Ship mooring stability auxiliary structure and harbor tug with same

Abstract

The invention relates to a ship mooring stability auxiliary structure and a harbor tug with the ship mooring stability auxiliary structure. The ship mooring stability auxiliary structure comprises a magnetic suction cup and a mechanical arm. The magnetic suction cup comprises a plurality of magnetic suction blocks, the multiple magnetic suction blocks are sequentially arranged into magnetic suction row sets in the first direction, the multiple magnetic suction row sets are sequentially arranged in the second direction, in the first direction, every two adjacent magnetic suction blocks are hinged to each other, and in the second direction, every two adjacent magnetic suction blocks are hinged to each other. One end of the mechanical arm is connected with the magnetic sucker, and the other end of the mechanical arm is connected with a tugboat; the mechanical arm comprises a plurality of arm sections hinged in sequence, and a telescopic driving piece is arranged between every two adjacent arm sections and used for changing the included angle between every two adjacent arm sections. Compared with the prior art, the connecting position of the magnetic suction cup and the ship can be controlled according to the berthing condition, the shape of the magnetic suction cup is adjusted according to a curved surface shell of the ship, ship berthing can be assisted by tugboat conveniently, and the ship berthing stability can be improved easily.

Description

Technical Field

[0001] The invention relates to the technical field of ship mooring, in particular to a ship mooring stability auxiliary structure and a port tugboat with the structure. Background Art

[0002] Ships are connected to the dock through mooring equipment such as mooring cables, bollards, and cable cars, so that they can remain stable during the docking process, which is convenient for loading and unloading of goods and boarding and disembarking of personnel. When the ship's berthing area encounters severe conditions such as strong winds, swells, and long-period waves, the ship's movement is large. It is difficult to ensure the stability of the ship during loading and unloading operations by relying solely on the constraints of the mooring cables, and it is easy to cause excessive stress on the mooring cables, which may lead to cable breakage accidents.

[0003] A harbor tugboat is a tugboat that performs towing operations within the port. It is mainly used to assist large ships in entering and leaving the port, entering and leaving the dock, berthing and leaving the dock, turning around, moving berths, and towing barges. Under harsh environmental conditions, harbor tugboats are generally used to push against the seaward side of the moored ship to suppress the movement of the moored ship. This method of assisting mooring stability has a certain positive effect on ensuring the stability and safety of the moored ship under harsh environmental conditions. The existing harbor tugboats still have many defects in assisting ship mooring:

[0004] (1) The point of action between the port tugboat and the moored ship is fixed near the water surface line, and this position cannot be adjusted, so it is impossible to optimize the mooring stability of the moored ship;

[0005] (2) Harbor tugboats and moored ships rely on rubber products such as fenders for collision prevention and buffering. However, there is great friction between rubber products and ships, which are easily damaged and fail during operation, thus causing direct collision and contact between harbor tugboats and moored ships.

[0006] (3) After working for a period of time, the port tugboat needs to return to the workboat dock for energy replenishment, which may cause the mooring assistance operation to be interrupted, thereby affecting the mooring stability of the moored ship.

[0007] Therefore, in order to address the problems existing in the operation of port tugboats to ensure the mooring stability of moored ships, it is of great practical significance to design a device and method for assisting mooring that can adjust the action position, maintain a good connection with the moored ship during operation, and recover energy during the operation process. Summary of the invention

[0008] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and to provide a ship mooring stability auxiliary structure and a port tugboat having the structure.

[0009] The purpose of the present invention can be achieved by the following technical solutions:

[0010] A ship mooring stability auxiliary structure, comprising:

[0011] A magnetic chuck, wherein the magnetic chuck comprises a plurality of magnetic blocks, wherein the plurality of magnetic blocks are sequentially arranged into magnetic row groups along a first direction, and the plurality of magnetic row groups are sequentially arranged along a second direction, wherein in the first direction, two adjacent magnetic blocks are hinged to each other, and in the second direction, two adjacent magnetic blocks are hinged to each other;

[0012] A robotic arm, one end of which is connected to the magnetic suction cup, and the other end of which is used to connect to the tugboat; the robotic arm comprises a plurality of arm segments hinged in sequence, and a telescopic driving member is provided between two adjacent arm segments for changing the angle between the two adjacent arm segments.

[0013] In one embodiment, the auxiliary structure further includes a connecting bracket, the connecting bracket is hinged to one end of the mechanical arm, the magnetic blocks located on the corners of the magnetic suction cup are corner magnetic blocks, and the connecting brackets are respectively connected to the corner magnetic blocks;

[0014] The connecting bracket comprises a first telescopic rod and a second telescopic rod, wherein the first telescopic rod can be telescoped along the first direction, and the second telescopic rod can be telescoped along the second direction.

[0015] In one embodiment, a transition piece is provided between the connecting bracket and the corner magnetic block, one end of the transition piece is connected to the connecting bracket ball, and the other end of the transition piece is connected to the corner magnetic block ball.

[0016] In one embodiment, the connecting bracket further includes a first folding rod and a second folding rod, one end of the first folding rod is hinged to one end of the first telescopic rod, and one end of the second folding rod is hinged to one end of the second telescopic rod.

[0017] In one embodiment, the connecting bracket includes four L-shaped brackets, and the L-shaped bracket includes the first telescopic rod and the second telescopic rod connected to each other, the two ends of the first folding rod are respectively connected to the first telescopic rod and the corner magnetic block, and the two ends of the second folding rod are respectively connected to the second telescopic rod and the mechanical arm, and the four L-shaped brackets form an I-shaped bracket.

[0018] In one embodiment, the magnetic suction cup includes a central control board, the magnetic suction block is an electromagnetic suction block, and the central control board is electrically connected to the magnetic suction block to control the magnetic force of the magnetic suction block;

[0019] The central control panel is located at the center of the magnetic suction cup, and a plurality of magnetic blocks are arranged around the central control panel along a first direction and a second direction. A plurality of magnetic blocks adjacent to the central control panel are hinged to the central control panel, and the central control panel is connected to the robotic arm ball.

[0020] In one embodiment, the auxiliary structure includes an energy storage device, the telescopic driving member is provided with a permanent magnet and an electromagnetic coil mounted on the permanent magnet, the energy storage device is respectively connected to the electromagnetic coil and the telescopic driving member, and is used to store the electrical energy generated by the electromagnetic coil and supply the stored electrical energy to the telescopic driving member.

[0021] In one of the embodiments, a pressure sensor is provided on the magnetic suction block, and the auxiliary structure includes a controller, which is respectively connected to the pressure sensor and the magnetic suction cup, and is used to control the opening and closing of the magnetic suction cup according to the detection value of the pressure sensor.

[0022] In one of the embodiments, the robotic arm is provided with a protective cover, which includes a hard shell mounted on different arm segments, a protective cloth connecting a plurality of adjacent hard shells, and a retractable bellows mounted on the retractable drive member.

[0023] A harbor tugboat comprises a tugboat and the auxiliary structure for ship mooring stability, wherein a mechanical arm of the auxiliary structure for ship mooring stability is connected to the tugboat, and a magnetic suction cup of the auxiliary structure for ship mooring stability is used for magnetic connection with the ship.

[0024] Compared with the prior art, the present invention has the following advantages:

[0025] 1. The above-mentioned auxiliary structure for ship mooring stability is provided with a mechanical arm connected to the magnetic suction cup and the tugboat respectively, and the magnetic suction cup is provided to be connected to the ship, so as to realize the connection between the tugboat and the ship; since the magnetic suction cup is used to connect the ship, the tightness of the connection between the tugboat and the ship can be changed by adjusting the magnetic force of the magnetic suction cup, and the connection or disconnection with the ship can also be controlled by controlling the switch of the magnetic suction cup; and the mechanical arm includes a plurality of arm sections hinged in sequence, and telescopic driving members are provided between the arm sections, so that the plurality of telescopic driving members can control the length and height of the mechanical arm by telescoping different lengths, thereby controlling the magnetic suction cup and the ship. The connection position of the ship can also be extended and retracted according to the amplitude of the shaking when the ship shakes back and forth along the water surface; at the same time, the magnetic suction cup includes multiple magnetic suction blocks, and the multiple magnetic suction blocks are hinged to each other to form a flexible magnetic suction cup with variable shape, which adapts to the curved shell of the ship and makes the connection between the magnetic suction cup and the ship more reliable; therefore, the ship mooring stability auxiliary structure can control the connection position of the magnetic suction cup and the ship according to the mooring situation, and adjust the shape of the magnetic suction cup according to the curved shell of the ship, so as to facilitate the tugboat to assist the ship in mooring, which is beneficial to improving the mooring stability of the ship.

[0026] 2. The auxiliary structure is provided with a connecting bracket between the mechanical arm and the magnetic suction cup, and the connecting bracket is provided with a first telescopic rod and a second telescopic rod. The first telescopic rod can be telescoped along the first direction, and is combined with a plurality of magnetic suction blocks hinged to each other along the first direction, so that the magnetic suction blocks hinged to each other along the first direction rotate with each other, thereby changing the curvature of the magnetic suction cup in the first direction. At the same time, the second telescopic rod can be telescoped along the second direction, and is combined with a plurality of magnetic suction blocks hinged to each other along the second direction, so that the magnetic suction blocks hinged to each other along the second direction rotate with each other, changing the curvature of the magnetic suction cup in the second direction, thereby changing the shape of the magnetic suction surface of the magnetic suction cup, so as to adapt to the curved shell of the ship and improve the connection tightness of the magnetic suction cup.

[0027] 3. A transition piece is provided between the connecting bracket and the corner magnetic suction block to realize a double spherical connection. When the curvature of the magnetic suction cup in the first direction and the second direction is changed, the connection angle between the transition piece and the corner magnetic suction block can be changed, and the connection angle between the transition piece and the connecting bracket can be changed, which is beneficial to improve the flexibility of changing the curvature of the magnetic suction cup in the first direction and the second direction, and can adapt to the large-angle curved surface for ship mooring.

[0028] 4. The connecting bracket is hinged with a first folding rod at one end of the first telescopic rod, and the second telescopic rod is hinged with a second folding rod at one end. Therefore, when the curvature of the magnetic suction cup in the first direction and the second direction is changed, the first folding rod can be rotated and folded relative to the first telescopic rod, and the second folding rod and the second telescopic rod can be rotated and folded, further increasing the space for changing the curvature of the magnetic suction cup in the first direction and the second direction.

[0029] 5. After the central control panel is connected to the robotic arm ball, the connection angle between the central control panel and the robotic arm can be changed, that is, the angle between the magnetic suction cup and the ship hull can be changed, further improving the fit between the magnetic suction cup and the ship hull.

[0030] 6. Since the telescopic drive member is provided with a permanent magnet and an electromagnetic coil, when the ship sways back and forth along the water surface, the telescopic drive member expands and contracts along with the swaying amplitude. At this time, the electromagnetic coil cuts the magnetic flux lines generated by the permanent magnet, thereby generating electrical energy and transmitting it to the energy storage device. The energy storage device then uses the stored electrical energy for the driving kinetic energy of the telescopic drive member, thereby realizing energy recovery and reuse and saving energy consumption of the auxiliary structure.

[0031] 7. A hard shell covers the outside of the robotic arm to protect the main body of each arm segment; a retractable bellows is wrapped around the outside of each retractable drive component and can be retracted and retracted accordingly with the retractable drive component; a protective cloth is provided at the connection between different arm segments of the robotic arm to protect the connection mechanism and can be deformed with the relative rotation between the arm segments. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a structural schematic diagram of the ship mooring stability auxiliary structure and the tugboat in the present invention.

[0033] Figure 2 It is a schematic diagram of the connection structure between the ship mooring stability auxiliary structure and the tugboat and the ship in the present invention.

[0034] Figure 3 It is a first structural schematic diagram of the auxiliary structure for ship mooring stability in the present invention.

[0035] Figure 4 It is a second structural schematic diagram of the auxiliary structure for ship mooring stability in the present invention.

[0036] Figure 5 It is a schematic diagram of the connection structure between the mechanical arm and the magnetic chuck in the present invention.

[0037] Figure 6 It is a schematic diagram of the structure of the mechanical arm and the connecting bracket in the present invention.

[0038] Figure 7 It is a schematic diagram of the structure of the magnetic chuck in the present invention.

[0039] Figure 8 It is a schematic diagram of the structure of the telescopic driving member in the present invention.

[0040] Fig. 9 It is a schematic diagram of the structure of the controller and energy storage device in the present invention.

[0041] Fig.10 It is a flow chart of the ship mooring stability auxiliary structure control method in the present invention.

[0042] : 100, ship mooring stability auxiliary structure; 10, magnetic suction cup; 11, magnetic suction block; 12, corner magnetic suction block; 13, central control panel; 20, mechanical arm; 21, arm segment; 22, telescopic drive member; 221, permanent magnet; 222, electromagnetic coil; 23, protective cover; 231, hard shell; 232, protective cloth; 233, telescopic bellows; 30, connecting bracket; 31, first telescopic rod; 32, second telescopic rod; 33, transition piece; 34, first folding rod; 35, second folding rod; 36, L-shaped bracket; 40, controller; 41, energy storage device; 50, tugboat; 60, ship. DETAILED DESCRIPTION

[0043] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0044] like Figures 1 to 5 As shown, in one embodiment, a ship mooring stability auxiliary structure 100 is provided, comprising a magnetic chuck 10 and a mechanical arm 20;

[0045] The magnetic suction cup 10 includes a plurality of magnetic suction blocks 11, the plurality of magnetic suction blocks 11 are sequentially arranged into magnetic suction row groups along a first direction, and the plurality of magnetic suction row groups are sequentially arranged along a second direction. In the first direction, two adjacent magnetic suction blocks 11 are hinged to each other, and in the second direction, two adjacent magnetic suction blocks 11 are hinged to each other.

[0046] In addition, one end of the robotic arm 20 is connected to the magnetic suction cup 10, and the other end of the robotic arm 20 is used to connect to the tugboat 50; the robotic arm 20 includes a plurality of arm segments 21 hinged in sequence, and a telescopic driving member 22 is provided between two adjacent arm segments 21 for changing the angle between the two adjacent arm segments 21.

[0047] The above-mentioned ship mooring stability auxiliary structure 100 is provided with a mechanical arm 20 connected to the magnetic suction cup 10 and the tugboat 50 respectively, and the magnetic suction cup 10 is provided to be connected to the ship 60, so as to realize the connection between the tugboat 50 and the ship 60; since the magnetic suction cup 10 is used to connect the ship 60, the tightness of the connection between the tugboat 50 and the ship 60 can be changed by adjusting the magnetic force of the magnetic suction cup 10, and the connection or non-connection with the ship 60 can also be controlled by controlling the switch of the magnetic suction cup 10; and the mechanical arm 20 includes a plurality of arm segments 21 hinged in sequence, and telescopic driving members 22 are provided between the arm segments 21, so that the plurality of telescopic driving members 22 can control the length and height of the mechanical arm 20 by telescoping different lengths, thereby controlling the magnetic suction cup 1 0 and the connection position of the ship 60, and the telescopic driving member 22 can also be extended and retracted along with the shaking amplitude when the ship 60 sways back and forth along the water surface; at the same time, the magnetic suction cup 10 includes a plurality of magnetic suction blocks 11, and the plurality of magnetic suction blocks 11 are hinged to each other to form a magnetic suction cup 10 with a shape-variable flexible magnetic suction cup 10, which adapts to the curved shell of the ship 60, so that the connection between the magnetic suction cup 10 and the ship 60 is more reliable; therefore, the ship mooring stability auxiliary structure 100 can control the connection position of the magnetic suction cup 10 and the ship 60 according to the mooring situation, and adjust the shape of the magnetic suction cup 10 according to the curved shell of the ship 60, so as to facilitate the tugboat 50 to assist the ship 60 in mooring, which is beneficial to improve the mooring stability of the ship 60.

[0048] Specifically, in one embodiment, the second direction is perpendicular to the first direction. In the first direction, two adjacent magnetic blocks 11 are hinged to each other so that they can rotate around the axis of the second direction; in the second direction, two adjacent magnetic blocks 11 are hinged to each other so that they can rotate around the axis of the first direction.

[0049] In this specific embodiment, the first direction is the horizontal direction, the second direction is the vertical direction, two adjacent magnetic blocks 11 in the horizontal direction can rotate around the vertical axis, and two adjacent magnetic blocks 11 in the vertical direction can rotate around the horizontal axis.

[0050] Specifically, Figure 5 and Figure 6 As shown, in one embodiment, the ship mooring stability auxiliary structure 100 further includes a connecting bracket 30, the connecting bracket 30 is hinged to one end of the mechanical arm 20, the magnetic suction block 11 located on the corner of the magnetic suction cup 10 is a corner magnetic suction block 12, and the connecting bracket 30 is respectively connected to the corner magnetic suction block 12;

[0051] The connecting bracket 30 has a first telescopic rod 31 and a second telescopic rod 32 . The first telescopic rod 31 can be telescoped along a first direction, and the second telescopic rod 32 can be telescoped along a second direction.

[0052] The ship mooring stability auxiliary structure 100 is provided with a connecting bracket 30 between the mechanical arm 20 and the magnetic suction cup 10, and the connecting bracket 30 is provided with a first telescopic rod 31 and a second telescopic rod 32. The first telescopic rod 31 can be telescoped along a first direction, and is combined with a plurality of magnetic suction blocks 11 hinged to each other along the first direction, so that the magnetic suction blocks 11 hinged to each other along the first direction rotate with each other, thereby changing the curvature of the magnetic suction cup 10 in the first direction. At the same time, the second telescopic rod 32 can be telescoped along a second direction, and is combined with a plurality of magnetic suction blocks 11 hinged to each other along the second direction, so that the magnetic suction blocks 11 hinged to each other along the second direction rotate with each other, changing the curvature of the magnetic suction cup 10 in the second direction, thereby changing the shape of the magnetic suction surface of the magnetic suction cup 10, so as to adapt to the curved shell of the ship 60 and improve the connection tightness of the magnetic suction cup 10.

[0053] Furthermore, if Figure 5 As shown, in one embodiment, a transition piece 33 is provided between the connecting bracket 30 and the corner magnetic block 12 , one end of the transition piece 33 is ball-connected to the connecting bracket 30 , and the other end of the transition piece 33 is ball-connected to the corner magnetic block 12 .

[0054] A transition piece 33 is provided between the connecting bracket 30 and the corner magnetic suction block 12 to realize a double spherical connection. When the curvature of the magnetic suction cup 10 in the first direction and the second direction is changed, the connection angle between the transition piece 33 and the corner magnetic suction block 12 can be changed, and the connection angle between the transition piece 33 and the connecting bracket 30 can be changed, which is beneficial to improve the flexibility of changing the curvature of the magnetic suction cup 10 in the first direction and the second direction, and can adapt to the large-angle curved surface for the ship 60 to be moored.

[0055] Furthermore, if Figure 6 As shown, in one embodiment, the connecting bracket 30 also includes a first folding rod 34 and a second folding rod 35 , one end of the first folding rod 34 is hinged to one end of the first telescopic rod 31 , and one end of the second folding rod 35 is hinged to one end of the second telescopic rod 32 .

[0056] The connecting bracket 30 is hinged with a first folding rod 34 at one end of the first telescopic rod 31, and a second folding rod 35 at one end of the second telescopic rod 32. Therefore, when the curvature of the magnetic suction cup 10 in the first direction and the second direction is changed, the first folding rod 34 can be rotated and folded relative to the first telescopic rod 31, and the second folding rod 35 and the second telescopic rod 32 can be rotated and folded, further increasing the space for changing the curvature of the magnetic suction cup 10 in the first direction and the second direction.

[0057] Furthermore, if Figure 6As shown, in one embodiment, the connecting bracket 30 includes four L-shaped brackets 36, the L-shaped bracket 36 includes a first telescopic rod 31 and a second telescopic rod 32 connected to each other, the two ends of the first folding rod 34 are respectively connected to the first telescopic rod 31 and the corner magnetic block 12, the two ends of the second folding rod 35 are respectively connected to the second telescopic rod 32 and the robotic arm 20, and the four L-shaped brackets 36 form an I-shaped bracket.

[0058] Specifically, Figure 7 As shown, in one embodiment, the magnetic suction cup 10 includes a central control board 13, the magnetic suction block 11 is an electromagnetic suction block, and the central control board 13 is electrically connected to the magnetic suction block 11 to control the magnetic force of the magnetic suction block 11;

[0059] The central control panel 13 is located at the center of the magnetic suction cup 10, and multiple magnetic blocks 11 are arranged around the central control panel 13 along the first direction and the second direction. Multiple magnetic blocks 11 adjacent to the central control panel 13 are all hinged to the central control panel 13, and the central control panel 13 is ball-connected to the robotic arm 20.

[0060] The size of the central control board 13 can be the same as that of the magnetic block 11, or it can be slightly larger than the size of the magnetic block 11. The central control board 13 also serves as the center for changing the curved shape of the magnetic suction cup 10. After the central control board 13 is ball-connected with the robotic arm 20, the connection angle between the central control board 13 and the robotic arm 20 can be changed, that is, the angle between the magnetic suction cup 10 and the hull of the ship 60 can be changed, thereby further improving the fit between the magnetic suction cup 10 and the hull of the ship 60.

[0061] Optionally, in one embodiment, the magnetic block 11 located at the center of the magnetic suction cup 10 is a central magnetic block 11 , and one end of the robotic arm 20 is spherically connected to the magnetic block 11 located at the center of the magnetic suction cup 10 .

[0062] Specifically, Figure 8 and Fig. 9 As shown, in one embodiment, the ship mooring stability auxiliary structure 100 includes an energy storage device 41, and the telescopic driving member 22 is provided with a permanent magnet 221 and an electromagnetic coil 222 sleeved on the permanent magnet 221. The energy storage device 41 is respectively connected to the electromagnetic coil 222 and the telescopic driving member 22, and is used for storing the electric energy generated by the electromagnetic coil 222, and supplying the stored electric energy to the telescopic driving member 22.

[0063] Since the telescopic drive member 22 is provided with a permanent magnet 221 and an electromagnetic coil 222, when the ship 60 sways back and forth along the water surface, the telescopic drive member 22 is extended and retracted along with the amplitude of the swaying. At this time, the electromagnetic coil 222 cuts the magnetic flux lines generated by the permanent magnet 221, thereby generating electrical energy to be transmitted to the energy storage device 41. The energy storage device 41 then uses the stored electrical energy for the driving kinetic energy of the telescopic drive member 22, thereby realizing energy recovery and reuse, and saving energy consumption of the ship mooring stability auxiliary structure 100.

[0064] In this specific embodiment, the controller 40 is electrically connected to the energy storage device 41 and the telescopic driving member 22, and is used to control the charging and discharging of the energy storage device and the driving force of the telescopic driving member.

[0065] Specifically, Fig. 9 As shown, in one embodiment, a pressure sensor is provided on the magnetic suction block 11, and the ship mooring stability auxiliary structure 100 includes a controller 40, which is respectively connected to the pressure sensor and the magnetic suction cup 10, and is used to control the opening and closing of the magnetic suction cup 10 according to the detection value of the pressure sensor.

[0066] In this specific embodiment, the controller 40 is electrically connected to the central control board 13 .

[0067] Specifically, Figure 4 As shown, in one embodiment, a protective cover 23 is provided on the robot arm 20, and the protective cover 23 includes a hard shell 231 mounted on different arm segments 21, a protective cloth 232 connecting multiple adjacent hard shells 231, and a retractable bellows 233 mounted on the retractable drive member 22.

[0068] The hard shell 231 covers the outside of the robotic arm 20 to protect the main body of each arm segment 21; the retractable bellows 233 is wrapped around the outside of each retractable driving member 22 and can be retracted and retracted accordingly with the retraction and extension of the retractable driving member 22; the protective cloth 232 is arranged at the connection position of different arm segments 21 of the robotic arm 20 to protect the connection mechanism and can be deformed with the relative rotation between the arm segments 21.

[0069] like Figure 1 and Figure 2 As shown, in one embodiment, a harbor tugboat 50 is provided, including a tugboat 50 and a ship mooring stability auxiliary structure 100, wherein a mechanical arm 20 of the ship mooring stability auxiliary structure 100 is connected to the tugboat 50, and a magnetic suction cup 10 of the ship mooring stability auxiliary structure 100 is used for magnetic connection with a moored ship 60.

[0070] The above-mentioned harbor tugboat 50 is provided with a mechanical arm 20 through a ship mooring stability auxiliary structure 100 to respectively connect the magnetic suction cup 10 and the tugboat 50, and the magnetic suction cup 10 is provided to be connected with the ship 60, so as to realize the connection between the tugboat 50 and the ship 60; since the magnetic suction cup 10 is used to connect the ship 60, the tightness of the connection between the tugboat 50 and the ship 60 can be changed by adjusting the magnetic force of the magnetic suction cup 10, and the connection or non-connection with the ship 60 can also be controlled by controlling the switch of the magnetic suction cup 10; and the mechanical arm 20 includes a plurality of arm segments 21 hinged in sequence, and telescopic driving members 22 are provided between the arm segments 21, so that the plurality of telescopic driving members 22 can control the length and height of the mechanical arm 20 by telescoping different lengths, thereby controlling The connection position between the magnetic suction cup 10 and the ship 60 can also be extended and retracted with the amplitude of the shaking when the ship 60 shakes back and forth along the water surface; at the same time, the magnetic suction cup 10 includes a plurality of magnetic suction blocks 11, and the plurality of magnetic suction blocks 11 are hinged to each other to form a flexible magnetic suction cup 10 with a variable shape, which adapts to the curved shell of the ship 60 and makes the connection between the magnetic suction cup 10 and the ship 60 more reliable; therefore, the ship mooring stability auxiliary structure 100 can control the connection position between the magnetic suction cup 10 and the ship 60 according to the mooring situation, and adjust the shape of the magnetic suction cup 10 according to the curved shell of the ship 60, so as to facilitate the tugboat 50 to assist the ship 60 in mooring, which is beneficial to improve the mooring stability of the ship 60.

[0071] like Fig.10 As shown, in one embodiment, a control method of a ship mooring stability auxiliary structure 100 is provided. The ship mooring stability auxiliary structure 100 includes a tugboat 50, a mechanical arm 20 and a magnetic chuck 10 connected in sequence. The mechanical arm 20 includes a plurality of arm segments 21 articulated in sequence. A telescopic driving member 22 is provided between two adjacent arm segments 21. The controller is electrically connected to the tugboat 50, the telescopic driving member 22 and the magnetic chuck 10. The control method of the controller 40 includes the following specific steps:

[0072] S10: Obtain the design breaking force of the ship's mooring cable and the ship's size;

[0073] S20: Setting the auxiliary thrust, auxiliary quantity, and auxiliary connection position of the tugboat 50 and the magnetic chuck 10 and the ship 60,

[0074] S30: Start the auxiliary thrust and the auxiliary number of tugboats 50, and connect the magnetic suction cup 10 to the ship 60 according to the auxiliary connection position;

[0075] S40: Calculate the auxiliary maximum tension of the mooring line based on the ship size, auxiliary thrust, auxiliary quantity and auxiliary connection position;

[0076] S50: judging whether the ship is safe to berth at 60° according to the designed breaking force of the mooring line and the maximum tension after assistance;

[0077] S60: If the ship 60 is not safely moored, the auxiliary thrust and the auxiliary connection position are adjusted, and steps S20 to S50 are looped until it is determined that the ship 60 is safely moored.

[0078] The control method of the above-mentioned ship mooring stability auxiliary structure 100 can obtain the auxiliary maximum tension of the mooring cable through the ship size, auxiliary thrust, auxiliary number and auxiliary connection position, and judge whether the ship 60 is safe to moor by comparing the design breaking force of the mooring cable and the auxiliary maximum tension. By continuously adjusting the auxiliary thrust and the auxiliary connection position, the positive feedback of the ship mooring stability auxiliary structure 100 is realized until the ship 60 is safely moored, which is conducive to adapting to different wind loads, wave loads and water flow loads when the ship 60 is moored.

[0079] Specifically, in one embodiment, in step S40, the auxiliary number of the tugboat 50 is set according to the port environmental load conditions, ship model, draft, load, etc. The port environmental load conditions mainly include wind load, wave load and water flow load.

[0080] Specifically, in one embodiment, in step S60, the following steps are also included:

[0081] The auxiliary connection position is adjusted by controlling the telescopic drive member 22. That is, the relative distance, horizontal position, and height position between the magnetic chuck 10 and the vessel 60 are adjusted by controlling the length of the telescopic drive member 22 between different arm segments 21.

[0082] Specifically, in one embodiment, between step S10 and step S20, the following steps are also included:

[0083] Step S11: obtaining the auxiliary front maximum tension of the mooring cable when the ship 60 is moored;

[0084] Step S12: judging whether the mooring of the vessel 60 is safe according to the designed breaking force of the mooring cable and the maximum tension before auxiliary;

[0085] Step S13: If the ship 60 is safely moored, it is determined that a stability auxiliary structure is not required; otherwise, it is determined that a stability auxiliary structure is required, and steps S20 to S60 are executed.

[0086] Before using the ship mooring stability auxiliary structure 100, it is possible to first determine whether the ship 60 is safe to moor, based on the designed breaking force of the mooring cable and the maximum tension before assistance. If it is safe, the ship mooring stability auxiliary structure 100 is not needed to assist in mooring, which is beneficial to saving auxiliary energy consumption. If it is unsafe, the auxiliary structure is started, and the judgment standard is clear, which is beneficial to control the ship mooring stability auxiliary structure 100.

[0087] Specifically, in one embodiment, in step S12, the following steps are included:

[0088] When the maximum tension before assistance satisfies the following relationship: F1≤βF s , where F s is the design breaking force of the mooring cable, F1 is the maximum tension of the mooring cable before auxiliary, β is the safety factor, and it satisfies 45%≤β≤75%.

[0089] β is the safety factor, which is related to the material of the mooring cable and the user's requirements. Different users have different requirements. For example, MEG4 published by OCIMF requires 55% for steel cables, 50% for synthetic fiber cables, and 45% for polymer cables. Users can choose the value of the safety factor β according to their needs.

[0090] Specifically, in one embodiment, before step S20, the following specific steps are also included:

[0091] The tugboat model is obtained, and the auxiliary thrust of the tugboat 50 is obtained according to the tugboat model.

[0092] The tugboat model determines the maximum auxiliary thrust and the minimum auxiliary thrust that the tugboat 50 itself can have. Therefore, when setting the auxiliary thrust of the tugboat 50, a suitable auxiliary thrust can be selected within the range of the maximum auxiliary thrust and the minimum auxiliary thrust.

[0093] Specifically, in one embodiment, in step S20, the auxiliary connection position between the magnetic suction cup 10 and the ship 60 includes the horizontal distance and vertical distance between the center point of the magnetic suction cup 10 and the center of gravity of the ship 60, and the distance between the center points of two adjacent tugboats 50.

[0094] Specifically, in one embodiment, in step S20, the ship size includes the ship's type length and the ship's type depth.

[0095] Further, in one embodiment, in step S50, when the number of tugboats 50 is 1, the auxiliary maximum tension of the mooring line satisfies the following relationship:

[0096]

[0097] Among them, F2 is the auxiliary maximum tension of the mooring cable, x is the horizontal distance between the center point of the magnetic suction cup 10 and the center of gravity of the ship 60, y is the vertical distance between the center point of the magnetic suction cup 10 and the center of gravity of the ship 60, L is the ship type length, D is the ship type depth, and f is the auxiliary thrust of the tugboat 50.

[0098] Further, in one embodiment, in step S40, when the number of tugboats 50 is greater than 1, the auxiliary maximum tension of the mooring line satisfies the following relationship:

[0099]

[0100] F2 is the auxiliary maximum tension of the mooring line, x n is the horizontal distance between the center point of the magnetic chuck 10 of the nth tugboat 50 from left to right and the center of gravity of the ship 60, y n is the horizontal distance between the center point of the magnetic chuck 10 of the nth tugboat 50 from left to right and the center of gravity of the ship 60, l n is the distance between the nth ship and the center point of the adjacent tugboat 50 on the right, L is the length of the ship 60, D is the depth of the ship 60, and f is the auxiliary thrust of the tugboat 50.

[0101] Specifically, in one embodiment, step S50 includes the following steps:

[0102] When the maximum tension after assistance satisfies the following relationship: F2≤βF s , where F s is the design breaking force of the mooring cable, F2 is the auxiliary maximum tension of the mooring cable, β is the safety factor, and it satisfies 45%≤β≤75%.

[0103] β is the safety factor, which is related to the material of the mooring cable and the user's requirements. Different users have different requirements. For example, MEG4 published by OCIMF requires 55% for steel cables, 50% for synthetic fiber cables, and 45% for polymer cables. Users can choose the value of the safety factor β according to their needs.

[0104] Furthermore, in one embodiment, after step S30, the following steps are also included:

[0105] Get the motion amplitude of the ship 60;

[0106] The damping force of the telescopic drive member 22 is controlled according to the movement amplitude of the vessel 60 .

[0107] The movement amplitude of the vessel 60 may include the maximum distance of the forward and backward and left and right swings of the vessel 60. The larger the movement amplitude, the smaller the damping force of the telescopic driving member 22.

[0108] The telescopic drive member 22 can be a pneumatic telescopic cylinder or a hydraulic telescopic cylinder. This article selects a hydraulic telescopic cylinder, which has a stronger telescopic driving force. Therefore, different damping forces can be obtained by controlling the hydraulic pressure of the telescopic drive member 22, thereby achieving shaking following the movement amplitude of the ship 60.

[0109] Further, in one embodiment, the magnetic chuck 10 includes an electromagnetic chuck 10 and a pressure sensor. In step S30, the auxiliary connection position connects the magnetic chuck 10 to the vessel 60, including the following steps:

[0110] The mechanical arm 20 moves the magnetic chuck 10 to the auxiliary connection position;

[0111] Get the detection value of the pressure sensor;

[0112] When the detection value of the pressure sensor tends to be stable, it is determined that the magnetic suction cup 10 has come into contact with the ship 60, and the magnetic suction cup 10 is turned on to make the magnetic suction cup 10 and the ship 60 be adsorbed and connected.

[0113] In this specific embodiment, the magnetic suction cup 10 is an electromagnetic suction cup, and a central control panel is provided at the center position, through which the magnetic force of the magnetic suction cup 10 is controlled to be turned on and off and the magnetic force size is adjusted.

[0114] In one embodiment, the mooring condition is the design breaking force (F s ) is a 1600kN polymer mooring cable. For example, the moored ship 60 is a 15KTEU outfitting container ship with a length (L) of 367m and a depth (D) of 29.9m. At this time, the maximum tension F1 before the mooring cable assistance is as high as 1393.29kN, which exceeds 75% of the breaking force, i.e. 1200kN. There is a risk of cable breaking accident, and the mooring of the ship 60 is unsafe. To ensure the safety of the moored ship 60, if three harbor tugboats 1 are dispatched to assist the mooring of the ship 60, the spacing between each harbor tugboat (l n ) should be l1 = l2 = 10m. The horizontal distance (x n ) should be x1 = 20m, x2 = 0m, x3 = 20m, vertical distance (y n ) should be y1=y2=y3=4m, the auxiliary thrust exerted by the tugboat 50 on the moored ship 60 is f=600kN, and the maximum tension F2 of the mooring cable after auxiliary is calculated to be 1046.16kN, which is far lower than 75% of the breaking force, and the ship 60 is safely moored.

[0115] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0116] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0117] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0118] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0119] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0120] The preferred specific embodiments of the present invention are described in detail above. It should be understood that a person skilled in the art can make many modifications and changes based on the concept of the present invention without creative work. Therefore, any technical solution that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A ship mooring stability auxiliary structure, characterized in that: include: A magnetic suction cup (10), wherein the magnetic suction cup (10) comprises a plurality of magnetic suction blocks (11), wherein the plurality of magnetic suction blocks (11) are sequentially arranged in a first direction to form a magnetic suction row group, and the plurality of magnetic suction row groups are sequentially arranged in a second direction, wherein in the first direction, two adjacent magnetic suction blocks (11) are hinged to each other, and in the second direction, two adjacent magnetic suction blocks (11) are hinged to each other; A mechanical arm (20), one end of the mechanical arm (20) is connected to the magnetic suction cup (10), and the other end of the mechanical arm (20) is used to connect to the tugboat (50); the mechanical arm (20) comprises a plurality of arm segments (21) hinged in sequence, and a telescopic driving member (22) is provided between two adjacent arm segments (21) for changing the angle between the two adjacent arm segments (21).

2. A ship mooring stability auxiliary structure according to claim 1, characterized in that: The ship mooring stability auxiliary structure also includes a connecting bracket (30), the connecting bracket (30) is hinged to one end of the mechanical arm (20), the magnetic suction block (11) located on the corner of the magnetic suction cup (10) is a corner magnetic suction block (12), and the connecting bracket (30) is respectively connected to the corner magnetic suction block (12); The connecting bracket (30) comprises a first telescopic rod (31) and a second telescopic rod (32); the first telescopic rod (31) is capable of telescoping along the first direction, and the second telescopic rod (32) is capable of telescoping along the second direction.

3. A ship mooring stability auxiliary structure according to claim 2, characterized in that: A transition piece (33) is provided between the connecting bracket (30) and the corner magnetic attraction block (12), one end of the transition piece (33) is ball-connected to the connecting bracket (30), and the other end of the transition piece (33) is ball-connected to the corner magnetic attraction block (12).

4. A ship mooring stability auxiliary structure according to claim 2, characterized in that: The connecting bracket (30) further comprises a first folding rod (34) and a second folding rod (35), one end of the first folding rod (34) being hinged to one end of the first telescopic rod (31), and one end of the second folding rod (35) being hinged to one end of the second telescopic rod (32).

5. A ship mooring stability auxiliary structure according to claim 4, characterized in that: The connecting bracket (30) comprises four L-shaped brackets (36), and the L-shaped bracket (36) comprises the first telescopic rod (31) and the second telescopic rod (32) which are connected to each other, the two ends of the first folding rod (34) are respectively connected to the first telescopic rod (31) and the corner magnetic suction block (12), and the two ends of the second folding rod (35) are respectively connected to the second telescopic rod (32) and the mechanical arm (20), and the four L-shaped brackets (36) form an I-shaped bracket.

6. A ship mooring stability auxiliary structure according to claim 1, characterized in that: The magnetic suction cup (10) comprises a central control board (13), the magnetic suction block (11) is an electromagnetic suction block, and the central control board (13) is electrically connected to the magnetic suction block (11) and is used to control the magnetic force of the magnetic suction block (11); The central control panel (13) is located at the center of the magnetic suction cup (10), and a plurality of magnetic blocks (11) are arranged around the central control panel (13) along a first direction and a second direction. The plurality of magnetic blocks (11) adjacent to the central control panel (13) are all hinged to the central control panel (13), and the central control panel (13) is spherically connected to the robotic arm (20).

7. A ship mooring stability auxiliary structure according to claim 1, characterized in that: The ship mooring stability auxiliary structure comprises an energy storage device (41); the telescopic drive member (22) is provided with a permanent magnet (221) and an electromagnetic coil (222) sleeved on the permanent magnet (221); the energy storage device (41) is respectively connected to the electromagnetic coil (222) and the telescopic drive member (22) and is used for storing the electric energy generated by the electromagnetic coil (222) and supplying the stored electric energy to the telescopic drive member (22).

8. The ship mooring stability auxiliary structure according to claim 1, characterized in that: The magnetic suction block (11) is provided with a pressure sensor, and the ship mooring stability auxiliary structure comprises a controller (40), and the controller (40) is connected to the pressure sensor and the magnetic suction cup (10) respectively, and is used to control the opening and closing of the magnetic suction cup (10) according to the detection value of the pressure sensor.

9. A ship mooring stability auxiliary structure according to claim 1, characterized in that: The mechanical arm (20) is provided with a protective cover (23), and the protective cover (23) comprises a hard shell (231) sleeved on different arm segments (21), a protective cloth (232) connecting a plurality of adjacent hard shells (231), and a telescopic bellows (233) sleeved on the telescopic drive member (22).

10. A harbor tugboat, characterized in that: It comprises a tugboat (50) and a ship mooring stability auxiliary structure as claimed in any one of claims 1 to 9, wherein a mechanical arm (20) of the ship mooring stability auxiliary structure is connected to the tugboat (50), and a magnetic suction cup (10) of the ship mooring stability auxiliary structure is used for magnetic connection with a ship (60).

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