CN214776409U - Automatic magnetic mooring device and automatic magnetic mooring system - Google Patents
Automatic magnetic mooring device and automatic magnetic mooring system Download PDFInfo
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- CN214776409U CN214776409U CN202121083951.1U CN202121083951U CN214776409U CN 214776409 U CN214776409 U CN 214776409U CN 202121083951 U CN202121083951 U CN 202121083951U CN 214776409 U CN214776409 U CN 214776409U
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Abstract
The utility model provides an automatic magnetic force mooring device and automatic magnetic force mooring system. The device comprises: the base is arranged on the wharf, and a supporting part is arranged on the base; the power unit is fixedly arranged beside the base; the tail end of the first mechanical arm is connected with the electromagnetic chuck through the extension adjusting part; a pitch adjustment unit provided between the base and the first robot arm; and an elongation adjusting section; the power unit is respectively in control connection with the extension adjusting part and the pitching adjusting part, and adjusts the working posture of the electromagnetic chuck by controlling the working strokes of the extension adjusting part and the pitching adjusting part. The utility model discloses can automatic perception boats and ships position and moor boats and ships fast, prevent that boats and ships and pier from taking place friction and collision, the device can adapt to the position change of boats and ships through the adjustment pneumatic cylinder stroke after the mooring is accomplished, improves mooring stability.
Description
Technical Field
The utility model relates to a marine facilities technical field particularly, especially relates to an automatic magnetic force mooring device and automatic magnetic force mooring system.
Background
Vessel mooring is a necessary operation of a vessel at a navigation and docking dock, and is usually achieved by using a rope. This process is cumbersome and unsafe for deck crews and land-based cable operators. When the ship is loaded or unloaded in a port, the ship body moves, rises or falls, and thus the ropes need to be continuously fixed again. The impact force of the movement of the ship body after the ship is berthed and the tension on the cable can also have adverse effect on the wharf; moreover, the ship berthed in the mode can generate serious rolling mainly by rolling, and the safety and the riding comfort of the ship are influenced.
Berthing between marine vessels requires the sides of the two vessels to be leaned together and fixed, such as the situations that the liquefied natural gas vessel fills the ship to be replenished, the warship replenishes the ship, and the medical vessel receives wounded personnel from the accident ship. The conventional way is also mooring line fixing, which requires that the heights of two ship waterlines to decks are approximately equal, and prevents the mooring line and the mooring line hole from being damaged; the guide cable is only stressed by tension and is not stressed, and the ship generates a swaying action under the simple harmonic action of waves to possibly cause continuous collision; in addition, rolling of the vessel under the action of wind and waves may cause collision of higher equipment or structures on the deck, and potential safety hazards exist.
The biggest problem with cable mooring is that it only restricts the vessel offshore and not the motion of the vessel within the limits of the cable. Particularly aiming at the situations of obvious wharf water level change and the berthing situation between ships at sea, the prior art can not realize high-quality mooring, so the berthing mode and equipment of the ships need to be further improved.
Disclosure of Invention
According to the technical problem that the prior mooring technology cannot limit the movement of a ship in a limited range of a cable, the automatic magnetic mooring device and the automatic magnetic mooring system are provided. The device can automatically sense the position of a ship and fast moor the ship, so that the ship and a wharf are prevented from being rubbed and collided.
The utility model discloses a technical means as follows:
an automatic magnetic mooring device comprising:
the base is arranged on the wharf, and a supporting part is arranged on the base;
the power unit is fixedly arranged beside the base;
the tail end of the first mechanical arm is connected with the electromagnetic chuck through the extension adjusting part;
a pitch adjustment unit provided between the base and the first robot arm;
and an elongation adjusting section;
the power unit is respectively in control connection with the extension adjusting part and the pitching adjusting part, and adjusts the working posture of the electromagnetic chuck by controlling the working strokes of the extension adjusting part and the pitching adjusting part.
Furthermore, the extension adjusting part comprises a first hydraulic oil cylinder, one end of the first hydraulic oil cylinder is connected with the first mechanical arm, and the other end of the first hydraulic oil cylinder is connected with the electromagnetic chuck.
Furthermore, the first hydraulic oil cylinder is connected with the electromagnetic chuck through a first spherical joint.
Furthermore, the pitching adjusting part comprises a second hydraulic cylinder, one end of the second hydraulic cylinder is connected with the base, and the other end of the second hydraulic cylinder is connected with the first mechanical arm.
Furthermore, the second hydraulic oil cylinder is connected with the first mechanical arm through a second spherical joint.
Furthermore, the device also comprises a second mechanical arm, one end of the second mechanical arm is connected with the base, and the other end of the second mechanical arm is connected with the first mechanical arm.
Furthermore, the electromagnetic chuck comprises a plurality of adsorption parts arranged in an array form, and a plurality of magnetic sheets arranged in a square or circular array form on any adsorption part.
Furthermore, a position sensor is arranged at the central position of the electromagnetic chuck.
Further, the power unit comprises a PLC, a communication module, an execution module and a position sensor arranged on the vacuum chuck; the PLC is in communication connection with a position sensor arranged on the vacuum chuck through a communication module, a signal output end of the PLC is connected with an execution unit, and the execution unit is used for controlling the extension adjusting part and the pitching adjusting part.
The utility model also provides an automatic magnetic force mooring system, including a plurality of as above-mentioned arbitrary one automatic magnetic force mooring device.
Compared with the prior art, the utility model has the advantages of it is following:
1. the utility model can greatly reduce the manpower and time required for berthing the ship and improve the berthing efficiency; the cable is not required to be operated by people on the ship and on the shore, and the working risk is reduced.
2. The utility model can also monitor the mooring operation and the external influence and condition in real time, and the response time to the emergency is faster than the mooring of a manpower mooring rope; the vessel can be fixed in less than 1 minute; the vessel is separated in less than 20 seconds.
3. The utility model discloses an electricity utilization changes the magnetic circuit in the electromagnetic chuck 4 seconds, adsorbs the main part process and need not use electricity, and it is sufficient to magnetize back magnetic force, and operating time s is the unit, can carry out magnetic force and adjust, guarantees not to influence the stable mooring of in-ship electrical equipment.
4. The utility model discloses a hydraulic system height-adjusting, length, angle guarantee that the sucking disc is in the vertical state.
Based on the reason, the utility model discloses can extensively promote in fields such as shipping management.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.
Fig. 1 is a schematic structural view of an automatic magnetic mooring device of the present invention.
Fig. 2 is a schematic view of the electromagnetic chuck of the present invention.
In the figure: 1. a base; 2. a power unit; 3. a first ball joint; 4. a first robot arm; 5. a second mechanical arm; 6. a first hydraulic cylinder; 7. a second ball joint; 8. an electromagnetic chuck; 9. and a second hydraulic cylinder.
Detailed Description
It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Unless specifically stated otherwise, the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present invention. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. Any specific values in all examples shown and discussed herein are to be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the orientation words such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a contrary explanation, these orientation words do not indicate and imply that the device or element in question must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the scope of the present invention: the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and if not stated otherwise, the terms have no special meaning, and therefore, the scope of the present invention should not be construed as being limited.
As shown in fig. 1-2, the present invention provides an automatic magnetic mooring apparatus, comprising: the wharf comprises a base 1 arranged on a wharf, wherein a supporting part is arranged on the base 1; the power unit 2 is fixedly arranged beside the base 1; the first mechanical arm 4 is supported by the supporting part, and the tail end of the first mechanical arm 4 is connected with the electromagnetic chuck 8 through the extension adjusting part; a pitch adjustment unit provided between the base 1 and the first robot arm 4; and an elongation adjusting section; the power unit 2 is respectively connected with the extension adjusting part and the pitching adjusting part in a control mode, and the working posture of the electromagnetic chuck is adjusted by controlling the working strokes of the extension adjusting part and the pitching adjusting part. In addition, the device comprises a second mechanical arm 5, one end of which is connected with the base 1, and the other end of which is connected with the first mechanical arm 4.
As a preferred embodiment of the present invention, the extension adjusting part includes a first hydraulic cylinder 6 having one end connected to the first mechanical arm 4 and the other end connected to the electromagnetic chuck 8. Further, the first hydraulic oil cylinder 6 is connected with the electromagnetic chuck 8 through the first spherical joint 3. The pitching adjusting part comprises a second hydraulic oil cylinder 9, one end of the second hydraulic oil cylinder is connected with the base 1, and the other end of the second hydraulic oil cylinder is connected with the first mechanical arm 4. Further, the second hydraulic cylinder 9 is connected to the first robot arm 4 through a second ball joint 7.
The electromagnetic chuck 8 comprises a plurality of adsorption parts arranged in an array form, and a plurality of magnetic sheets arranged in a square or round array form on any adsorption part. Preferably, a position sensor is arranged at the center of the electromagnetic chuck.
In this embodiment, the power unit 2 is a hydraulic power unit, and includes a PLC, a communication module, an execution module, and a position sensor disposed on the vacuum chuck; the PLC is in communication connection with a position sensor arranged on the vacuum chuck through a communication module, a signal output end of the PLC is connected with an execution unit, and the execution unit is used for controlling the first hydraulic cylinder and the second hydraulic cylinder.
The scheme and effect of the present invention will be further explained by the specific application examples.
The embodiment provides an automatic magnetic force mooring device, including base 1, hydraulic power unit 2, arm and pneumatic cylinder, electromagnet 8, magnetic module, mooring pad, pneumatic cylinder are experimental and emergency ejection cylinder, and wherein the arm contains first arm 4, second arm 5, and the pneumatic cylinder contains first pneumatic cylinder 6, second pneumatic cylinder 9, and ball joint contains first ball joint 3 and second ball joint 7.
The hydraulic arm of the device is provided with a magnetic coupling component which automatically connects and adapts to the current mooring condition. The magnetic coupling assembly comprises a magnetic coupler, a soft (magnetic) connection is formed between the motor and the hydraulic arm, and the change of the torque and the rotating speed of the working machine shaft is realized by adjusting an air gap.
The base and the control box are fixed at the edge of a wharf or the edge of a main deck of the ship, which are convenient for berthing. The base is fixed on the wharf in a bolt connection mode and connected with the first mechanical arm; one end of the second mechanical arm is connected with the control box, and the other end of the second mechanical arm is connected with the hydraulic cylinder; one end of the spherical joint is connected with an electromagnetic chuck, the other end of the spherical joint is connected with a hydraulic cylinder, and the electromagnetic chuck is provided with a displacement sensor for sensing the position of the berthing ship and a three-way force sensor for sensing the stress of the ship in the longitudinal, transverse and vertical directions; and the control box controls the working strokes of the first hydraulic cylinder, the second hydraulic cylinder and other hydraulic cylinders according to the information of the displacement sensor and the three-way force sensor on the electromagnetic chuck.
By adopting the technical scheme, when the ship body is gradually close to a wharf or other ships, the ship body is inevitably close to the electromagnetic mooring device, and the electromagnetic chuck completes magnetizing. After the displacement sensor on the electromagnetic chuck senses that the berthing ship is in the action range of the electromagnetic mooring device, the distance, the angle and the height of the berthing ship are measured, magnetic flux can be generated when alternating current passes through the coil, eddy current can be generated in an object to send out the magnetic flux when the alternating current passes through a metal object, and the induction of the coil is changed as a result. The amount of change in this induction is a function of the distance between the coil and the object, and as a result, the distance displacement of the object can be measured. After calculation and analysis are carried out through the control box, the hydraulic control unit controls the hydraulic cylinders to automatically adjust the angles of the mechanical arms and the electromagnetic chucks, the electromagnetic chucks automatically move to one side offshore, and magnetic force adsorption is actively carried out on the ship so that the ship can be stably pulled to the wharf and firmly fixed.
The ship generates transverse movement under the action of wind waves, when the ship moves towards one side of the shore, the pressure is measured through the three-way force sensor on the electromagnetic chuck, and after calculation and analysis of the hydraulic control unit, each hydraulic cylinder is adjusted, so that the electromagnetic chuck generates small displacement towards one side of the shore, the transversely generated pressure is released, and the ship body is prevented from colliding with the wharf.
When the docked ship needs to be offshore, the electromagnetic chucks begin to demagnetize, the magnetic force disappears, all the electromagnetic chucks are separated from the ship body, and the ship can be offshore or separated from another ship.
The utility model also provides an automatic magnetic force mooring system, including a plurality of as above-mentioned arbitrary one automatic magnetic force mooring device.
In a preferred embodiment, two magnetic mooring devices are grouped together, one group is arranged at the head and the tail of the ship, and the number of groups of the ship with large displacement is increased according to the situation. During the berthing process of a ship at a wharf or between ships at sea, the device can automatically sense the position of the ship and fast moor the ship, so that the ship and the wharf are prevented from being rubbed and collided, and after the mooring is finished, the device can improve the mooring stability by adjusting the stroke of the hydraulic cylinder and the position of the mechanical arm.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (10)
1. An automatic magnetic mooring device, comprising:
the base is arranged on the wharf, and a supporting part is arranged on the base;
the power unit is fixedly arranged beside the base;
the tail end of the first mechanical arm is connected with the electromagnetic chuck through the extension adjusting part;
a pitch adjustment unit provided between the base and the first robot arm;
and an elongation adjusting section;
the power unit is respectively in control connection with the extension adjusting part and the pitching adjusting part, and adjusts the working posture of the electromagnetic chuck by controlling the working strokes of the extension adjusting part and the pitching adjusting part.
2. The automated magnetic mooring of claim 1, wherein the elongation adjustment means comprises a first hydraulic ram having one end connected to the first robotic arm and the other end connected to the electromagnetic chuck.
3. The automated magnetic mooring of claim 2, wherein the first hydraulic ram is connected to the electromagnetic chuck by a first ball joint.
4. The automated magnetic mooring of claim 1, wherein the pitch adjustment section comprises a second hydraulic cylinder having one end connected to the base and the other end connected to the first robotic arm.
5. The automated magnetic mooring of claim 4, wherein the second hydraulic cylinder is connected to the first robotic arm by a second ball joint.
6. The automated magnetic mooring apparatus of claim 1, further comprising a second robotic arm having one end connected to the base and the other end connected to the first robotic arm.
7. The automatic magnetic mooring device of claim 1, wherein the electromagnetic chuck comprises a plurality of suction portions arranged in an array, and a plurality of magnetic sheets arranged in a square or circular array are arranged on any suction portion.
8. The automatic magnetic mooring of claim 1, wherein the electromagnet is provided with a position sensor at a central location.
9. The automated magnetic mooring of claim 8, wherein the power unit comprises a PLC, a communication module, an execution module, and a position sensor disposed on a vacuum chuck; the PLC is in communication connection with a position sensor arranged on the vacuum chuck through a communication module, a signal output end of the PLC is connected with an execution unit, and the execution unit is used for controlling the extension adjusting part and the pitching adjusting part.
10. An automatic magnetic mooring system comprising a plurality of automatic magnetic mooring devices according to any one of claims 1-9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202121083951.1U CN214776409U (en) | 2021-05-19 | 2021-05-19 | Automatic magnetic mooring device and automatic magnetic mooring system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202121083951.1U CN214776409U (en) | 2021-05-19 | 2021-05-19 | Automatic magnetic mooring device and automatic magnetic mooring system |
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| CN214776409U true CN214776409U (en) | 2021-11-19 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113135263A (en) * | 2021-05-19 | 2021-07-20 | 大连海事大学 | Automatic magnetic mooring device and automatic magnetic mooring system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113135263A (en) * | 2021-05-19 | 2021-07-20 | 大连海事大学 | Automatic magnetic mooring device and automatic magnetic mooring system |
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