Quick automatic docking device under difficult conditions

Abstract

The present application relates to a kind of fast automatic docking device under difficult conditions, comprising: front connection component and rear front connection component;The front connection component is arranged in the head of ship body;The rear connection component is arranged in the tail of ship body;The head and tail of adjacent two ship bodies can be realized by the front connection component and the rear connection component fast lock automatic docking;Wherein, the front connection component includes: first cylinder connecting hook unit and second cylinder connecting hook unit;The first cylinder connecting hook unit and the second cylinder connecting hook unit are fixed in the head of ship body symmetrically, and can be automatically telescopic and connect the rear connection component in the tail of adjacent ship body.The automatic docking device provided by the present application is simple and fast, has strong applicability, low cost, convenient control, and can realize full-automatic unmanned operation.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of quick automatic docking of floating objects under difficult conditions, and particularly relates to a quick automatic docking device under difficult conditions. BACKGROUND

[0002] The hooking and connecting technology between offshore floating objects has developed for many years, and gradually develops in the direction of high mobility and positioning ability, good operation stability, low cost, less manual intervention and high efficiency. In the development of docking technology at home and abroad, the heavy load platform docking system can be roughly divided into two categories: conical surface guide thin neck pin mechanical connection type and net rope cooperation hook type. The installation and manufacturing precision of the mechanical connection type is very high, and the positioning precision between modules during docking is also very high, which makes the manufacturing cost higher and the sea state level lower; the net rope cooperation hook type has high success rate of capturing and hooking under difficult conditions, but the structure limits the stress, and is only suitable for vertical recovery and release of small marine vehicles. SUMMARY

[0003] (I) Technical problems to be solved

[0004] In view of the existing technical problems, the present application provides a quick automatic docking device under difficult conditions, which solves the technical problems of poor adaptability and low docking efficiency of the docking device in the prior art.

[0005] (II) Technical scheme

[0006] In order to achieve the above purpose, the main technical scheme adopted by the present application includes:

[0007] A quick automatic docking device under difficult conditions, comprising: a front connecting assembly and a rear front connecting assembly;

[0008] The front connecting assembly is arranged at the head of the ship body;

[0009] The rear connecting assembly is arranged at the tail of the ship body;

[0010] The head and tail of the adjacent two ship bodies can realize quick locking automatic docking by means of the front connecting assembly and the rear connecting assembly;

[0011] The front connecting assembly comprises: a first oil cylinder connecting hook unit and a second oil cylinder connecting hook unit;

[0012] The first oil cylinder connecting hook unit and the second oil cylinder connecting hook unit are symmetrically fixed at the head of the ship body, and can automatically extend and hook the rear connecting assembly at the tail of the adjacent ship body.

[0013] Preferably, the first oil cylinder connecting hook unit and the second oil cylinder connecting hook unit are the same in structure;

[0014] The first oil cylinder connecting hook unit comprises an upper ball joint, a damping oil cylinder, an intermediate ball joint and an extension oil cylinder.

[0015] The upper ball joint is installed on the inner side of the upper panel of the ship body to ensure that the damping oil cylinder can rotate within a certain angle range.

[0016] The intermediate ball joint is fixedly installed on the cylinder barrel at the head end of the extension oil cylinder.

[0017] The two ends of the damping oil cylinder are connected with the upper ball joint and the intermediate ball joint respectively to support the extension oil cylinder and control the extension direction and angle of the extension oil cylinder.

[0018] Preferably, the first oil cylinder connecting hook unit further comprises a hook and a lower ball joint.

[0019] The hook is fixedly installed on the piston rod at the head end of the extension oil cylinder and is a direct execution component for ensuring the quick and automatic docking of the two ship bodies.

[0020] The lower ball joint is fixedly installed on the bottom of the ship body.

[0021] The tail end of the extension oil cylinder is connected with the lower ball joint and is arranged at the bottom of the ship body by means of the lower ball joint.

[0022] Preferably, the rear connecting assembly comprises a steel wire rope, a winch, a fixed pulley and a fixed seat.

[0023] The winch is arranged on one side of the tail of the ship body.

[0024] The fixed pulley is fixedly arranged on the ship body below the tail of the ship body on the same side as the winch.

[0025] The fixed seat is arranged on the ship body below the other side of the tail of the ship body.

[0026] The steel wire rope is installed on the tail of the ship body, one end of which is fixedly connected to the fixed seat, and the other end of which is wound on the winch through the fixed pulley.

[0027] The winch can be rotated to elongate or shorten the steel wire rope hanging below the ship body.

[0028] Preferably, the extension oil cylinder can control the extension and contraction of the hook.

[0029] When the hook is extended, the hook searches for the steel wire rope and hooks the steel wire rope.

[0030] When the hook is retracted, the two ship bodies are moved closer to each other, and the movement direction is controlled by the damping oil cylinder.

[0031] Preferably, the intermediate ball is fixed to the cylinder barrel of the telescopic oil cylinder, so that the telescopic oil cylinder can rotate at any angle within a certain angle range when the damping oil cylinder moves.

[0032] Preferably, a chain is used instead of the steel wire rope.

[0033] Preferably, a shock absorber is further included.

[0034] The shock absorber is installed at the bow of the ship, so as to control the distance between the two hulls and reduce the impact between the two hulls during the connection process.

[0035] Preferably, a controller is further included.

[0036] The controller is arranged on the hull and is in control connection with the front end connecting assembly and the rear end connecting assembly respectively.

[0037] Preferably, the controller is in wireless communication control connection with the damping oil cylinder, the telescopic oil cylinder and the winch respectively.

[0038] (Three) beneficial effects

[0039] The quick automatic docking device provided in the application drives the hooks to extend forward by two telescopic oil cylinder piston rods installed at the bow of the ship, and two damping oil cylinders are arranged for each telescopic oil cylinder to control the extension direction of the telescopic oil cylinder and the rotation of the hook. At the same time, the visual system or the sensing device can be used to sense and capture the steel wire rope hanging at the stern of the front ship, so that the hook can hook the steel wire rope, and the automatic docking of the two ships can be realized through the contraction and extension of the steel wire rope and the retraction of the telescopic oil cylinder. The connection method is simple and fast, has strong applicability, low cost, convenient control and can realize full-automatic unmanned operation. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 is an installation structure schematic diagram of an embodiment of the quick automatic docking device under difficult conditions provided in the embodiment;

[0041] Figure 2 is a stern installation structure schematic diagram of an embodiment of the quick automatic docking device under difficult conditions provided in the embodiment;

[0042] Figure 3 is a bow installation structure schematic diagram of an embodiment of the quick automatic docking device under difficult conditions provided in the embodiment;

[0043] Figure 4 is a bow installation structure schematic diagram of an embodiment of the quick automatic docking device under difficult conditions provided in the embodiment;

[0044] Figure 5is a stern mounting structure schematic diagram of an embodiment of the fast automatic docking device under difficult conditions provided in the embodiment;

[0045] Figure 6 is a fixed pulley and steel wire mounting structure schematic diagram of an embodiment of the fast automatic docking device under difficult conditions provided in the embodiment;

[0046] Figure 7 is a shock absorber mounting structure schematic diagram of an embodiment of the fast automatic docking device under difficult conditions provided in the embodiment;

[0047] Figure 8 is a docking structure schematic diagram of an embodiment of the fast automatic docking device under difficult conditions provided in the embodiment;

[0048] Figure 9 is a docking structure schematic diagram of an embodiment of the fast automatic docking device under difficult conditions provided in the embodiment;

[0049] Figure 10 is a docking structure schematic diagram of an embodiment of the fast automatic docking device under difficult conditions provided in the embodiment;

[0050] Figure 11 is a docking structure schematic diagram of an embodiment of the fast automatic docking device under difficult conditions provided in the embodiment;

[0051] Figure 12 is a docking structure schematic diagram of an embodiment of the fast automatic docking device under difficult conditions provided in the embodiment.

[0052] Figure 13 is a docking structure schematic diagram of an embodiment of the fast automatic docking device under difficult conditions provided in the embodiment.

[0053]

Explanation of reference signs

[0054] 1: hull; 2: upper ball joint; 3: damping oil cylinder; 4: hook; 5: telescopic oil cylinder; 6: lower ball joint; 7: steel wire; 8: winch; 9: intermediate ball joint; 10: fixed pulley; 11: fixed seat. DETAILED DESCRIPTION

[0055] In order to better explain the present application, so as to be understood, the following specific embodiments, combined with the drawings, the present application is described in detail.

[0056] As Figures 1-13The embodiment discloses a quick automatic docking device under difficult conditions, which comprises a front connecting assembly and a rear connecting assembly. The front connecting assembly is arranged at the head of a ship body 1; the rear connecting assembly is arranged at the tail of the ship body 1; the head and the tail of two adjacent ship bodies 1 can be automatically and quickly docked by means of the front connecting assembly and the rear connecting assembly.

[0057] The front connecting assembly comprises a first oil cylinder connecting hook unit and a second oil cylinder connecting hook unit; the first oil cylinder connecting hook unit and the second oil cylinder connecting hook unit are symmetrically fixed at the head of the ship body 1 and can automatically extend and hook the rear connecting assembly arranged at the tail of the adjacent ship body 1.

[0058] The first oil cylinder connecting hook unit and the second oil cylinder connecting hook unit are the same in structure.

[0059] The first oil cylinder connecting hook unit comprises an upper ball joint 2, a damping oil cylinder 3, an intermediate ball joint 9 and an extension oil cylinder 5; the upper ball joint 2 is installed on the inner side of the upper panel of the ship body 1 and is used for ensuring that the damping oil cylinder 3 can rotate within a certain cone angle range; the intermediate ball joint 9 is fixedly installed on the cylinder barrel at the head end of the extension oil cylinder 5; the two ends of the damping oil cylinder 3 are connected with the upper ball joint 2 and the intermediate ball joint 9 respectively, and are used for supporting the extension oil cylinder 5 and simultaneously controlling the extension direction and angle of the extension oil cylinder 5.

[0060] The first oil cylinder connecting hook unit further comprises a hook 4 and a lower ball joint 6; the hook 4 is fixedly installed on the piston rod at the head end of the extension oil cylinder 5 and is a direct execution component for ensuring that the two ship bodies 1 are quickly and automatically docked; the lower ball joint 6 is fixedly installed on the bottom of the ship body 1; the tail end of the extension oil cylinder 5 is connected with the lower ball joint 6 and is arranged at the bottom of the ship body 1 by means of the lower ball joint 6.

[0061] The rear connecting assembly comprises a steel wire rope 7, a winch 8, a fixed pulley 10 and a fixed seat 11; the winch 8 is arranged on one side of the tail of the ship body 1; the fixed pulley 10 is fixedly arranged on the ship body below the tail of the ship body 1 on the same side as the winch 8.

[0062] The fixed seat 11 is arranged on the ship body on the other side below the tail of the ship body 1; the steel wire rope 7 is installed on the tail of the ship body 1, one end of the steel wire rope 7 is fixedly bound to the fixed seat 11, and the other end of the steel wire rope 7 is wound on the winch 8 through the fixed pulley 10; the winch 8 can be rotated to make the steel wire rope 7 hanging below the ship body 1 be elongated or shortened.

[0063] In this embodiment, the telescopic cylinder 5 can control the extension and retraction of the hook 4; when the hook 4 is extended, it searches for the steel wire rope 7 and is hooked with the steel wire rope 7; when the hook 4 is retracted, it brings the two hulls 1 closer, and the direction of movement is controlled by the damping cylinder 3.

[0064] In this embodiment, the intermediate ball joint 9 is fixedly connected to the cylinder barrel of the telescopic oil cylinder 5 to ensure that when the damping oil cylinder 3 moves, the telescopic oil cylinder 5 can rotate arbitrarily within a certain cone angle range.

[0065] In this embodiment, a chain is used to replace the steel wire rope 7.

[0066] The rapid automatic docking device under difficult conditions provided in this embodiment further includes: a shock absorber; the shock absorber is installed at the bow to control the distance between the two hulls 1 and reduce the mutual impact during the connection process of the hulls 1.

[0067] The rapid automatic docking device under difficult conditions provided in this embodiment further includes: a controller; the controller is arranged on the hull 1 and is controlled and connected to the front connection component and the rear connection component respectively.

[0068] In this embodiment, the controller is respectively connected to the damping cylinder 3, the telescopic cylinder 5 and the winch 8 through wireless communication control.

[0069] Example 2

[0070] like Figures 1-13 As shown: This embodiment discloses a rapid automatic docking device under difficult conditions, and the use process is as follows:

[0071] (1) Various sensing devices are required to ensure that the distance between the front and rear positions of the two hulls 1 (the shortest distance between the stern of hull 1 and the bow of hull 2) is less than 2m, and the left and right relative positions (the minimum distance between the same sides) is less than 1m;

[0072] (2) Detect that each position meets the requirements of (1) and send out an electrical signal; Figure 8 shown)

[0073] (3) After receiving the signal, the controller controls the four damping cylinders 3 and the telescopic cylinder 5 to move the two hooks 4 inward and downward, and at the same time, the two hooks 4 slightly rotate outward; Figure 9 、 Figure 10 .

[0074] (4) After the four damping cylinders 3 and the telescopic cylinder 5 are extended to their limit positions, an electrical signal is sent;

[0075] (5) controller sends a signal to the winch 8, the winch 8 receives the signal and controls the wire rope 7 to move upward along the fixed pulley 10, so that the wire rope 7 at the lower part of the ship body 1 is gradually reduced (shortened), when the wire rope 7 is contracted to the range of the hook 4 and the telescopic oil cylinder 5, the controller detects that the output thrust of the four damping oil cylinders 3 is rapidly reduced, and sends an electric signal; Figure 11 .

[0076] (6) if the wire rope 7 is contracted to the shortest and the output thrust of the damping oil cylinder 3 is not rapidly reduced, it indicates that the wire rope 7 does not succeed in hanging on the hook 4, and the steps (2)-(5) are repeated until the above requirements are met;

[0077] (7) the controller receives the electric signal, controls the telescopic oil cylinder 5 to contract, and the winch 8 continues to control the wire rope 7 to move upward, so that the wire rope 7 at the lower part of the ship body 1 is continuously reduced (shortened), and the two ship bodies are rapidly close, when the two ship bodies reach the design distance requirement or complete the close, the wire rope 7 is tensioned, and an electric signal is sent;

[0078] (8) the controller receives the electric signal, controls the piston rod of the four damping oil cylinders 3 to contract, and completes the rapid automatic butt joint of the two ship bodies. Figure 12 、 Figure 13 .

[0079] The technical principles of the present application are described above in combination with specific embodiments, and these descriptions are only for explaining the principles of the present application, and cannot be explained as the limitation of the protection scope of the present application in any way. Based on the explanation herein, other specific embodiments of the present application can be conceived by those skilled in the art without creative labor, and these embodiments will fall within the protection scope of the present application.

Claims

1. A fast automatic docking device under difficult conditions, characterized in that, The device comprises: a front connecting assembly and a rear connecting assembly; the front connecting assembly is arranged at the head of the ship body; the rear connecting assembly is arranged at the tail of the ship body; the heads and the tails of two adjacent ship bodies can be automatically docked by means of the front connecting assembly and the rear connecting assembly; the front connecting assembly comprises a first oil cylinder connecting hook unit and a second oil cylinder connecting hook unit; the first oil cylinder connecting hook unit and the second oil cylinder connecting hook unit are symmetrically fixed at the head of the ship body and can automatically extend and retract to hook the rear connecting assembly arranged at the tail of the adjacent ship body; the first oil cylinder connecting hook unit and the second oil cylinder connecting hook unit have the same structure; the first oil cylinder connecting hook unit comprises an upper ball joint, a damping oil cylinder, an intermediate ball joint and an extension oil cylinder; the upper ball joint is mounted on the inner side of the upper panel of the ship body to ensure that the damping oil cylinder can rotate within a certain cone angle range; the intermediate ball joint is fixedly mounted on the cylinder barrel at the first end of the extension oil cylinder; the two ends of the damping oil cylinder are connected with the upper ball joint and the intermediate ball joint respectively to support the extension oil cylinder and simultaneously control the extension direction and angle of the extension oil cylinder; the first oil cylinder connecting hook unit further comprises a hook and a lower ball joint; the hook is fixedly mounted on the piston rod at the first end of the extension oil cylinder and is a direct execution component for ensuring the automatic docking of the two ship bodies; the lower ball joint is fixedly mounted on the bottom of the ship body; the tail end of the extension oil cylinder is connected with the lower ball joint and arranged at the bottom of the ship body by means of the lower ball joint; the rear connecting assembly comprises a steel wire rope, a winch, a fixed pulley and a fixed seat; the winch is arranged on one side of the tail of the ship body; the fixed pulley is fixedly arranged on the ship body below the tail of the ship body on the same side as the winch; the fixed seat is arranged on the ship body below the other side of the tail of the ship body; the steel wire rope is mounted on the tail of the ship body, one end of which is fixedly bound to the fixed seat, and the other end of which is wound on the winch through the fixed pulley; the winch can make the steel wire rope hanging down the ship body to be elongated or shortened.

2. The device according to claim 1, wherein the extension oil cylinder can control the extension and retraction of the hook; the hook extends to find the steel wire rope and hooks the steel wire rope; the hook retracts to move the two ship bodies closer, and the movement direction is controlled by the damping oil cylinder.

3. The device according to claim 2, wherein the intermediate ball joint is fixedly connected to the cylinder barrel of the extension oil cylinder to ensure that the extension oil cylinder can rotate within a certain cone angle range when the damping oil cylinder moves.

4. The apparatus of claim 1, wherein, The chain is used to replace the steel wire rope.

5. The apparatus of claim 3, wherein, Further comprising: a shock absorber; the shock absorber is mounted on the ship head to control the distance between the two ship bodies and reduce the impact between the ship bodies during the connection of the ship bodies.

6. The apparatus of claim 5, wherein, Further comprising: a controller; the controller is arranged on the ship body and connected with the front connecting assembly and the rear connecting assembly respectively.

7. The device according to claim 6, wherein the controller is wirelessly connected with the damping oil cylinder, the extension oil cylinder and the winch respectively.

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