It is distributed comprising 3, at 120 ° in mooring gear, is located at the yoke end of trident mechanical arm 5a, the first globe joint 5 is in order to anti-
Only mooring point hull out-of-flatness makes the adjustable angle of magnechuck 6 to adapt to bending hull surface.Magnechuck 6 connects respectively
It is connected on three the first globe joints 5, the purpose that magnechuck 6 is divided into three parts is uneven also for topside hull is prevented
When cause the adsorption effect of larger smooth magnechuck to be deteriorated, therefore pass through the smaller magnechuck in three adjustable directions
Improve adsorption effect.Displacement sensor and three-dimensional force transducer are mounted on three magnechucks, are respectively used to perception by mooring a boat
The stress of the position of oceangoing ship and ship on longitudinal and transverse, vertical.Control cabinet 11 is mounted on beside pedestal, the number transmitted using sensor
According to carrying out calculating analysis, and the position of mechanical arm and mooring point is adjusted by controlling the stroke of each hydraulic cylinder.By hydraulic cylinder,
The cooperation of mechanical arm and the second globe joint spatially forms the sphere of action of an automatic magnetic mooring gear.
Using above-mentioned technical solution, during ship berthing, when hull moves closer to harbour or other ships,
Its inevitable displacement sensor on electromagnetism mooring gear, magnechuck perceives berthing ship and has been in electromagnetism mooring dress
After the sphere of action set, after calculating analysis by control cabinet, by control cabinet control first hydraulic cylinder, second hydraulic cylinder, third liquid
Cylinder pressure, the 4th hydraulic cylinder adjust automatically first mechanical arm, the angle of second mechanical arm and magnechuck, magnechuck from trend from
Bank side moves, and is actively adsorbed to ship, realizes anti-collision, buffering and automatic mooring.
Two magnetic mooring apparatus form one group, and in each one group of setting of ship head and the tail, the big ship of displacement optionally increases
Add a group number.During berthing of the ship between wharf anchors or marine ships, the device energy automatic sensing vessel position is simultaneously quick
Mooring is carried out to ship, prevents ship from friction and collision occurs with harbour, the device can be by adjusting hydraulic cylinder after the completion of mooring
Stroke and mechanical arm position discharge and inhibit motion amplitude and speed of the ship on six-freedom degree, improve mooring and stablize
Property.When wharf anchors can automatic sensing harbour SEA LEVEL VARIATION, can two ship above water phase of automatic sensing when berthing between marine ships
Variation to height, the vertical position of energy adjust automatically obligatory point, is realized after variation is more than automatic mooring gear working range
The mooring of high efficiency, high quality between dock ship and marine two ships.
After the completion of mooring, when ship generates longitudinal movement, make trident mechanical arm with ship longitudinal direction by the second globe joint
It moves and rotates, ship is enable longitudinally to generate micro-displacement, longitudinal huge inertia is discharged in the case where being maintained at moored condition
Power；When in the excessive slewing area down to more than the second globe joint of Longitudinal Movement of Ship amplitude, two magnetic mooring apparatus
Three magnechucks of one magnetic mooring apparatus are first detached from hull from moored condition automatically, and trident mechanical arm is made to be returned to and the
Three-mechanical arm plumbness, again adsorbs hull, another magnetic force mooring dress after the completion of action in magnetic mooring apparatus
It sets and repeats the above process, the release to longitudinal force and length travel is completed under moored condition with this.In above process always
At least one magnetic mooring apparatus in each moment magnetic mooring apparatus is kept to be in moored condition.Ship is under wind wave action
It generates transverse movement and the big of pressure is measured by the three-dimensional force transducer on magnechuck when ship is moved towards bank side
It is small, after control cabinet calculates analysis, four hydraulic cylinders are adjusted, so that magnechuck onshore side is generated micro-displacement, release is laterally
The pressure of generation prevents the collision of hull and harbour；Similarly, when present dynasty's offshore direction moves, magnechuck is produced to offshore side
Raw micro-displacement, the pulling force that release transverse movement generates, prevents ship far from harbour.
When harbour SEA LEVEL VARIATION is larger, berthing ship occurs floating and sink, and magnetic mooring apparatus is to both states
Processing mode is the same, therefore this sentences for water level goes up and illustrates.Highly it is less than magnechuck when water level goes up and goes up
Vertical working range, three-dimensional force transducer measure the increase of magnechuck and the vertical frictional force of hull, and control cabinet is by calculating
And analysis, adjust automatically hydraulic cylinder are up moved with hull, discharge upward pulling force and ship is inhibited to move upwards；When on water level
The height that rises is more than the vertical working range of magnechuck, and the control cabinet of a magnetic mooring apparatus in magnetic mooring apparatus is cut automatically
The power supply of magnetic-disc is powered off, magnetic force disappears, and magnechuck is detached from from hull, and control cabinet adjustment hydraulic cylinder makes magnechuck return again
To working range extreme lower position and power again to it, generate magnetic force, to hull carry out mooring again, and then magnetic force mooring
Another magnetic mooring apparatus of device repeats the above process, and the magnechuck of two magnetic mooring apparatus is again at same height
Degree, while mooring is carried out to ship.
To sum up, no matter ship generate laterally, longitudinal or vertical deviation, mooring gear by under moored condition with ship
Oceangoing ship moves and generates micro-displacement to discharge the pulling force that ship movement generates, and prevents from constraining too strong cause to the hull at mooring point
Or the pedestal of mooring gear generates while destruction, and can effectively inhibit ship motion amplitude and speed.
Berthing between similarly suitable marine two ship of the magnetic mooring apparatus, it is only necessary to which magnetic mooring apparatus is mounted on first
On deck of the plate from the small ship of waterline height.For example, oil carrier and wait for the berthing between tender, two boat decks first from
The height of waterline may differ by it is larger, secondly in refueling process tanker draft be gradually reduced, wait for tender drinking water gradually increase,
The relative altitude moment of two ships converts, which is similar to the variation scene of harbour water level, utilizes the magnetic force system of the present invention
The defect that pool device can overcome traditional heaving pile fixed form not applicable, the berthing between marine ships provide good scheme.
Control cabinet cuts off the power supply to magnechuck when the ship of stop needs offshore, and magnetic force disappears, all magnechucks
It is detached from hull, ship can offshore.
Claims (4)
1. a kind of automatic magnetic mooring gear, it includes pedestal（1）, control cabinet（11）, mechanical arm and hydraulic cylinder, it is characterized in that：
It further includes globe joint, magnechuck（6）, displacement sensor and three-dimensional force transducer, the mechanical arm includes the first machinery
Arm（2）, second mechanical arm（3）With third mechanical arm（4）, the hydraulic cylinder includes first hydraulic cylinder（7）, second hydraulic cylinder（8）、
Third hydraulic cylinder（9）With the 4th hydraulic cylinder（10）, the globe joint includes the first globe joint（5）With the second globe joint
（12）；The pedestal（1）Pillar（1a）Upper end and first mechanical arm（2）First fork fork configuration（2a）Hinge connection, the
One hydraulic cylinder（7）And second hydraulic cylinder（8）One end hinge connection pedestal（1）, other end hinge connection first mechanical arm（2）；
The second mechanical arm（3）One end and first mechanical arm（2）The second fork configuration（2b）Hinge connection, the third of the other end
Fork configuration（3a）With third mechanical arm（4）One end hinge connection, third hydraulic cylinder（9）The machinery of one end hinge connection first
Arm（2）, other end hinge connection second mechanical arm（3）；The third mechanical arm（4）The other end pass through the second globe joint
（12）Connect trident mechanical arm（5a）, the 4th hydraulic cylinder（10）One end hinge connection second mechanical arm（3）, other end hinge company
Connect third mechanical arm（4）；The trident mechanical arm（5a）The first globe joint on yoke end（5）Connect magnechuck（6）,
In magnechuck（6）It is equipped with displacement sensor for perceiving berthing vessel position and for perceiving ship longitudinal and transverse, vertical
The three-dimensional force transducer of upper stress；The control cabinet（11）According to magnechuck（6）Upper displacement sensor and three-dimensional force transducer
Information, control first hydraulic cylinder（7）, second hydraulic cylinder（8）, third hydraulic cylinder（9）With the 4th hydraulic cylinder（10）Working line
Journey.
2. a kind of automatic magnetic mooring gear according to claim 1, it is characterized in that：The trident mechanical arm（5a）Using
Circumferentially uniformly distributed trident structure.
3. a kind of automatic magnetic mooring gear according to claim 1, it is characterized in that：The hinge connection using axis pin or
Bolt arrangement.
4. a kind of automatic magnetic mooring gear according to claim 1, it is characterized in that：The pedestal（1）And control cabinet
（11）It is fixed on convenient for the quayside edge of berthing or ship main deck edge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810557408.7A CN108674582A (en) | 2018-06-01 | 2018-06-01 | A kind of automatic magnetic mooring gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810557408.7A CN108674582A (en) | 2018-06-01 | 2018-06-01 | A kind of automatic magnetic mooring gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108674582A true CN108674582A (en) | 2018-10-19 |
Family
ID=63809510
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810557408.7A Pending CN108674582A (en) | 2018-06-01 | 2018-06-01 | A kind of automatic magnetic mooring gear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108674582A (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109484573A (en) * | 2018-10-29 | 2019-03-19 | 广州文冲船厂有限责任公司 | A kind of mooring gear |
| CN110389003A (en) * | 2019-08-05 | 2019-10-29 | 中交上海港湾工程设计研究院有限公司 | It is a kind of for measuring the installation device for pressure sensor of wharf anchors impact force |
| CN111993496A (en) * | 2020-09-05 | 2020-11-27 | 张彤林 | Non-contact electromagnetic vibration suppression woodworking cutting table |
| CN112026580A (en) * | 2020-08-05 | 2020-12-04 | 武汉理工大学 | Shipborne container type battery replacement system |
| CN112441188A (en) * | 2020-11-13 | 2021-03-05 | 江苏科技大学 | Mooring device for ship |
| CN112627115A (en) * | 2020-12-14 | 2021-04-09 | 燕山大学 | Series-parallel ship mooring device |
| CN112937775A (en) * | 2021-01-25 | 2021-06-11 | 河海大学设计研究院有限公司 | Ship berthing and departing device and ship |
| CN113135263A (en) * | 2021-05-19 | 2021-07-20 | 大连海事大学 | Automatic magnetic mooring device and automatic magnetic mooring system |
| CN113512989A (en) * | 2021-05-19 | 2021-10-19 | 大连海事大学 | Automatic vacuum mooring device and automatic vacuum mooring system |
| CN114248876A (en) * | 2021-12-26 | 2022-03-29 | 大连理工大学 | Dynamic positioning small water line surface floating type liquid cargo transfer platform and operation method thereof |
| CN114735599A (en) * | 2022-03-29 | 2022-07-12 | 武汉理工大学 | Door-type crane ship capable of intelligently operating in coordination |
| EP4082888A1 (en) | 2021-04-13 | 2022-11-02 | Uniwersytet Morski w Gdyni | Mobile electromagnetic mooring system for service vessels |
| WO2023220974A1 (en) * | 2022-05-18 | 2023-11-23 | 广东逸动科技有限公司 | Docking platform |
| RU2808875C1 (en) * | 2023-04-11 | 2023-12-05 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Государственный морской университет имени адмирала Ф.Ф. Ушакова" | Mooring grappling module (options) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110035357A (en) * | 2009-09-30 | 2011-04-06 | 한국과학기술원 | Docking system of ship |
| CN102464213A (en) * | 2010-11-04 | 2012-05-23 | 韩国科学技术院 | Mooring system for a vessel, floating body and quay wall including the same |
| CN104260830A (en) * | 2014-08-15 | 2015-01-07 | 郭冉 | Automatic permanent magnet mooring device |
| CN104428200A (en) * | 2012-05-03 | 2015-03-18 | 欧洲智能有限责任公司 | Mooring device for mooring a ship |
| CN104870304A (en) * | 2012-09-25 | 2015-08-26 | 欧洲智能有限责任公司 | Mooring device for mooring a ship |
| CN107521623A (en) * | 2017-10-10 | 2017-12-29 | 安徽理工大学 | Five degree of freedom becomes cell type multi-purpose vessel berthing device |
| CN206856939U (en) * | 2017-03-10 | 2018-01-09 | 浙江国际海运职业技术学院 | The automatic mooring gear of ship |
| CN207208380U (en) * | 2017-09-28 | 2018-04-10 | 武汉理工大学 | A kind of magnetic mooring apparatus for ship |
-
2018
- 2018-06-01 CN CN201810557408.7A patent/CN108674582A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110035357A (en) * | 2009-09-30 | 2011-04-06 | 한국과학기술원 | Docking system of ship |
| CN102464213A (en) * | 2010-11-04 | 2012-05-23 | 韩国科学技术院 | Mooring system for a vessel, floating body and quay wall including the same |
| CN104428200A (en) * | 2012-05-03 | 2015-03-18 | 欧洲智能有限责任公司 | Mooring device for mooring a ship |
| CN104870304A (en) * | 2012-09-25 | 2015-08-26 | 欧洲智能有限责任公司 | Mooring device for mooring a ship |
| CN104260830A (en) * | 2014-08-15 | 2015-01-07 | 郭冉 | Automatic permanent magnet mooring device |
| CN206856939U (en) * | 2017-03-10 | 2018-01-09 | 浙江国际海运职业技术学院 | The automatic mooring gear of ship |
| CN207208380U (en) * | 2017-09-28 | 2018-04-10 | 武汉理工大学 | A kind of magnetic mooring apparatus for ship |
| CN107521623A (en) * | 2017-10-10 | 2017-12-29 | 安徽理工大学 | Five degree of freedom becomes cell type multi-purpose vessel berthing device |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109484573A (en) * | 2018-10-29 | 2019-03-19 | 广州文冲船厂有限责任公司 | A kind of mooring gear |
| CN110389003A (en) * | 2019-08-05 | 2019-10-29 | 中交上海港湾工程设计研究院有限公司 | It is a kind of for measuring the installation device for pressure sensor of wharf anchors impact force |
| CN112026580A (en) * | 2020-08-05 | 2020-12-04 | 武汉理工大学 | Shipborne container type battery replacement system |
| CN111993496A (en) * | 2020-09-05 | 2020-11-27 | 张彤林 | Non-contact electromagnetic vibration suppression woodworking cutting table |
| CN111993496B (en) * | 2020-09-05 | 2022-09-09 | 安徽省金士棉机有限责任公司 | Non-contact electromagnetic vibration suppression woodworking cutting table |
| CN112441188B (en) * | 2020-11-13 | 2021-08-24 | 江苏科技大学 | Mooring device for ship |
| CN112441188A (en) * | 2020-11-13 | 2021-03-05 | 江苏科技大学 | Mooring device for ship |
| CN112627115A (en) * | 2020-12-14 | 2021-04-09 | 燕山大学 | Series-parallel ship mooring device |
| CN112627115B (en) * | 2020-12-14 | 2021-12-14 | 燕山大学 | Series-parallel ship mooring device |
| CN112937775A (en) * | 2021-01-25 | 2021-06-11 | 河海大学设计研究院有限公司 | Ship berthing and departing device and ship |
| EP4082888A1 (en) | 2021-04-13 | 2022-11-02 | Uniwersytet Morski w Gdyni | Mobile electromagnetic mooring system for service vessels |
| CN113135263A (en) * | 2021-05-19 | 2021-07-20 | 大连海事大学 | Automatic magnetic mooring device and automatic magnetic mooring system |
| CN113512989A (en) * | 2021-05-19 | 2021-10-19 | 大连海事大学 | Automatic vacuum mooring device and automatic vacuum mooring system |
| CN114248876B (en) * | 2021-12-26 | 2023-03-10 | 大连理工大学 | Dynamic positioning small water line surface floating type liquid cargo transfer platform and operation method thereof |
| CN114248876A (en) * | 2021-12-26 | 2022-03-29 | 大连理工大学 | Dynamic positioning small water line surface floating type liquid cargo transfer platform and operation method thereof |
| CN114735599A (en) * | 2022-03-29 | 2022-07-12 | 武汉理工大学 | Door-type crane ship capable of intelligently operating in coordination |
| CN114735599B (en) * | 2022-03-29 | 2023-03-10 | 武汉理工大学 | Door-type crane ship capable of intelligently operating in coordination |
| WO2023220974A1 (en) * | 2022-05-18 | 2023-11-23 | 广东逸动科技有限公司 | Docking platform |
| RU2808875C1 (en) * | 2023-04-11 | 2023-12-05 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Государственный морской университет имени адмирала Ф.Ф. Ушакова" | Mooring grappling module (options) |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108674582A (en) | A kind of automatic magnetic mooring gear | |
| CN107521623B (en) | Five degree of freedom becomes cell type multi-purpose vessel berthing device | |
| US10041469B2 (en) | Method for maintaining floating-body type wind turbine power generating apparatus | |
| CN111976891B (en) | Energy feedback type mooring device for rapid mooring of large ship | |
| CN106143799B (en) | A kind of light-duty system's docking system of intelligence that fender function is had both instead of hawser | |
| CN201406013Y (en) | Offshore floating body with positioning, adjusting and anti-collision functions | |
| US20060207487A1 (en) | Mooring apparatus with moveable ballast weight | |
| CN208344492U (en) | A kind of automatic magnetic mooring gear | |
| CN109436240A (en) | A kind of underwater robot recycling cone rod-type docking traction mechanism | |
| CN107161882B (en) | A kind of novel Active Compensation loop wheel machine system | |
| KR102417737B1 (en) | Marine vessels for the production and storage of hydrocarbon products | |
| CN104590497A (en) | FPSO (Float Production Storage and Offloading) ship | |
| CN204250321U (en) | A kind of multi-purpose vessel berthing device | |
| CN104828713B (en) | Compliant support frame and installation method of compliant support frame to large floating crane boom | |
| CN108639249B (en) | Buoyancy type single point mooring system | |
| US20150175245A1 (en) | Butt joint octagonal frustum type floating production storage and offloading system | |
| CN104002931B (en) | U-shaped ocean engineering installation ship and catheterostat upper module installation method | |
| CN103373446A (en) | Jacket removing ship and removing method | |
| EP2818396B1 (en) | Vessel, docking system and docking structure | |
| CN214776409U (en) | Automatic magnetic mooring device and automatic magnetic mooring system | |
| CN109159853B (en) | Self-adaptive mooring device for offshore shallow water area | |
| CN205891166U (en) | Can replace hawser to have intelligent light -duty of fender function concurrently is alongside system | |
| CN110104133A (en) | Pontoon docking Multifunctional floating harbour | |
| CN113135263A (en) | Automatic magnetic mooring device and automatic magnetic mooring system | |
| CN204846317U (en) | Marine collision prevention device that leans on |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181019 |
|
| WD01 | Invention patent application deemed withdrawn after publication |