Mobile power generation type multi-section hinge vacuum cable-free mooring device

Abstract

The invention discloses a movable power generation type multi-section hinge vacuum cable-free mooring device which comprises a movable module, a base, a mechanical arm set, a vacuum adsorption assembly, a hydraulic power generation device and a sliding power generation device. An infrared sensing device is arranged on the base; the vacuum adsorption assembly comprises a vacuum chuck and a vacuum pump, the vacuum pump comprises a motor, a pump shell and a sealing cover, and two rotating pieces with opposite magnetism are embedded in the middle of a driving shaft of the motor; the sliding power generation device comprises a shell, a sliding block, a transmission shaft, a spring and a chain. The sliding block slides in the shell, and a spring is arranged between the sliding block and the shell; the top of the slide block is provided with a first toothed belt and the bottom is provided with a second toothed belt; a first ratchet, a first gear, a second ratchet, a second gear and a generator are arranged on the transmission shaft; a first stop assembly clamped into the first ratchet wheel is arranged on one side of the first gear, and a second stop assembly clamped into the second ratchet wheel is arranged on one side of the second gear. According to the invention, traditional mooring with cables is replaced by vacuum chuck adsorption, so that the collision risk is reduced and the cable breakage is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of ship mooring technology, and particularly relates to a mobile power generation type multi-section hinge vacuum cable-free mooring device. BACKGROUND

[0002] In recent years, with the large-scale development of ships and the increasing demand for port operation efficiency, vacuum cable-free mooring technology has gradually become an important research direction to replace traditional cable mooring. However, the existing vacuum cable-free mooring system still has significant defects in technical maturity and functionality, which restricts the large-scale application of the vacuum cable-free mooring system.

[0003] Insufficient adsorption stability and adaptability: The existing vacuum suction cups are mostly designed with rigid or single structure, which is difficult to fit the surface with large curvature changes, especially in the areas with large bow, stern or plate curvature. Local air leakage easily leads to a decrease in adsorption force or even failure. The existing technology mostly uses planar suction cups, which are only suitable for flat hulls and have poor adaptability to curved surfaces. It needs to rely on redundant layout of multiple suction cups, which not only increases the complexity of the equipment, but also causes uneven stress due to the lack of coordination between the suction cups.

[0004] Limited mechanical structure flexibility: The existing mechanical arm systems mostly use fixed or simple hinge designs, which have limited degrees of freedom and are difficult to adapt to different ship sizes or complex docking environments. The existing technology mostly uses single-section mechanical arms with linear drive devices, which results in narrow coverage and cannot meet the multi-point mooring needs of large ships. Although some technologies use multi-section mechanical arms, they lack a coordinated control mechanism, which easily causes vibration due to insufficient mechanical arm stiffness in dynamic wave environments, affecting positioning accuracy. In addition, the connection between the mechanical arm and the suction cup is mostly rigid and fixed, which cannot effectively buffer the relative motion between the ship and the wharf, and may exacerbate the stress concentration problem at the edge of the suction cup.

[0005] Low energy utilization efficiency: The existing systems generally rely on external power supply to maintain the operation of the vacuum pump and the drive device, which has high energy consumption cost and does not meet the green port development trend. More importantly, the existing technology does not effectively utilize the kinetic energy of the ship under the action of waves, resulting in a large amount of mechanical energy being wasted.

[0006] In summary, the existing vacuum cable-free mooring technology needs to make breakthroughs in adsorption structure design, mechanical flexibility, energy self-sufficiency, etc., to truly meet the needs of modern ports for efficient, safe and sustainable mooring operations. SUMMARY

[0007] Invention purposes: In view of the deficiencies in the prior art, the present application provides a mobile power generation type multi-section hinge vacuum cable-free mooring device. The use of vacuum suction cups to replace traditional cable mooring is more convenient to operate, can save time and reduce labor, and has higher safety, reduces the risk of collision and avoids the danger of cable breakage. In addition, the introduction of a mobile module improves the mobility of cable-free mooring; the introduction of a mechanical arm group, combined with the telescopic arm and the side arm, effectively improves the flexibility of cable-free mooring; and the hydraulic power generation device is combined with the vacuum suction cup, which uses the movement of the ship under the action of waves after the ship is adsorbed by the suction cup to generate electricity; at the same time, the sliding power generation device is introduced, which is parallel to the hydraulic power generation device, improving the power generation efficiency. At the same time, the vacuum suction cup is designed as a multi-section hinge type, which is adsorbed on the surface of a ship with large curvature, improving the adsorption stability and adaptability of cable-free mooring, and realizing the cable-free mooring of the ship at the harbor.

[0008] Technical scheme: The mobile power generation type multi-section hinge vacuum cable-free mooring device comprises a mobile module, a base, a mechanical arm group and a vacuum adsorption assembly, and the base is provided with a sliding power generation device and an infrared induction device;

[0009] The vacuum adsorption assembly comprises a vacuum suction cup and a vacuum pump, and the vacuum pump comprises a motor, a pump shell and a sealing cover. One end of the motor is connected with a driving shaft inserted into the pump shell. Two magnetically opposite rotating plates are embedded in the middle of the driving shaft. The two rotating plates isolate the air chamber of the pump shell into a first air chamber and a second air chamber under the action of magnetism. The center of the cross section of the driving shaft deviates from the center of the cross section of the air chamber of the pump shell.

[0010] The vacuum suction cup comprises a plurality of hinge-connected vacuum suction cup units, and the vacuum suction cup units are provided with first air holes and second air holes. There is a first channel between the first air chamber and the first air hole, and a second channel between the second air chamber and the second air hole.

[0011] The mechanical arm group comprises a telescopic arm and a side arm, and the telescopic arm and the base are hingedly connected with a hydraulic telescopic device. The telescopic arm and the side arm are hingedly connected with a hydraulic telescopic device, and the side arm and the vacuum suction cup are connected with a hydraulic power generation device.

[0012] The sliding power generation device comprises a housing, a sliding block, a transmission shaft, a spring and a chain. One end of the chain is hingedly connected with the sliding block, and the other end of the chain is hingedly connected with the side arm.

[0013] The sliding block slides in the housing, and the sliding block and the housing are provided with a spring. The top of the sliding block has a first tooth belt, and the bottom of the sliding block has a second tooth belt. The transmission shaft is provided with a first ratchet wheel, a first gear, a second ratchet wheel, a second gear and a generator. The first gear is engaged with the first tooth belt, and the second gear is engaged with the second tooth belt. The first gear is provided with a first stop component which is clamped into the tooth groove of the first ratchet wheel, and the second gear is provided with a second stop component which is clamped into the tooth groove of the second ratchet wheel.

[0014] The mobile module comprises a telescopic stop post, a slide rail, and a sliding module sliding on the slide rail; the sliding module and the telescopic stop post are connected with the base, and the telescopic stop post is clamped into the first groove of the slide rail.

[0015] The sliding module comprises a pulley and a bayonet, and the slide rail has a track with a groove on the side surface for clamping the bayonet.

[0016] The middle part of the drive shaft has a groove, and two magnetically opposite rotating pieces are embedded in the groove.

[0017] The top of the base has a rack, and the rack is connected with the telescopic arm through a hinge shaft.

[0018] The first stop component comprises a first stop pawl and a first spring pressing piece, and the first stop pawl is clamped into the tooth groove of the first ratchet under the action of the first spring pressing piece.

[0019] The second stop component comprises a second stop pawl and a second spring pressing piece, and the second stop pawl is clamped into the tooth groove of the second ratchet under the action of the second spring pressing piece.

[0020] The hydraulic power generation device comprises a hydraulic cylinder, a hydraulic rod, and a hydraulic generator.

[0021] The tail of the side spread arm is arrayed with a spherical hinge articulated with the hydraulic cylinder.

[0022] The first channel and the second channel are located on both sides of the tangent point of the cross section of the inner drive shaft and the inner wall of the air chamber of the pump shell.

[0023] Working principle: the mobile module in the application comprises a slide rail, a sliding module, and a telescopic stop post; the base is internally provided with a motor, a front surface is provided with an infrared sensing device, a top is provided with a columnar rack, the rack is provided with a hinge shaft in the middle, and a side surface is provided with an articulated fastener. The mechanical arm group comprises a telescopic arm, a side spread arm, and a hydraulic telescopic device. The back surface of each section of the vacuum chuck is provided with an articulated fastener, the bottom surface is provided with a rubber sleeve, and the middle of each section of the vacuum chuck is provided with an exhaust hole. The slide rail in the mobile module is laid on the wharf, the base is provided on the slide rail, the top of the base is linked with the mechanical arm group, the mechanical arm group is articulated with the back surface of the first vacuum chuck through the tail spherical hinge, and the vacuum pump is arranged on the back surface of the vacuum chuck. The application uses the vacuum chuck adsorption to replace the traditional cable mooring, is more convenient to operate, saves time, reduces labor, reduces the risk of collision, and avoids the danger of cable breakage. In addition, the introduction of the mechanical arm group improves the maneuverability and flexibility of the cable-free mooring; the introduction of the sliding power generation device and the hydraulic power generation device is combined with the vacuum chuck, and power generation is performed by using the movement of the ship under the action of waves after the ship is adsorbed by the chuck. Meanwhile, the vacuum chuck is designed as a multi-section hinge type, is adsorbed on the surface of a ship body with large curvature, and improves the adsorption stability and adaptability of the cable-free mooring.

[0024] Advantages: compared with the prior art, the application has the following advantages:

[0025] (1) The mobile power generation type multi-section hinged vacuum cable-free mooring device of the present application can replace the traditional cable mooring by using vacuum suction cups for adsorption, which is more convenient to operate, can save time and reduce labor, and has higher safety, reducing the risk of collision and avoiding the danger of cable breakage.

[0026] (2) In addition, the mobile module is introduced to improve the maneuverability of the cable-free mooring; the mechanical arm group is introduced, the telescopic arm and the side spread arm are combined to improve the flexibility of the cable-free mooring; the hydraulic power generation device is introduced, combined with the vacuum suction cup, and the movement of the ship under the action of waves after the ship is adsorbed by the suction cup to generate electricity; the sliding power generation device is introduced in parallel with the hydraulic power generation device to improve the power generation efficiency.

[0027] (3) At the same time, the vacuum suction cup of the present application is designed as a multi-section hinged type, which can be adsorbed on the surface of a ship body with large curvature, improving the adsorption stability and adaptability of the cable-free mooring. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 is a schematic diagram of the overall structure of the mobile power generation type multi-section hinged vacuum cable-free mooring device of the present application;

[0029] Figure 2 is a schematic diagram of the structure of the module of the mobile power generation type multi-section hinged vacuum cable-free mooring device of the present application;

[0030] Figure 3 is a schematic diagram of the cooperation of the module of the mobile power generation type multi-section hinged vacuum cable-free mooring device of the present application;

[0031] Figure 4 is a schematic diagram of the structure of the sliding module in the present application;

[0032] Figure 5 is a schematic diagram of the structure of the sliding rail in the present application;

[0033] Figure 6 is a schematic diagram of the structure of the base in the present application;

[0034] Figure 7 is a schematic diagram of the structure of the telescopic arm in the present application;

[0035] Figure 8 is a schematic diagram of the cooperation of the base and the telescopic arm in the present application;

[0036] Figure 9 is a schematic diagram of the structure of the hydraulic telescopic device in the present application;

[0037] Figure 10 is a schematic diagram of the structure of the vacuum suction cup in the present application;

[0038] Figure 11Figure 1 is a schematic diagram of the cooperation of the hydraulic device, the vacuum chuck and the vacuum pump in the present application;

[0039] Figure 12 Figure 2 is a schematic diagram of the structure of the vacuum pump in the present application;

[0040] Figure 13 Figure 3 is a schematic diagram of the structure of the vacuum pump motor, the driving shaft, the rotating vane and the pump shell in the present application;

[0041] Figure 14 Figure 4 is a schematic diagram of the internal structure of the pump shell of the vacuum pump in the present application;

[0042] Figure 15 Figure 5 is a schematic diagram of the cross-section of the pump shell of the vacuum pump in the present application;

[0043] Figure 16 Figure 6 is a schematic diagram of the result of the rotation of the rotating vane of the vacuum pump in the present application;

[0044] Figure 17 Figure 7 is a schematic diagram of the structure of the hydraulic device in the present application;

[0045] Figure 18 Figure 8 is a schematic diagram of the structure of the sliding power generation device in the present application;

[0046] Figure 19 Figure 9 is a schematic diagram of the internal structure of the sliding power generation device shell in the present application;

[0047] Figure 20 Figure 10 is a schematic diagram of the structure of the transmission shaft and the sliding power generator of the sliding power generation device in the present application;

[0048] Figure 21 Figure 11 is a schematic diagram of the internal structure of the sliding block of the sliding power generation device in the present application;

[0049] Figure 22 Figure 12 is a schematic diagram of the structure of the first gear of the sliding power generation device in the present application;

[0050] Figure 23 Figure 13 is a schematic diagram of the structure of the second gear of the sliding power generation device in the present application. DETAILED DESCRIPTION

[0051] Figures 1 to 23Mobile module 1, slide rail 1-1, track 1-1-1, cylindrical groove 1-1-2, sliding module 1-2, pulley 1-2-1, pin 1-2-2, telescopic brake pile 1-3, base 2, infrared sensing device 2-1, rack 2-2, hinge shaft 2-2-1, mechanical arm group 3, telescopic arm 3-1, side extension arm 3-2, hydraulic telescopic device 3-3, hydraulic telescopic cylinder 3-3-1, hydraulic telescopic rod 3-3-2, vacuum chuck 4, first chuck 4-1, second chuck 4-2, third chuck 4-3, rubber sleeve 4-4, exhaust hole 4-5, vacuum pump 5, motor 5-1, drive shaft 5-2, drive shaft groove 5-2-1, pump shell 5-3, rotating piece 5-4, sealing cover 5-5, hydraulic power generation device 6, hydraulic device 6-1, hydraulic cylinder 6-1-1, hydraulic rod 6-1-2, hydraulic generator 6-2, sliding power generation device 7, shell 7-1, sliding block 7-2, first toothed belt 7-2-1, second toothed belt 7-2-2, transmission shaft 7-3, first ratchet wheel 7-3-1, second ratchet wheel 7-3-2, first gear 7-4, first pawl 7-4-1, first spring pressing piece 7-4-2, second gear 7-5, second pawl 7-5-1, second spring pressing piece 7-5-2, sliding generator 7-6, spring 7-7, chain 7-8.

[0052] As shown in Figure 1 and Figure 2 The mobile power generation type multi-section hinge vacuum cable-free mooring device of the present application comprises a mobile module 1, a base 2, a mechanical arm group 3, a vacuum chuck assembly, a hydraulic power generation device 6 and a sliding power generation device 7.

[0053] The mobile module 1 is laid on the wharf side, the base 2 is arranged on the mobile module 1, the base 2 is connected with the mechanical arm group 3 at the top, the mechanical arm group 3 is hingedly connected with the first chuck back surface through the tail ball hinge, and the vacuum pump 5 is arranged on the back surface of the chuck.

[0054] The mobile module 1 comprises a slide rail 1-1, a sliding module 1-2 and a telescopic brake pile 1-3. The slide rail 1-1 in the mobile module 1 is laid on the wharf side, the sliding module 1-2 is fixedly connected with the bottom surface of the base 2 and arranged on one side in seven groups, and the telescopic brake pile 1-3 is fixedly connected with the bottom of the side surface of the base 2 and also arranged on one side in seven groups.

[0055] As shown in Figures 3 to 5As shown in the drawings, the slide rail 1-1 is provided with two tracks 1-1-1, the slide module 1-2 includes a pulley 1-2-1 and a pin 1-2-2, the pulley 1-2-1 is embedded in the track 1-1-1 on the slide rail 1-1, and the pin 1-2-2 is embedded in the groove on the side of the track 1-1-1. In addition, each track 1-1-1 on the slide rail 1-1 is provided with a row of cylindrical grooves 1-1-2, and the telescopic brake pile 1-3 is inserted into the first groove 1-1-2 to fix the base 2 on the slide rail 1-1. When the telescopic brake pile 1-3 is withdrawn, the entire cable-free mooring moves along the wharf, and when the telescopic brake pile 1-3 is inserted into the cylindrical groove 1-1-2 on the slide rail 1-1, the cable-free mooring is fixed to the wharf side, enhancing the mobility and flexibility.

[0056] As shown in the drawings, Figure 6 and Figure 8 The base 2 is internally provided with a motor, and the front surface is provided with an infrared sensing device 2-1 for sensing the distance between the ship and the cable-free mooring. The top of the base 2 is provided with a rack 2-2, the rack 2-2 is provided with a hinge fastener connected with the hydraulic telescopic device 3-3, and the top of the rack 2-2 is provided with a recess connected with the mechanical arm group 3 through a hinge shaft 2-2-1.

[0057] As shown in the drawings, Figure 7 and Figure 8 The mechanical arm group 3 includes a telescopic arm 3-1, a side spread arm 3-2 and a hydraulic telescopic device 3-3. The head of the telescopic arm 3-1 is hingedly connected with the rack 2-2 on the base 2 through the hinge shaft 2-2-1 and rotates around the hinge shaft 2-2-1; the tail of the telescopic arm 3-1 is provided with a hinge fastener connected with the side spread arm 3-2; the tail of the telescopic arm 3-1 is provided with a hinge fastener on both sides connected with the hydraulic telescopic device 3-3. One end of the side spread arm 3-2 is provided with a hinge fastener connected with the hinge fastener at the tail of the telescopic arm 3-1, the other end is provided with a spherical hinge connected with the vacuum chuck 4, the middle part of the side spread arm 3-2 is provided with a hinge fastener connected with the hydraulic telescopic device 3-3, and another hinge fastener is provided beside the middle hinge fastener and connected with the lock chain 7-8 of the sliding power generation device 7. In addition, the side surface of the spherical hinge at one end of the side spread arm 3-2 is also circumferentially provided with four small spherical hinges connected with the hydraulic power generation device 6.

[0058] As shown in the drawings, Figure 8 and Figure 9As shown, the hydraulic telescopic device 3-3 includes a hydraulic telescopic cylinder 3-3-1 and a hydraulic telescopic rod 3-3-2, and both ends of the hydraulic telescopic device 3-3 are provided with hinge fasteners. There is a group of hydraulic telescopic devices 3-3 between the base 2 and the telescopic arm 3-1, one end of which is connected with the hinge fastener on the side of the upper bracket 2-2 of the base 2, and the other end is connected with the hinge fastener on the bottom surface of the telescopic arm 3-1. There are two groups of hydraulic telescopic devices 3-3 between the telescopic arm 3-1 and the side spread arm 3-2, one end of which is connected with the hinge fastener on the side surface of the tail of the telescopic arm 3-1, and the other end is connected with the hinge fastener on the middle of the side surface of the side spread arm 3-2. The combination of the telescopic arm 3-1 and the side spread arm 3-2 can make the uncabled mooring adapt to the berthing of ships at various distances, thereby improving the maneuverability and flexibility of the uncabled mooring.

[0059] The vacuum chuck 4 includes a plurality of hinge-connected vacuum chuck units, as shown in Figure 10 and Figure 11 In this embodiment, the vacuum chuck 4 has five segments, including a first chuck 4-1, two second chucks 4-2 and two third chucks 4-3. The back surface of each chuck is provided with a hinge fastener, and the bottom surface is provided with a rubber sleeve. The middle of each chuck is provided with two air holes, i.e. a first air hole and a second air hole. The center of the back surface of the first chuck 4-1 is provided with a ball hinge for connecting the ball hinge at the tail of the side spread arm 3-2, and two ball hinges are additionally provided on both sides of the center ball hinge for being hingedly connected with the hydraulic device 6-1. Each long side of the first chuck 4-1 is provided with a row of hinge-type hinge fasteners for being connected with the second chuck 4-2. The center of the back surface of each of the two second chucks 4-2 is provided with a ball hinge for being hingedly connected with the hydraulic device 6-1, and each long side is also provided with a row of hinge-type hinge fasteners for being connected with the third chuck 4-3. The vacuum chuck 4 is designed as a plurality of hinge-type segments in the present application, which can be adsorbed on the surface of a ship body with large curvature, thereby effectively improving the adsorption stability and adaptability of the uncabled mooring. Meanwhile, the bottom surface of each of the five chucks is provided with a rubber sleeve 4-4, which further improves the adsorption stability of the vacuum chuck 4. In addition, two air holes 4-5 are provided on each chuck for the vacuum pump 5 to extract air under the vacuum chuck 4.

[0060] As shown in Figure 11 and Figure 12 The vacuum pump 5 is arranged on the back surface of the vacuum chuck 4 and is composed of a motor 5-1, a driving shaft 5-2, a pump shell 5-3, a rotating vane 5-4 and a sealing cover 5-5. Two vacuum pumps 5 are arranged on the back surface of each chuck.

[0061] As shown in Figure 13 and Figure 14As shown, the pump shell 5-3 is a cylindrical air chamber, the motor 5-1 is arranged at one end of the drive shaft 5-2, the drive shaft 5-2 penetrates from one end of the pump shell 5-3, is inserted into the air chamber of the pump shell 5-3, and the cross section of the drive shaft 5-2 is tangent to the inner wall of the air chamber of the pump shell 5-3, so that the center of the cross section of the drive shaft 5-2 deviates from the center of the cross section of the air chamber of the pump shell 5-3. The middle of the drive shaft 5-2 in the air chamber of the pump shell 5-3 is provided with a groove 5-2-1 for embedding two rotating blades 5-4, and the rotating blades 5-4 rotate with the drive shaft 5-2. Referring to the drawings Figures 13 to 15 The two rotating blades 5-4 are opposite in magnetic properties on the adjacent side, so that the two rotating blades 5-4 are always in repulsion, causing the outer end of the rotating blade 5-4 to abut against the inner wall of the air chamber of the pump shell 5-3, and cooperating with the drive shaft 5-2 to separate the air chamber of the pump shell 5-3 into a first air chamber and a second air chamber.

[0062] Referring to the drawings Figure 15 and 16 In the air chamber of the pump shell 5-3, near the tangent point of the cross section of the drive shaft 5-2 and the inner wall of the air chamber, a passage is opened on the left and right of the tangent point for air extraction, the left is an exhaust passage, i.e. a first passage; the right is an air inlet passage, i.e. a second passage, and the inlet of the air inlet passage is connected with the exhaust hole 4-5 on the vacuum chuck 4, and two exhaust holes 4-5 correspond to two vacuum pumps 5, i.e. two vacuum pumps 5 are arranged on each section of the vacuum chuck 4 to extract air in the vacuum chuck 4. Due to the existence of the rotating blade 5-4, the arc space in the air chamber of the pump shell 5-3 is divided into left and right air chambers, i.e. a first air chamber and a second air chamber, the first air chamber is the space on the left of the rotating blade 5-4 in the air chamber connected with the left exhaust passage, and the second air chamber is the space on the right of the rotating blade 5-4 in the air chamber connected with the right air inlet passage. Finally, the sealing cover 5-5 seals the pump shell 5-3 to ensure its air tightness.

[0063] Referring to the drawings Figure 15 and 16 When the infrared sensing device 2-1 on the front of the base 2 identifies that the ship enters the berthing distance, the mechanical arm group 3 extends to abut against the ship, the vacuum pump 5 starts to work, the motor 5-1 drives the drive shaft 5-2 to rotate clockwise, thereby driving the two rotating blades 5-4 in the air chamber to rotate clockwise at high speed. Due to the opposite magnetic poles on the two rotating blades 5-4 and the centrifugal force, the outer ends of the two rotating blades 5-4 slide at high speed against the inner wall of the air chamber of the pump shell 5-3, causing the volume of the left and right spaces in the air chamber to periodically change. The volume of the left space decreases while the volume of the right space increases, the pressure rises, thereby extracting the air below the vacuum chuck 4 through the air inlet passage, the right space, the left space and the exhaust passage, so that a vacuum area is formed below the vacuum chuck 4 to provide strong adsorption force for the vacuum chuck 4 and ensure the adsorption stability of the un-cable mooring.

[0064] Referring to the drawings Figure 11And 17 , the hydraulic power generation device 6 includes hydraulic device 6-1 and hydraulic generator 6-2, hydraulic device 6-1 includes hydraulic cylinder 6-1-1 and hydraulic rod 6-1-2, wherein the hydraulic cylinder 6-1-1 and the hydraulic rod 6-1-2 are provided with ball hinge at one end. The first suction cup 4-1 back surface is left with two ball hinges in addition to the ball hinge connected with the tail of the side spread arm 3-2, and each of the two second suction cups 4-2 back surface has a ball hinge, totaling four ball hinges. The ball hinge at one end of the hydraulic cylinder 6-1-1 is connected with the small ball hinge arrayed on the side surface of the tail of the side spread arm 3-2, and the ball hinge at one end of the hydraulic rod 6-1-2 is connected with the ball hinge on the back surface of the vacuum suction cup 4. The hydraulic generator 6-2 is arranged on the top edge of the side spread arm 3-2, and the hydraulic device 6-1 is connected with the hydraulic generator 6-2 through pipeline.

[0065] Refer to the attached Figure 11 , because the connection mode between the vacuum suction cup 4 and the side spread arm 3-2, the hydraulic device 6-1 and the side spread arm 3-2, and the hydraulic device 6-1 and the vacuum suction cup 4 are all ball hinge connection, so after the ship is docked by the vacuum suction cup 4 adsorbing the ship body, the roll, heave and yaw movement of the ship will not be too much limited, therefore the roll, heave and yaw movement of the ship under the action of sea waves after docking can extrude the hydraulic device 6-1, convert the hydraulic energy into mechanical energy, and the hydraulic device 6-1 is connected with the hydraulic generator 6-2 through pipeline, so as to further drive the generator rotor to rotate and generate electric energy.

[0066] Refer to the attached Figure 1 , 18 and 19, the sliding power generation device 7 is arranged on both sides of the top of the base 2, including shell 7-1, sliding block 7-2, transmission shaft 7-3, first gear, second gear, sliding generator 7-6, spring 7-7 and chain 7-8. Refer to the attached Figure 19 , the shell 7-1 and the sliding block 7-2 are hollow inside, the outer wall surface of the sliding block 7-2 closely fits with the inner wall surface of the shell 7-1, and the sliding block 7-2 can slide back and forth in the extension edge inside the shell 7-1. A hole is left on the right side of the shell 7-1 for the transmission shaft 7-3 to pass through, and strip-shaped openings are left on both sides of the sliding block 7-2 for the transmission shaft 7-3 to extend into. An opening is left on one narrow surface of the shell 7-1 for the chain 7-8 to extend into, and a hinge fixing piece is arranged on one narrow surface of the sliding block 7-2 to connect with the chain 7-8, two springs 7-7 are arranged between the two narrow surfaces of the sliding block 7-2 and the shell 7-1, and the springs 7-7 are always in compression state. Refer to the attached Figure 20 and 21, the two walls inside the slider 7-2 are each provided with a toothed belt (first toothed belt 7-2-1 and second toothed belt 7-2-2). The transmission shaft 7-3 is provided with two ratchets (first ratchet 7-3-1 and second ratchet 7-3-2), and the transmission shaft 7-3 is provided with a generator at one end. Both gears are sleeved on the transmission shaft (the first ratchet 7-3-1 is a first gear 7-4 on the outside, and the second ratchet 7-3-2 is a second gear 7-5 on the outside, which are respectively engaged with the first toothed belt 7-2-1 and the second toothed belt 7-2-2 of the slider 7-2.

[0067] Referring to the drawings Figure 22 and 23 , the right side of the first gear 7-4 is provided with a first stop assembly, and the first stop assembly includes a first stop pawl 7-4-1 and a first spring pressing plate 7-4-2. The left side of the second gear 7-5 is provided with a second stop assembly, and the second stop assembly includes a second stop pawl 7-5-1 and a second spring pressing plate 7-5-2, and the first spring pressing plate abuts against the first stop pawl, forcing the first stop pawl to insert into the tooth groove of the first ratchet. The lock chain 7-8 is connected to the hinge fastener on the side of the slider 7-2 at one end, and is connected to the hinge fastener on the side of the side expansion arm 3-2 at the other end.

[0068] The shell 7-1 and the sliding generator 7-6 are fixed to the top of the base 2 on both sides, and the sliding generator 7 on the right side is taken as an example, referring to the drawings Figure 22 and 23 , when the slider 7-2 slides to the right inside the shell 7-1, the first toothed belt 7-2-1 drives the first gear 7-4 to rotate clockwise, thereby causing the first stop pawl 7-4-1 to disengage from the tooth groove of the first ratchet 7-3-1, so that the first ratchet 7-3-1 cannot be rotated; the second toothed belt 7-2-2 drives the second gear 7-5 to rotate counterclockwise, causing the second stop pawl 7-5-1 to abut against the tooth groove of the second ratchet 7-3-2, thereby driving the second ratchet 7-3-2 to rotate counterclockwise, and driving the sliding generator 7-6 to generate electricity. When the slider 7-2 slides to the left inside the shell 7-1, the first toothed belt 7-2-1 drives the first gear 7-4 to rotate counterclockwise, causing the first stop pawl 7-4-1 to abut against the tooth groove of the first ratchet 7-3-1, thereby driving the first ratchet 7-3-1 to rotate counterclockwise, and driving the sliding generator 7-6 to generate electricity; the second toothed belt 7-2-2 drives the second gear 7-5 to rotate clockwise, thereby causing the second stop pawl 7-5-1 to disengage from the tooth groove of the second ratchet 7-3-2, so that the second ratchet 7-3-2 cannot be rotated.

[0069] The working principle of the present application is as follows: when the infrared sensing device 2-1 on the front of the base 2 identifies that the ship enters the specified distance, the motor 2-1 inside the base 2 drives the telescopic arm 3-1 to extend, the hydraulic telescopic arm 3-3 is elongated to drive the side spread arm 3-2 to extend, so that the vacuum chuck 4 is pressed against the ship body. At this time, the vacuum pump 5 starts to work, the motor 5-1 drives the driving shaft 5-2 to rotate, thereby driving the two rotating plates 5-4 in the air chamber to rotate clockwise at high speed. Due to the opposite magnetic poles on the two rotating plates 5-4 and the centrifugal force, the outer ends of the two rotating plates 5-4 slide at high speed against the inner wall of the air chamber of the pump shell 5-3, resulting in the periodic change of the volume of the left and right spaces in the air chamber. The volume of the left space decreases at the same time as the volume of the right space increases, and the pressure rises, so that the air below the vacuum chuck 4 is sucked away through the air inlet channel, the right space, the left space and the air outlet channel, so that a vacuum area is formed below the vacuum chuck 4, providing strong adsorption force for the vacuum chuck 4 and ensuring the adsorption stability of the cable-free mooring. When the ship leaves the berth, the driving shaft 5-2 in the vacuum pump 5 rotates in the opposite direction (counterclockwise) to be separated.

[0070] After the vacuum chuck 4 is successfully adsorbed, the roll, heave and bowing movements of the ship under the action of sea waves can extrude the hydraulic device 6-1, convert hydraulic energy into mechanical energy, and the hydraulic device 6-1 is connected to the hydraulic generator 6-2 through the pipeline, so as to further drive the rotor of the hydraulic generator 6-2 to rotate and generate electric energy.

[0071] In addition, the above-mentioned movements of the ship body under the sea waves also extrude the side spread arm 3-2 back and forth. When the side spread arm 3-2 is opened, the lock chain 7-8 is relaxed, the compressed spring 7-7 is elongated, and the sliding block 7-2 is pushed to slide leftward, i.e. inward, to generate electric energy; when the side spread arm 3-2 is contracted, the lock chain 7-8 is tightened, the sliding block 7-2 is pulled to slide rightward, i.e. outward, to generate electric energy.

Claims

1. A mobile power generation type multi-segment hinged vacuum untethered mooring device, characterized in that: It includes a mobile module (1), a base (2), a robotic arm assembly (3) and a vacuum adsorption assembly. The base (2) is equipped with a sliding power generation device (7) and an infrared sensing device (2-1). The vacuum adsorption assembly includes a vacuum suction cup (4) and a vacuum pump (5). The vacuum pump (5) includes a motor (5-1), a pump housing (5-3), and a sealing cover (5-5). One end of the motor (5-1) is connected to a drive shaft (5-2) inserted into the pump housing (5-3). Two magnetically opposite rotating plates (5-4) are embedded in the middle of the drive shaft (5-2). Under the action of magnetism, the two rotating plates (5-4) isolate the air chamber of the pump housing (5-3) into a first air chamber and a second air chamber. The center of the cross-section of the drive shaft (5-2) is offset from the center of the cross-section of the air chamber of the pump housing (5-3). The vacuum suction cup (4) includes multiple hinged vacuum suction cup units, and the vacuum suction cup unit is provided with a first air hole and a second air hole; there is a first channel between the first air chamber and the first air hole, and there is a second channel between the second air chamber and the second air hole; The robotic arm assembly (3) includes a telescopic arm (3-1) and a side extension arm (3-2). The telescopic arm (3-1) is hinged to the base (2) by a hydraulic telescopic device (3-3). The telescopic arm (3-1) and the side extension arm (3-2) are hinged to a hydraulic telescopic device (3-3). The side extension arm (3-2) is connected to a vacuum suction cup (4) by a hydraulic power generation device (6). The sliding power generation device (7) includes a housing (7-1), a slider (7-2), a drive shaft (7-3), a spring (7-7), and a chain (7-8); one end of the chain (7-8) is hinged to the slider (7-2), and the other end of the chain (7-8) is hinged to the side extension arm (3-2); The slider (7-2) slides inside the housing (7-1), and a spring (7-7) is between the slider (7-2) and the housing (7-1). The top of the slider (7-2) has a first toothed belt (7-2-1), and the bottom of the slider (7-2) has a second toothed belt (7-2-2). The transmission shaft (7-3) has a first ratchet (7-3-1), a first gear (7-4), a second ratchet (7-3-2), a second gear (7-5), and a generator (7-6). The first gear (7-4) meshes with the first toothed belt (7-2-1), and the second gear (7-5) meshes with the second toothed belt (7-2-2). The first gear (7-4) has a first stop assembly on one side that engages in the tooth groove of the first ratchet, and the second gear (7-5) has a second stop assembly on one side that engages in the tooth groove of the second ratchet.

2. The mobile power generation type multi-segment hinged vacuum cableless mooring device according to claim 1, characterized in that: The movable module (1) includes a telescopic braking pile (1-3), a slide rail (1-1), and a sliding module (1-2) that slides on the slide rail (1-1); the sliding module (1-2) and the telescopic braking pile (1-3) are connected to the base (2), and the telescopic braking pile (1-3) is inserted into the first groove (1-1-2) of the slide rail (1-1).

3. The mobile power generation type multi-segment hinged vacuum cableless mooring device according to claim 2, characterized in that: The sliding module (1-2) includes a pulley (1-2-1) and a locking pin (1-2-2). The slide rail (1-1) has a track (1-1-1), and the side of the track (1-1-1) has a groove for engaging the locking pin (1-2-2).

4. The mobile power generation type multi-segment hinged vacuum cableless mooring device according to claim 1, characterized in that: The drive shaft (5-2) has a groove (5-2-1) in the middle, and the two magnetically opposite rotating plates (5-4) are embedded in the groove (5-2-1).

5. The mobile power generation type multi-segment hinged vacuum cableless mooring device according to claim 1, characterized in that: The base (2) has a platform (2-2) on top, and the platform (2-2) is connected to the telescopic arm (3-1) by a hinge (2-2-1).

6. The mobile power generation type multi-segment hinged vacuum cableless mooring device according to claim 1, characterized in that: The first stop assembly includes a first stop pawl (7-4-1) and a first spring pressure plate (7-4-2). The first stop pawl (7-4-1) is engaged in the tooth groove of the first ratchet (7-3-1) under the action of the first spring pressure plate (7-4-2).

7. The mobile power generation type multi-segment hinged vacuum cableless mooring device according to claim 1, characterized in that: The second stop assembly includes a second stop pawl (7-5-1) and a second spring pressure plate (7-5-2). The second stop pawl (7-5-1) is engaged in the tooth groove of the second ratchet (7-3-2) under the action of the second spring pressure plate (7-5-2).

8. The mobile power generation type multi-segment hinged vacuum cableless mooring device according to claim 1, characterized in that: The hydraulic power generation device (6) includes a hydraulic cylinder (6-1-1), a hydraulic rod (6-1-2), and a hydraulic generator (6-2).

9. The mobile power generation type multi-segment hinged vacuum cableless mooring device according to claim 8, characterized in that: The tail array of the side arm (3-2) has a ball joint that is hinged to the hydraulic cylinder (6-1-1).

10. The mobile power generation type multi-segment hinged vacuum cableless mooring device according to claim 1, characterized in that: The first channel and the second channel are located on both sides of the point where the cross-section of the inner drive shaft (5-2) is tangent to the inner wall of the pump casing (5-3).

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