Electric suction cup control device and method for lockage ship grouping

Abstract

The invention discloses an electric suction cup control device and method for lockage ship grouping. A base of the device is fixedly arranged on the left side and the right side of a bow of a tugboat; the lower end of the big arm which is obliquely arranged is hinged to the upper part of the base; a first small arm is hinged to the upper end of the large arm; a second small arm is hinged to the end, away from the large arm, of the first small arm. A center rod is hinged to the end, away from the first small arm, of the second small arm. The end, away from the second small arm, of the center rod is fixedly connected with a main electromagnetic chuck. The middle of the center rod is connected with at least one auxiliary electromagnetic chuck through a mechanical arm set, and a limiting module for changing the distance between the auxiliary electromagnetic chuck and the main electromagnetic chuck is arranged in the mechanical arm set. According to the electric suction cup control device for lockage ship grouping, the electromagnetic suction cup can generate strong magnetic force, so that enough traction force is provided to move a large ship, the device is not limited by weather and free of pollution, and abrasion to the surface of the ship is greatly reduced.

Description

Technical Field

[0001] The invention relates to the technical field of ship equipment, and in particular to an electric suction cup operating device and method for groups of ships passing through a lock. Background Art

[0002] At present, traditional lock-passing methods often rely on physical connections, such as steel cables and chains, which have problems such as complex ship scheduling, long waiting time, and low lock-passing efficiency. Especially during peak hours, the risk of ship collision increases. Therefore, it is particularly important to develop a technical solution that can efficiently organize ships to pass through the locks in groups, is easy to operate, safe and reliable.

[0003] With the development of electromagnetic technology, electromagnetic suction cups have demonstrated their superior performance in many fields. The traditional way of passing through the lock has efficiency bottlenecks, especially during peak hours, when ships have to wait in line for a long time to pass through the lock, which affects the efficiency of the entire transportation chain. As a new type of connection and fixing device, electric suction cups have the advantages of simple operation and rapid response, which can realize the rapid fixing and release of ships, thereby improving the efficiency of passing through the lock.

[0004] Therefore, it is urgent to propose a new solution to solve the above problems. Summary of the invention

[0005] The invention provides an electric suction cup operating device and method for ships passing through a lock in groups, so as to solve the problems of long waiting time and low efficiency of passing the lock when ships pass through the lock in groups.

[0006] The present invention provides an electric suction cup manipulator for ships passing through a lock in groups, comprising a base, a large arm, a first small arm, a first small arm, a center rod, a mechanical arm group, a main electromagnetic suction cup, and an auxiliary electromagnetic suction cup;

[0007] The base is fixedly arranged on the left and right sides of the bow of the tugboat;

[0008] The lower end of the inclined upper arm is hingedly arranged above the base;

[0009] The upper end of the upper arm is hingedly provided with a first lower arm;

[0010] A second forearm is hingedly provided at one end of the first forearm away from the large arm;

[0011] A central rod is hingedly provided at one end of the second forearm away from the first forearm;

[0012] One end of the central rod away from the second small arm is fixedly connected with a main electromagnetic chuck;

[0013] The middle part of the central rod is connected to at least one auxiliary electromagnetic chuck via a mechanical arm group, and a limiting module for changing the distance from the auxiliary electromagnetic chuck to the main electromagnetic chuck is arranged in the mechanical arm group.

[0014] Furthermore, an articulated seat is provided on the base, and the upper arm is hingedly provided in the articulated seat.

[0015] Furthermore, a lifting cylinder is provided between the boom and the base, and the lifting cylinder is used to provide the power required for the rotation of the boom.

[0016] Furthermore, a first stretching cylinder is provided between the upper arm and the first lower arm, and the first stretching cylinder is used to provide the power required for the rotation of the first lower arm.

[0017] Furthermore, an end of the second small arm away from the first small arm is provided with an opening portion for accommodating the central rod, and the opening portion is provided with a rotating shaft which sequentially connects the second small arm and the central rod.

[0018] Furthermore, the robotic arm group includes a sleeve, a first connecting rod, a second connecting rod and a pin shaft, the sleeve is fixedly mounted on the center rod, multiple first connecting rods are fixedly connected to the sleeve in a radial direction, a single first connecting rod is hingedly connected to two second connecting rods through a pin shaft, an auxiliary electromagnetic suction cup is fixedly provided at one end of the second connecting rod away from the pin shaft, and the limiting module includes a second connecting rod and a pin shaft.

[0019] Furthermore, the plurality of auxiliary electromagnetic chucks are symmetrically arranged around the main electromagnetic chuck along the center of the central rod.

[0020] Furthermore, position sensors are provided in the main electromagnetic chuck and the auxiliary electromagnetic chuck, and an alarm module electrically connected to the position sensor is provided on the tugboat. During the lock passing process, when the alarm module receives the position change of the position sensor, an alarm is issued.

[0021] The present invention also provides a method for manipulating a group of ships passing through a lock using an electric suction cup, comprising the following steps:

[0022] The electric suction cup is made to reach the preset suction height by operating the jacking cylinder and the first stretching cylinder;

[0023] By manipulating the central rod to rotate horizontally around the axis, the electric suction cup can face the curved surface of the hull and find the adsorption position of the main electromagnetic suction cup;

[0024] After the adsorption position is determined, the auxiliary electromagnetic suction cup is controlled to first perform the attachment operation. After the auxiliary electromagnetic suction cup determines the position, the large suction cup is extended under the operation of the mechanical arm to be adsorbed on the curved surface of the ship;

[0025] The tugboat uses an electric suction cup manipulator to pull the ship through the lock. The dispatch center observes the situation during the lock passage and receives the position information of the position sensor through the alarm module on the tugboat.

[0026] After the ship passes through the lock, the main electromagnetic chuck and the auxiliary electromagnetic chuck are powered off, and the lifting cylinder and the first stretching cylinder are retracted.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. The electromagnetic sucker of the electric sucker manipulator for group-passing ships of the present invention can generate strong magnetic force, thereby providing sufficient traction to move large ships, which is not restricted by weather and pollution-free, and greatly reduces the wear on the surface of the ship. In addition, the main electromagnetic sucker and the auxiliary electromagnetic sucker are used to efficiently adjust the optimal adsorption point, and the adsorption force is accurately controlled by adjusting the coil current, so as to achieve continuous and stepless adjustment of the adsorption force, meet the needs under different working conditions, and then generate precise and strong magnetic force to adsorb and move the ship;

[0029] 2. The main electromagnetic sucker, auxiliary electromagnetic sucker, lifting cylinder and first stretching cylinder of the present invention can be integrated with the automation system of the tugboat to realize unattended operation or remote control, thereby improving the degree of automation of the operation. In addition, through the precise control system connected to the two electromagnetic suckers, the adsorption force of the electromagnetic suckers can be easily adjusted to adapt to different ship sizes and weights, making the operation easier;

[0030] 3. The electric suction cup manipulation method for ships passing through the lock in the present invention adjusts the best adsorption point through the cooperation of the center rod, the mechanical arm group, the main electromagnetic suction cup and the auxiliary electromagnetic suction cup, and solves the problem of difficult adsorption through the cooperation of the main electromagnetic suction cup and the auxiliary electromagnetic suction cup. The auxiliary electromagnetic suction cup is evenly arranged around the central main electromagnetic suction cup, and mainly plays an auxiliary role. When the main electromagnetic suction cup tries to adsorb the curved surface of the ship, some areas may not be completely fitted due to the shape and angle of the curved surface, resulting in incomplete attachment. The auxiliary electromagnetic suction cups used for auxiliary purpose around can take care of the areas where the main electromagnetic suction cup cannot be attached. The estimated curved surface of the ship provides suction to compensate for the incomplete attachment of the main electromagnetic suction cup when used for curved surface adsorption; in addition, the auxiliary electromagnetic suction cup is first used to find and determine the best attachment position of the main electromagnetic suction cup on the surface of the ship. By adjusting the current, the adsorption and release actions of each electromagnetic suction cup can be controlled. According to the size and weight of the ship, the auxiliary electromagnetic suction cup finds a suitable and appropriate position and is first adsorbed on the surface of the ship. When it is found that the current position is not suitable or needs to be adjusted, the auxiliary electromagnetic suction cup can quickly demagnetize and detach from the surface of the ship, and then move to a new position for trial until the best adsorption point is finally found. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic diagram of the overall structure of an electric suction cup manipulator for groups of ships passing through a lock according to an embodiment of the present invention;

[0032] Figure 2for Figure 1 A schematic diagram of the structure enlargement in the middle;

[0033] Figure 3 It is a side view of the overall structure of an electric suction cup manipulator for groups of ships passing through a lock according to an embodiment of the present invention;

[0034] Figure 4 This is a schematic structural diagram of an electric suction cup manipulator for groups of ships passing through a lock after the center rod is rotated 90 degrees according to an embodiment of the present invention;

[0035] Figure 5 The diagram is a schematic diagram of the arrangement relationship between the main electromagnetic chuck and the auxiliary electromagnetic chuck in the first embodiment;

[0036] Figure 6 This is a partial structural schematic diagram of an electric suction cup manipulator for groups of ships passing through a lock according to a second embodiment of the present invention;

[0037] Figure numerals: 1. base; 11. articulated seat; 12. lifting cylinder; 2. upper arm; 21. first stretching cylinder; 31. first small arm; 32. second small arm; 321. rotating shaft; 322. opening; 4. center rod; 5. mechanical arm group; 51. sleeve; 52. first connecting rod; 53. second connecting rod; 54. pin shaft; 55. second stretching cylinder; 61. main electromagnetic suction cup; 62. auxiliary electromagnetic suction cup. DETAILED DESCRIPTION

[0038] In order to further understand the content, features and effects of the present invention, the following embodiments are given together with the attached Figures 1 to 6 The detailed instructions are as follows.

[0039] like Figures 1 to 5 As shown, the first embodiment of the present invention provides an electric suction cup manipulator for ships passing through a lock in groups, comprising a base 1, a large arm 2, a first small arm 31, a first small arm 31, a center rod 4, a mechanical arm group 5, a main electromagnetic suction cup 61, and an auxiliary electromagnetic suction cup 62;

[0040] The base 1 is fixedly arranged on the left and right sides of the bow of the tugboat;

[0041] The lower end of the inclined arm 2 is hingedly arranged above the base 1;

[0042] The upper end of the upper arm 2 is hingedly provided with a first lower arm 31;

[0043] The first small arm 31 is hingedly provided with a second small arm 32 at one end away from the large arm 2;

[0044] A central rod 4 is hingedly provided at one end of the second small arm 32 away from the first small arm 31;

[0045] One end of the central rod 4 away from the second small arm 32 is fixedly connected with a main electromagnetic chuck 61;

[0046] The middle part of the central rod 4 is connected to three auxiliary electromagnetic suction cups 62 through a mechanical arm group 5, and a limiting module for changing the distance from the auxiliary electromagnetic suction cup 62 to the main electromagnetic suction cup 61 is arranged in the mechanical arm group 5, wherein the diameter and magnetic attraction force of the main electromagnetic suction cup 61 are greater than those of the auxiliary electromagnetic suction cup 62.

[0047] The electromagnetic suction cup of the electric suction cup operating device for group-passing ships of the present invention can generate strong magnetic force, thereby providing sufficient traction to move large ships, is not restricted by weather, is pollution-free, and greatly reduces the wear on the surface of the ship. In addition, the best adsorption point can be efficiently adjusted by the cooperation of the main electromagnetic suction cup and the auxiliary electromagnetic suction cup, and the adsorption force can be accurately controlled by adjusting the coil current, thereby realizing continuous and stepless adjustment of the adsorption force to meet the needs under different working conditions, thereby generating precise and strong magnetic force to adsorb and move the ship.

[0048] In the first embodiment of the present invention, Figure 1 As shown, a hinge seat 11 is provided on the base 1 , and the upper arm 2 is hingedly provided in the hinge seat 11 .

[0049] In the first embodiment of the present invention, Figure 1 As shown, a lifting cylinder 12 is provided between the boom 2 and the base 1 , which is used to provide the power required for the rotation of the boom 2 .

[0050] In the first embodiment of the present invention, Figure 1 As shown, a first tensioning cylinder 21 is provided between the upper arm 2 and the first lower arm 31, which is used to provide the required power for the rotation of the first lower arm 31. The jacking cylinder 12 and the first tensioning cylinder 21 can be driven to rotate by hydraulic oil, and integrated with the automation system of the tugboat for communication connection, so as to realize the ultimate unmanned or remote control.

[0051] In the first embodiment of the present invention, Figures 1 to 4 As shown, an end of the second small arm 32 away from the first small arm 31 is provided with an opening portion 322 for accommodating the central rod 4, and the opening portion 322 is provided with a rotating shaft 321 which sequentially connects the second small arm 32 and the central rod 4, and the central rod 4 can rotate horizontally around the rotating shaft 321. Figure 4 for Figure 3The center rod 4 drives the main electromagnetic suction cup 61 and the auxiliary electromagnetic suction cup 62 to rotate horizontally 90° around the rotating shaft 321. By rotating the center rod 4 to a suitable position, the main electromagnetic suction cup 61 and the auxiliary electromagnetic suction cup 62 can quickly find a suitable adsorption position. In addition, a motor or a hydraulic motor can be provided on the center rod 4 to provide power for the center rod 4 to rotate around the rotating shaft 321. The motor or the hydraulic motor is integrated with the automation system of the tugboat for communication, so as to realize the ultimate unmanned operation or remote control.

[0052] In the first embodiment of the present invention, Figure 1 and 2 As shown, the mechanical arm group 5 includes a sleeve 51, a first connecting rod 52, a second connecting rod 53 and a pin 54. The sleeve 51 is fixedly sleeved on the center rod 4. Multiple first connecting rods 52 are fixedly connected to the sleeve 51 in the radial direction. A single first connecting rod 52 is hingedly connected to two second connecting rods 53 through a pin 54. An auxiliary electromagnetic suction cup 62 is fixedly provided at one end of the second connecting rod 53 away from the pin 54. The above-mentioned limit module includes the second connecting rod 53 and the pin 54. The distance from the auxiliary electromagnetic suction cup 62 to the main electromagnetic suction cup 61 is changed by rotating the second connecting rod 53 around the pin 54. A motor or a hydraulic motor (not shown in the figure) is provided on the second connecting rod 53 to provide power for rotating the second connecting rod 53 around the pin 54. The motor or hydraulic motor is integrated with the automation system of the tugboat for communication connection to achieve ultimate unmanned operation or remote control.

[0053] In the second embodiment of the present invention, Figure 6 As shown, the first connecting rod 52 and the second connecting rod 53 are hingedly connected via a second tensioning cylinder 55, and the second tensioning cylinder 55 can be driven to rotate by hydraulic oil, thereby driving the second connecting rod 53 to rotate around the first connecting rod 52, and integrated communication connection with the automation system of the tugboat is achieved to achieve ultimate unmanned or remote control.

[0054] In the first embodiment of the present invention, three auxiliary electromagnetic chucks 62 are symmetrically arranged around the main electromagnetic chuck 61 along the center of the central rod 4. Of course, the number of auxiliary electromagnetic chucks 62 can also take other values ​​according to actual conditions.

[0055] In this embodiment, position sensors are provided in the main electromagnetic suction cup 61 and the auxiliary electromagnetic suction cup 62, and an alarm module electrically connected to the position sensor is provided on the tugboat. During the lock passing process, when the alarm module receives the position change of the position sensor, an alarm is issued.

[0056] This embodiment also provides a method for manipulating a group of ships passing through a lock using an electric suction cup, comprising the following steps:

[0057] The electric suction cup is made to reach a preset suction height by operating the jacking cylinder 12 and the first stretching cylinder 21;

[0058] By manipulating the central rod 4 to rotate horizontally around the rotating shaft 321, the electric suction cup can face the curved surface of the hull and find the adsorption position of the main electromagnetic suction cup 61;

[0059] After the adsorption position is determined, the auxiliary electromagnetic suction cup 62 is controlled to first perform the attachment operation. After the auxiliary electromagnetic suction cup 62 determines the position, the large suction cup is extended under the operation of the mechanical arm to be adsorbed on the curved surface of the ship;

[0060] The tugboat uses an electric suction cup manipulator to pull the ship through the lock. The dispatch center observes the situation during the lock passage and receives the position information of the position sensor through the alarm module on the tugboat.

[0061] After the ship passes through the lock, the main electromagnetic chuck 61 and the auxiliary electromagnetic chuck 62 are powered off, and the lifting cylinder 12 and the first stretching cylinder 21 are retracted.

[0062] The electric suction cup manipulation method for ships passing through the lock group of the present invention adjusts the best adsorption point through the cooperation of the center rod, the mechanical arm group, the main electromagnetic suction cup and the auxiliary electromagnetic suction cup, and solves the problem of difficult adsorption through the cooperation of the main electromagnetic suction cup and the auxiliary electromagnetic suction cup. The auxiliary electromagnetic suction cup is evenly arranged around the central main electromagnetic suction cup, and mainly plays an auxiliary role. When the main electromagnetic suction cup tries to adsorb the curved surface of the ship, some areas may not be completely fitted due to the shape and angle of the curved surface, thereby causing incomplete attachment. The auxiliary electromagnetic suction cups used for assistance in the surrounding area can take care of the main electromagnetic suction cup that cannot be estimated. The auxiliary electromagnetic chuck is used to find and determine the best attachment position of the main electromagnetic chuck on the ship's surface. By adjusting the current, the adsorption and release actions of each electromagnetic chuck can be controlled. According to the size and weight of the ship, the auxiliary electromagnetic chuck finds a suitable position and is first adsorbed on the ship's surface. When it is found that the current position is not suitable or needs to be adjusted, the auxiliary electromagnetic chuck can quickly break the magnetism and detach from the ship's surface, and then move to a new position for trial until the best adsorption point is finally found.

[0063] The invention described above only expresses the implementation methods of the embodiments of the present invention, and cannot be understood as limiting the scope of the invention patent, nor does it impose any form of limitation on the structure of the embodiments of the present invention. It should be pointed out that for ordinary technicians in this field, several changes and improvements can be made without departing from the concept of the embodiments of the present invention, which all belong to the protection scope of the embodiments of the present invention.

Claims

1. An electric suction cup manipulator for groups of ships passing through a lock, characterized in that: It comprises a base (1), a large arm (2), a first small arm (31), a first small arm (31), a central rod (4), a mechanical arm group (5), a main electromagnetic chuck (61), and an auxiliary electromagnetic chuck (62); The base (1) is fixedly arranged on the starboard and port sides of the bow of the tugboat; The lower end of the inclined upper arm (2) is hingedly arranged above the base (1); The upper end of the large arm (2) is hingedly provided with a first small arm (31); A second small arm (32) is hingedly provided at one end of the first small arm (31) away from the large arm (2); A central rod (4) is hingedly provided at one end of the second small arm (32) away from the first small arm (31); One end of the central rod (4) away from the second small arm (32) is fixedly connected to a main electromagnetic chuck (61); The middle part of the central rod (4) is connected to at least one auxiliary electromagnetic chuck (62) via a mechanical arm group (5), and a limiting module for changing the distance between the auxiliary electromagnetic chuck (62) and the main electromagnetic chuck (61) is arranged in the mechanical arm group (5).

2. The electric suction cup manipulator for groups of ships passing through a lock according to claim 1, characterized in that: The base (1) is provided with an articulated seat (11), and the upper arm (2) is hingedly arranged in the articulated seat (11).

3. The electric suction cup manipulator for ships passing through a lock in groups according to claim 2, characterized in that: A lifting cylinder (12) is provided between the upper arm (2) and the base (1), and the lifting cylinder (12) is used to provide the power required for the rotation of the upper arm (2).

4. The electric suction cup manipulator for groups of ships passing through a lock according to claim 1, characterized in that: A first stretching cylinder (21) is arranged between the upper arm (2) and the first lower arm (31), and the first stretching cylinder (21) is used to provide the power required for the rotation of the first lower arm (31).

5. The electric suction cup manipulator for groups of ships passing through a lock according to claim 1, characterized in that: An end of the second small arm (32) away from the first small arm (31) is provided with an opening portion (322) for accommodating the central rod (4), and the opening portion (322) is provided with a rotating shaft (321) which sequentially connects the second small arm (32) and the central rod (4).

6. The electric suction cup manipulator for groups of ships passing through a lock according to claim 1, characterized in that: The mechanical arm group (5) comprises a sleeve (51), a first connecting rod (52), a second connecting rod (53) and a pin (54); the sleeve (51) is fixedly sleeved on the center rod (4); a plurality of the first connecting rods (52) are fixedly connected to the sleeve (51) in a radial direction; a single first connecting rod (52) is hingedly connected to two second connecting rods (53) via a pin (54); an auxiliary electromagnetic suction cup (62) is fixedly provided at one end of the second connecting rod (53) away from the pin (54); and the limiting module comprises a second connecting rod (53) and a pin (54).

7. The electric suction cup manipulator for groups of ships passing through a lock according to claim 6, characterized in that: A second stretching cylinder (55) is provided between the first connecting rod (52) and the second connecting rod (53), and the second stretching cylinder (55) is used to drive the second connecting rod (53) to rotate around the pin shaft (54).

8. The electric suction cup manipulator for groups of ships passing through a lock according to claim 1, characterized in that: The plurality of auxiliary electromagnetic suction cups (62) are symmetrically arranged around the main electromagnetic suction cup (61) along the center of the central rod (4).

9. The electric suction cup manipulator for ships passing through a lock in groups according to claim 1, characterized in that: Position sensors are arranged inside the main electromagnetic chuck (61) and the auxiliary electromagnetic chuck (62), and an alarm module electrically connected to the position sensor is arranged on the tugboat. During the lock-passing process, when the alarm module receives a position change of the position sensor, an alarm is issued.

10. A method for manipulating a group of ships passing through a lock using an electric suction cup, characterized in that: The following steps are involved: The electric suction cup is made to reach a pre-set suction height by operating the lifting cylinder (12) and the first stretching cylinder (21); By manipulating the central rod (4) to rotate horizontally around the rotating shaft (321), the electric suction cup can face the curved surface of the hull and find the suction position of the main electromagnetic suction cup (61); After the adsorption position is determined, the auxiliary electromagnetic suction cup (62) is controlled to first perform an attachment operation. After the auxiliary electromagnetic suction cup (62) determines the position, the large suction cup is extended under the operation of the mechanical arm to be adsorbed on the curved surface of the ship; The tugboat uses an electric suction cup manipulator to pull the ship through the lock. The dispatch center observes the situation during the lock passage and receives the position information of the position sensor through the alarm module on the tugboat. After the ship passes through the lock, the main electromagnetic sucker (61) and the auxiliary electromagnetic sucker (62) are powered off, and the lifting cylinder (12) and the first stretching cylinder (21) are retracted.

Images