CN114735135A - Ship berthing method, berthing device and verification method based on permanent magnet - Google Patents
Ship berthing method, berthing device and verification method based on permanent magnet Download PDFInfo
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- CN114735135A CN114735135A CN202210491771.XA CN202210491771A CN114735135A CN 114735135 A CN114735135 A CN 114735135A CN 202210491771 A CN202210491771 A CN 202210491771A CN 114735135 A CN114735135 A CN 114735135A
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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
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- Y02A30/30—Adapting or protecting infrastructure or their operation in transportation, e.g. on roads, waterways or railways
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Abstract
The invention relates to a ship berthing method, a berthing device and a verification method based on a permanent magnet; the ship mooring device comprises a device main body, a moving device, a suction device and a motor module, wherein an air bag is arranged on the device main body; the moving device comprises a propeller and a rotating rod which are driven by the motor module, and the propeller is correspondingly connected with the rotating rod; the fixing device comprises a first magnetic system and a second magnetic system; the first magnetic system is fixed on the cover base, the device body is provided with a guide rail which can move the cover base, and the second magnetic system is connected with the motor module. The invention can effectively avoid the failures of elastic loss, plastic deformation and the like; when the ship is parked on the wharf, the first magnetic system and the second magnetic system are opposite by controlling the second magnetic system to rotate by a certain angle, the ship and the device are connected together, and a plurality of sailors are not required to be fixed by using cables; when the ship leaves, the ship can be separated from the device only by controlling the second magnetic system to ensure that the first magnetic system and the second magnetic system are staggered.
Description
Technical Field
The invention relates to an instrument for assisting ship berthing, in particular to a ship berthing method, a berthing device and a verification method based on permanent magnets.
Background
When a large ship is berthed on a traditional wharf, the ship is mainly leaned against the shore by the tugboat, after berthing is successful, a belt cable needs to be skimmed by manpower, and the ship is connected with a bollard or other mooring devices on the wharf to ensure that the ship cannot drift away. Or the berthing device fixed on the wharf is used for enabling the ship on the shore to be adsorbed on the wharf by virtue of a hydraulic system with a vacuum chuck or an electromagnet. However, the mooring mode has two defects, namely, the traditional manual mooring mode needs to be operated by a plurality of people, time and labor are wasted, human resources are wasted greatly, and great safety risks exist; and secondly, when the automatic device fixed on the wharf is used, the requirements on the position, the angle and the like of a stopped ship are very high, and the operation difficulty of a crew is greatly improved.
Disclosure of Invention
The invention provides a ship berthing method, a berthing device and a verification method based on permanent magnets, aiming at greatly improving efficiency and realizing unmanned control of ships while saving manpower.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
a ship mooring device based on a permanent magnet comprises a device main body, a moving device, a suction device and a motor module, wherein an air bag is arranged on the device main body, the air bag enables the device main body to have an anti-collision function, the device main body is externally connected with a cable, and the cable can be fixed on a wharf; the moving device comprises an adjusting device positioned on the wharf, and a propeller and a rotating rod which are driven by the motor module, wherein the propeller is correspondingly connected with the rotating rod; the moving device also comprises an adjusting device positioned on the wharf, the adjusting device can adjust the orientation of the device, and the propeller can steer on the rotating rod; the said solid absorption device includes the first magnetic system, the second magnetic system; the first magnetic system is fixed on the cover seat, and the device main body is provided with a guide rail capable of enabling the cover seat to move; so as to adjust the air gap between the ship body and the device and further control the force applied to the ship body; the second magnet is connected to the motor module.
As a further improvement of the present invention, the motor module is mounted on the apparatus main body.
As a further improvement of the invention, the air bags are provided with two air bags which are correspondingly arranged at the left side and the right side of the device main body respectively.
As a further improvement of the present invention, the propeller is provided in a pair with a rotary rod rotatably mounted to the lower end of the apparatus main body.
As a further improvement of the invention, the first magnetic system and the second magnetic system are both composed of 4 permanent magnets. The magnetizing direction of the permanent magnet is circular arc magnetizing.
As a further improvement of the invention, the second magnetic system can rotate for a certain angle under the driving of the motor module, so that the second magnetic system can rotate to a position opposite to or staggered with the first magnetic system, the whole attracting and fixing device can display the states of magnetic force and no magnetic force on the working surface, and the connection and the disconnection between the device and the ship body are further controlled.
As a further improvement of the present invention, the motor module has the following functions: the rotation and steering of the propeller can be controlled, the rotation of the second magnetic system can be controlled, and the size of the air gap can be adjusted.
The technical key points of the invention are as follows:
1. relevant parameters are adjusted to be suitable for ship berthing work of various tonnages and types;
2. the parking device has the advantages that the structure is simple, high return is realized after initial investment, external operation parts cannot be seen, the automation degree is high, and the management is convenient;
3. the air gap between the device and the hull can be adjusted to change the amount of force between the two, at the appropriate time to accomplish the corresponding operation.
4. The adoption drives the permanent magnet rotation mode for the rectilinear movement of two magnetic poles of tradition, has a plurality of advantages such as the magnet utilization ratio of rotation type is high, the magnet that uses is few, arrange compacter intensive, save space, the magnetic leakage is less and the atress is more even.
The invention has the beneficial effects that:
1. the invention adopts the permanent magnet spring with simple magnetization to replace the traditional spring, thereby effectively avoiding the failures of elastic loss, plastic deformation and the like;
2. the shock absorption device is simple in structure, high in return after initial investment, and the whole shock absorption system adopts non-contact force, so that the abrasion of parts is effectively avoided;
3. when the ship is parked on the wharf, the first magnetic system and the second magnetic system are opposite by controlling the second magnetic system to rotate for a certain angle, the ship and the device are connected together, and a plurality of sailors are not required to be fixed by using cables;
4. when the ship leaves, the ship can be separated from the device only by controlling the second magnetic system to ensure that the first magnetic system and the second magnetic system are staggered, and a sailor is not required to release the mooring rope;
5. the invention improves the operation safety of the wharf, reduces the number of sailors on the ship and the sailors on the ship, and reduces the cost.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a perspective view of the present invention with the cover base removed;
FIG. 3 is a position diagram of the first magnetic system and the second magnetic system in the magnetic state;
FIG. 4 is a graph of internal magnetic inductance with magnetic state;
FIG. 5 is a cloud of magnetic field strengths at a work surface in a magnetic state;
FIG. 6 is a graph of magnetic induction in the radial direction at the working surface versus distance from the center of the circle in the magnetic state;
FIG. 7 is a graph of the attractive force experienced by the work surface in the magnetic state versus the gap spacing;
FIG. 8 is a diagram showing the positions of the first magnetic system and the second magnetic system in a non-magnetic state;
FIG. 9 is a diagram of internal magnetic inductances in a non-magnetic state;
FIG. 10 is a cloud of magnetic field strength at the work surface in a non-magnetic state;
FIG. 11 is a graph showing the relationship between the magnetic induction intensity in the radial direction and the distance from the center of a circle at the working surface in a non-magnetic state;
FIG. 12 is a graph of the relationship between the attractive force experienced by the work surface and the gap spacing in the non-magnetic state.
In the figure: 1. a device main body; 2. an air bag; 3. a propeller; 4. rotating the rod; 5. a first magnetic system; 6. a second magnetic system; 7. a cover seat; 8. a motor module; 9. a guide rail.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the present invention will be described more clearly and more completely with reference to the drawings in the following embodiments, and it is understood that the described embodiments are only a part of the present invention, rather than all of the present invention, and based on the embodiments, other embodiments obtained by those skilled in the art without inventive exercise are within the protection scope of the present invention.
As shown in fig. 1 and 2, a ship mooring device based on a permanent magnet comprises a device main body 1, a moving device, a suction device and a motor module 8, wherein an air bag 2 is mounted on the device main body 1, the air bag 2 enables the device main body 1 to have an anti-collision function, and a cable is externally connected to the device main body 1 and can be fixed on a wharf; the moving device comprises an adjusting device positioned on the wharf, and a propeller 3 and a rotating rod 4 which are driven by a motor module 8, wherein the propeller 3 is correspondingly connected with the rotating rod 4; the moving device also comprises an adjusting device positioned on the wharf, the adjusting device can adjust the orientation of the device, and the propeller 3 can turn on the rotating rod 4; the said absorbing and fixing device includes the first magnetic system 5, the second magnetic system 6; the first magnetic system 5 is fixed on the cover base 7, and the device body 1 is provided with a guide rail 9 which can make the cover base 7 move; thereby adjusting the air gap between the ship body and the device and further controlling the force applied to the ship body; the second magnetic system 6 is connected to the motor module 8.
Specifically, the motor module 8 is installed on the device main body 1, the motor module 8 is a plurality of motors, and in the invention, the propeller 3, the rotating rod 4 and the second magnetic system 6 are correspondingly connected with one motor in the motor module 8, so as to meet the requirement of independent driving work of each part.
As shown in fig. 1, two airbags 2 according to the present invention are provided and are respectively installed on the left and right sides of the apparatus main body 1.
As shown in fig. 1, the propeller 3 is provided with a pair of a rotary rod 4, and the rotary rod 4 is rotatably mounted to the lower end of the apparatus main body 1.
The first magnetic system 5 and the second magnetic system 6 are both composed of 4 permanent magnets, and the permanent magnets of the invention are magnetized in an arc shape.
Specifically, the second magnetic system 6 can be driven by the motor module 8 to rotate for a certain angle, so that the second magnetic system can rotate to a position opposite to or staggered with the first magnetic system, the whole suction device can display a state of magnetic force and no magnetic force on a working surface, and the connection and the disconnection between the suction device and the ship body are further controlled.
The motor module 8 has the following functions: the rotation and steering of the propeller 3 can be controlled, the rotation of the second magnetic system can be controlled, and the size of the air gap can be adjusted.
The ship mooring method comprises the following steps:
s1: a cable for externally connecting and fixing the device body 1 on a wharf;
s2: presetting a device angle according to the position of the ship, and driving the propeller 3 to rotate to be close to the ship by a motor module 8 of the device when the track deviates;
s3: the state of the device is switched, so that the second magnetic system 6 rotates to be opposite to the first magnetic system 5, and the second magnetic system can be adsorbed on the ship body by means of the permanent magnet;
s4: the pulling-back device drives the ship body to lean against the shore;
s5: when the ship is offshore, the state of the device is switched, the second magnetic system 6 rotates to be dislocated with the first magnetic system 5, the device loses attraction, and the ship leaves.
Example 1:
the angle of the adjustment device is adjusted according to the position of the ship so that the device faces the ship, and then the motor is started to enable the device to swim towards the ship. If the direction deviates in the approaching process, the rotating speed and the direction of the propeller are changed by adjusting the motor module, so that the device is contacted with the ship body and then stops. The second magnetic system is driven by the rotating mechanism to rotate to be opposite to the first magnetic system by adjusting the motor, at the moment, the internal magnets are arranged as shown in figure 3, the N pole and the S pole of the first magnetic system are opposite to the N pole and the S pole of the second magnetic system, the direction of the internal magnetic induction lines is shown in figure 4, the magnetic induction lines of the first magnetic system and the second magnetic system are overlapped at the working surface through the magnet yoke, the magnetic induction intensity is greatly enhanced, and the device is in a magnetic force state;
FIG. 5 is a cloud chart of magnetic induction intensity at the working face, the place with the highest magnetic induction intensity is mainly concentrated on four magnetic yoke parts, the highest magnetic induction intensity reaches more than 2Tesla, and the rest parts of the working face also have magnetic induction intensity of about 1 Tesla; the area of the whole working surface is 282743mm2The area of the four magnetic yokes is 188496mm2Therefore, the place with the strongest magnetic force occupies 2/3 of the whole working surface, and the magnet yoke and the permanent magnet are symmetrical in the horizontal and vertical directions, so that the force generated on the ship body is very uniform and is not easy to fall off;
the magnitude of the magnetic induction in the radial direction is as shown in fig. 6, and is strongest at the magnetic yoke and gradually weakened towards the two ends; the motor is adjusted to enable the suction device to move on the guide rail to be closer to the ship body, the air gap is reduced, force between the ship body and the suction device is larger, the suction device is firmly adsorbed on the ship body, and the mooring rope is retracted to enable the ship to berth on the shore.
When the ship needs to leave the wharf, the motor is started to drive the second magnetic system to rotate for a certain angle, so that the first magnetic system and the second magnetic system are staggered, the internal magnets are arranged as shown in figure 8, the N pole and the S pole of the first magnetic system are opposite to the S pole and the N pole of the second magnetic system, the direction of the internal magnetic induction lines is shown in figure 9, the magnetic induction lines of the first magnetic system and the second magnetic system cannot reach the working pole face of the device, a closed loop of a magnetic circuit is formed in the device, almost no magnetic lines of force come out of the working face of the device, and therefore, no attraction force is generated on the ship body, and the device is in a non-magnetic state.
FIG. 10 is a cloud chart of magnetic induction intensity at the working surface, the average magnetic induction intensity is about 0.3Tesla, the magnitude of the magnetic induction intensity in the radial direction is shown in FIG. 11, and no magnetic induction intensity is high; the device shows a nonmagnetic state to the outside, the force between the device and the ship is obviously reduced, the motor is adjusted to enable the suction device to move on the guide rail to be far away from the ship body, the air gap is further increased until the attraction of the device to the ship disappears, the ship drives away from the device through the power system, and the device and the ship are separated.
Example 2:
the verification method comprises the following steps: mooring test for a ship
Basic data of a three-dimensional concrete 19 engineering ship:
long Lg55m
Width Bg17.4m
The model depth is 4m
Full load draught dg2.8m
Waterline to deck height hg1.2m
According to the relevant dimension parameters of the ship, calculating
Basic resistance of the ship:
R＝R0+△R
R0＝Rf+RB
in the formula R0For basic resistance, Δ R is the additional resistance, RfAs frictional resistance, RBIs the residual resistance; the use requirement can be met according to the fact that the calculated drag force is greater than R, and F is recordedsR is allowable force;
the use requirement can be met according to the calculated towing force being more than 350kN (the calculation result can refer to the article 'analysis and calculation of towing force for towing at sea for tugs', author lutong, 26 th volume, 5 th volume of Jiangsu ships).
When the device is switched to a magnetic state, the relationship between the attraction force applied to the working surface and the air gap distance gap is as shown in fig. 7, as the air gap is increased from 0mm to 20mm, the force at the working surface is reduced from 366kN to 40kN, and if the gap can be adjusted to be 8mm and the attraction force between the device and the ship body is 137kN, 3 devices at the head and the tail of the ship can provide 411kN of towing force in total, so that the use requirement of parking the towing engineering ship is met.
When gap is 0, the attractive force between the device and the ship body is Fmax366kN, the 3 devices at the bow and stern together provide Fδ＝3Fmax1098kN, so:
S＝Fδ/Fs＝1098/350＝3.1；
i.e. a safety factor of 3.1. Wherein FδIs a limiting force, FsThe allowable force is used; n is the number of devices attached to the vessel.
Magnet attraction force magnitude calculation formula FSuction device＝μ0/[4S(H/δ)2]In which μ0The magnetic permeability is vacuum magnetic permeability, H is permanent magnet magnetomotive force, S is permanent magnet surface area, and delta is air gap.
Due to F absorption and delta2In relation, the relationship between the attractive force experienced by the working surface and the air gap is fitted to a quadratic function of y with respect to x:
y＝Ax2+Bx+C
the corresponding gap distance x can be determined when the force required for use is metmaxAnd is recorded as the safety spacing.
Fitting according to fig. 7 to obtain the function y of 1.03x2+36.9x+366，y＝FsX when/3 equals 350/3 equals 116.7kNmax＝9.3mm。
Therefore, the safety distance is 9.3mm, and the air gap can be controlled within 9.3mm to meet the use requirement.
In the non-magnetic state of the device, the relationship between the attraction force applied to the working surface and the gap is as shown in fig. 12, and as the gap increases from 0mm to 20mm, the force at the working surface decreases sharply from 4kN to 0.2kN, and when the gap is 8mm, the attraction force between the device and the hull is only 0.7kN or less, and when the gap further increases, the attraction force between the two decreases further, and the ship is easily separated.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides a boats and ships mooring device based on permanent magnet, includes device main part (1), mobile device, inhales four parts of solid device and motor module (8), its characterized in that: an air bag (2) is arranged on the device main body (1); the moving device comprises a propeller (3) and a rotating rod (4) which are driven by a motor module (8), and the propeller (3) is correspondingly connected with the rotating rod (4); the said absorbing and fixing device includes the first magnetic system (5), the second magnetic system (6); the first magnetic system (5) is fixed on the cover base (7), the device body (1) is provided with a guide rail (9) which can move the cover base (7), and the second magnetic system (6) is connected with the motor module (8).
2. A permanent magnet based vessel mooring arrangement according to claim 1, wherein: the motor module (8) is mounted on the device body (1).
3. A permanent magnet based vessel mooring arrangement according to claim 1, wherein: the air bags (2) are provided with two air bags which are respectively correspondingly arranged at the left side and the right side of the device main body (1).
4. A permanent magnet based vessel mooring arrangement according to claim 1, wherein: the propeller (3) and the rotating rod (4) are provided with a pair, and the rotating rod (4) is rotatably arranged at the lower end of the device main body (1).
5. A permanent magnet based vessel mooring arrangement according to claim 1, wherein: the first magnetic system (5) and the second magnetic system (6) are respectively composed of 4 permanent magnets.
6. A permanent magnet based vessel mooring arrangement according to claim 1, wherein: the second magnetic system (6) can rotate for a certain angle under the drive of the motor module (8), so that the second magnetic system (6) can rotate to a position opposite to or staggered with the first magnetic system (5), the whole suction device can display the states of magnetic force and no magnetic force on the working surface, and the connection and the disconnection between the suction device and the ship body are further controlled.
7. A permanent magnet based vessel mooring arrangement according to claim 1, wherein: the motor module (8) can control the rotation and the steering of the propeller.
8. A permanent magnet based vessel mooring arrangement according to claim 1, wherein: the motor module (8) can control the rotation of the second magnetic system (6) and adjust the size of the air gap.
9. A permanent magnet based ship berthing method applying a permanent magnet based ship berthing apparatus of any one of claims 1 to 8, characterized in that: the concrete mooring steps are as follows:
s1: a cable for externally connecting and fixing the device main body (1) on a wharf;
s2: presetting a device angle according to the position of the ship, and driving a propeller (3) to rotate to be close to the ship by a motor module (8) of the device when the track deviates;
s3: the state of the device is switched, so that the second magnetic system (6) rotates to be opposite to the first magnetic system (5), and the second magnetic system can be adsorbed on the ship body by means of the permanent magnet;
s4: the pulling-back device drives the ship body to lean against the shore;
s5: when the ship is offshore, the state of the device is switched, the second magnetic system (6) rotates to be dislocated with the first magnetic system (5), the device loses attraction, and the ship leaves.
10. A permanent magnet-based ship berthing verification method, a permanent magnet-based ship berthing apparatus according to any one of claims 1 to 8, characterized in that:
mooring test to vessel:
s1: calculating the basic resistance of the ship:
R＝R0+△R
R0＝Rf+RB
in the formula R0For basic resistance,. DELTA.R is the additional resistance, RfAs frictional resistance, RBIs the residual resistance; the use requirement can be met according to the fact that the calculated drag force is greater than R, and F is recordedsR is allowable force;
s2: obtaining a relation graph between the attraction force applied to the working surface and the air gap according to simulation, wherein when the device is switched to a magnetic state, the force at the working surface is gradually increased from F along with the gradual increase of the air gap from 0mmmaxGradually decreases, and when gap is equal to 0, the attractive force between the device and the ship body is FmaxThen n devices at the bow and stern can provide Fδ＝nFmaxThe drag force of (2), so:
S＝Fδ/Fs；
namely the safety factor is S; wherein FδIs a limiting force, FsN is the number of devices adsorbed on the ship for allowable force;
magnet attraction force magnitude calculation formula FSuction device＝μ0/[4S(H/δ)2]In which μ0The magnetic permeability is vacuum magnetic permeability, H is permanent magnet magnetomotive force, S is the surface area of the permanent magnet, and delta is an air gap;
s3: due to F absorption and delta2In this regard, the relationship between the attractive force experienced by the working surface and the air gap is fitted to a quadratic function of y with respect to x:
y＝Ax2+Bx+C
the corresponding gap distance x can be determined when the force required for use is metmaxRecording as a safety interval; the simulation shows that the relation between the attraction force applied to the working surface and the air gap is fitted into a quadratic function y of x, namely Ax2+ Bx + C, with y ═ FsSubstituting/n to obtain x ═ xmax；
So that the safety distance is xmaxI.e. the air gap can be controlled at xmaxThe use requirement can be met;
when the device is in a non-magnetic state, the force at the working surface is sharply reduced along with the gradual increase of the air gap from 0mm, and when the size gap of the air gap is equal to xmaxWhen the ship is in use, the attractive force between the device and the ship body is low, and after the air gap is further increased, the attractive force between the device and the ship body is further reduced, so that the ship is easy to separate.
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| 鲁通: "拖轮海上拖带航行拖力分析计算", 《江苏船舶》, no. 05, 31 October 2009 (2009-10-31), pages 14 - 15 * |
| 鲁通;: "拖轮海上拖带航行拖力分析计算", 江苏船舶, no. 05, pages 14 - 15 * |
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