Self-adaptive automatic ship locking device and using method thereof

Abstract

The invention provides a self-adaptive automatic ship locking device and a using method thereof.The device comprises a lock base, a lock main body, a jacking rotating mechanism, a lock cover and a lock rod, the lock main body is fixed to a berthing position bottom end table top, the jacking rotating mechanism is arranged in the lock base and connected with the lock main body in the vertical direction, the lock cover is adaptively covered on the lock base, and the lock rod is connected with the jacking rotating mechanism. The lock rod is installed at a designated position of a ship, the lock body comprises a lock ring part, a lock cylinder part and a lock plunger part which are assembled together in a matched mode, the lock cylinder part and the lock ring part are longitudinally connected, the unlocking / locking action of the lock ring part is achieved through state linkage, the lock plunger part and the lock cylinder part are transversely connected, and the lock cylinder part can be in a buckled state or an unbuckled state; the method comprises the steps of disassembly and installation, unlocking and the like of a ship, automatic hooping and locking, issuing of an unlocking instruction, automatic unhooping and resetting of a lock bolt. According to the ship locking device, the self-adaptive adjustment range of the ship locking device is enlarged, the structural stability of the device is improved, and the ship mooring efficiency is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent ships, and in particular to an adaptive automatic ship locking device and a use method thereof. Background Art

[0002] As the preferred means of transportation in waters, ships are widely used in rivers, lakes, and scenic spots. They are in great demand and are frequently used. However, traditional ships have a low degree of intelligence and cannot be automatically locked into berths. Not only do they need to carry cables, but the driver also needs to go ashore to moor the ship to the mooring piles with cables. The operation is cumbersome, time-consuming and labor-intensive. In particular, some ships are light in weight and frequently enter berths, so the efficiency of rope mooring is too low. In view of this, the existing patent CN116291062B provides an automatic ship locking method and device, which provides an automatic ship locking device with detachable components installed between the ship and the berth, solving the problem of automatic mooring of the ship and the berth, and improving the efficiency of automatic locking and automatic unlocking of the ship by introducing an automatic ship locking method.

[0003] However, the applicable locking height and angle are limited, and the success rate of automatic locking of ships is low. It can only adapt to different ship docking environments by adjusting the size of the installation components, which wastes human resources in frequent mooring operations and reduces the efficiency of ship mooring. The locking ring components have problems such as hoop upturning and asynchronous opening, which are easily damaged during unlocking and pushing the ship or bearing impact. The locking components have the problem of getting stuck and rebounding, which may lead to locking failure. The battery life is poor. Summary of the invention The main purpose of the present invention is to provide an adaptive automatic ship locking device and a method for using the same, so as to solve the problems that the existing automatic ship locking devices and methods have poor applicability to the docking environment, waste manpower in the adjustment method, and low mooring efficiency; the locking ring components have the problem of hoop upturning and asynchronous opening, which is easy to be damaged during unlocking and pushing the boat or bearing impact; the locking components have the problem of getting stuck and rebounding, which may cause locking failure; and the battery life is poor.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: an adaptive automatic ship locking device, which includes a lock base, a lock body, a lifting and rotating mechanism, a lock cover and a lock rod; The lock base, as a fixed base platform of the adaptive automatic ship locking device, can be fixed to a designated position of the berthing space. The lock body is fixed on the lock base and can lock a lock rod of a corresponding size. The lock rod is installed at a designated position of the ship and can be automatically locked into the lock body. The lifting and rotating mechanism is arranged in the lock base and can lift and rotate the lock body. The lock cover can be adaptively covered on the lock base. The lock body includes a lock ring component, a lock core component and a lock bolt component. The lock ring component is arranged at the front end of the lock base, and the lock core component is adaptively arranged at the rear end of the lock base and is longitudinally connected to the lock ring component. The lock ring component unlocks / locks through state linkage. The lock bolt component is adaptively arranged on one side of the lock core component and is laterally connected to the lock core component, so that the lock core component can be in a locked state or an unlocked state; The lifting and rotating mechanism is arranged in the lock base, and its upper end is connected to the lock body in a vertical direction; The front end of the lock cover is provided with a concave opening for adapting the action space of the lock rod and the lock ring components; The lock base includes a horizontal bottom plate, a vertical side frame, a vertical support platform, a horizontal carrying plate and a vertical baffle; The horizontal bottom plate is arranged on the horizontal plane of the bottom end table of the berth, the front end of the horizontal bottom plate extends into the berth, and the rear end is fixed on the horizontal table surface of the berth; The vertical side frame is arranged on the vertical surface of the bottom end table of the berth, the top of the vertical side frame is connected to the front end of the horizontal bottom plate, and the bottom is fixed on the vertical side surface of the berth; The vertical support platform is fixed vertically upward on the horizontal bottom plate, and the setting height of the vertical support platform is adapted to the average working height of the lock rod, so that the middle rod body of the lock rod is aligned with the lock body; The transverse carrying plate is horizontally arranged on the top of the vertical supporting platform and is used to carry the lock body; The vertical baffle is arranged around the outer side of the vertical support platform; The locking ring components include a T-shaped shuttle rod, a Y-shaped locking tongue, a left hoop J-shaped member, a left connecting rod, a right hoop J-shaped member, a right connecting rod, a first movable pin, a second movable pin and a stopper; Two bearing pins are symmetrically fixed on the transverse mounting plate; The T-shaped shuttle rod is attached to the front end of the central axis of the upper end surface of the horizontal mounting plate; The left hoop J-shaped member is placed upside down on the left side of the front end of the central axis of the upper end surface of the transverse mounting plate, the lower left corner of which is hinged to a bearing pin on the left side of the transverse mounting plate, the lower right corner is hinged to one end of the left connecting rod through a first movable pin, and the lower left corner of the T-shaped shuttle rod is hinged to the other end of the left connecting rod through a second movable pin; The right hoop J-shaped member is placed upside down on the right side of the front end of the central axis of the upper end surface of the transverse mounting plate, the lower right corner of which is hinged to another bearing pin on the right side of the transverse mounting plate, the lower left corner is hinged to one end of the right connecting rod through the first movable pin, and the lower right corner of the T-shaped shuttle rod is hinged to the other end of the right connecting rod through the second movable pin; Two guide grooves are symmetrically arranged at the front end of the central axis of the upper end surface of the transverse mounting plate, and the head end of the arcuate groove section is connected to the tail end of the longitudinal groove section. When the first movable pin slides from the head end to the tail end in the arcuate groove section of the guide groove, the second movable pin slides from the head end to the tail end in the longitudinal groove section of the guide groove, thereby providing synchronous guidance for the left hoop J-shaped member, the left connecting rod, the right hoop J-shaped member and the right connecting rod; The Y-shaped locking tongue is fixed to the front end top surface of the T-shaped shuttle rod; The stoppers are symmetrically arranged on both sides of the front end of the central axis of the upper end surface of the transverse mounting plate. When the first movable pin and the second movable pin slide to the tail end of the corresponding groove section at the same time, the outer sides of the left hoop J-shaped member and the right hoop J-shaped member respectively abut against the stoppers on both sides; The lock core component includes a main core rod, a guide frame, a first guide tube, a first positioning hoop, a limit frame and a front top spring; The head end of the main core rod is provided with a first limiting groove, the tail end is provided with a second limiting groove, and a blocking piece is provided in the second limiting groove; A longitudinal through hole is provided through the middle of the guide frame; A third limiting groove is respectively arranged at both ends of the first guide tube, the spacing between the two third limiting grooves is adapted to the length of the guide frame, the first guide tube is arranged in the longitudinal through hole of the guide frame, a first positioning hoop is arranged in each third limiting groove, and the first positioning hoop clamps the first guide tube longitudinally in the longitudinal through hole of the guide frame; A support hole is provided at the front end of the middle part of the limit frame, one end of the front top spring is arranged in the support hole, and the other end is sleeved on the tail end of the main core rod and abuts against the baffle, so as to provide the elastic force required for the main core rod to return forward; The middle part of the main core rod can be movably sleeved in the first guide tube, and its head end is connected to the tail end of the T-shaped shuttle rod in a colinear manner. A double-stacked self-locking washer is also provided at the connection. The main core rod can drive the T-shaped shuttle rod to shuttle back and forth, thereby realizing the state linkage between the main core rod and the T-shaped shuttle rod; The limit frame is fixed to the rear end of the central axis of the upper end surface of the transverse carrying plate, and the guide frame is fixed to the middle end of the central axis of the upper end surface of the transverse carrying plate; The locking bolt component includes a buckle pin, a cap plate, a Z-shaped member, a second guide tube, and a second positioning hoop; The Z-shaped member is fixed to one side of the middle end of the central axis of the upper end surface of the horizontal mounting plate, and a vertical through hole and a limit pin hole are arranged on the top thereof, the vertical through hole is directly opposite to the central axis of the upper end surface of the horizontal mounting plate, and the limit pin hole is arranged on one side of the vertical through hole; A fourth limiting groove is provided at each end of the second guide tube, the spacing between the two fourth limiting grooves is adapted to the thickness of the top of the Z-shaped member, and the second positioning hoop vertically clamps the second guide tube in the vertical through hole of the Z-shaped member; The bottom end of the buckle pin is set as a triangular buckle head, the vertical surface of which points to the rear end of the horizontal mounting plate, and the inclined surface points to the front end of the horizontal mounting plate. The bottom locking surface is provided with a concave arc surface, the arc of which is adapted to the arc of the shaft section of the first limiting groove on the main core rod. The bottom end of the buckle pin is shuttled downward and can be movably sleeved in the second guide tube. When the triangular buckle head of the buckle pin shuttles downward, it can be aligned with and inserted into the first limiting groove of the main core rod, and clamp the rear end surface of the first limiting groove through its vertical surface. When the buckle pin shuttles upward, it can drive the triangular buckle head to leave the first limiting groove of the main core rod. The cap plate is connected to the top of the buckle pin and installed on the top surface of the Z-shaped component. A limit pin is arranged on one side of the buckle pin on the cap plate. When the buckle pin shuttles up and down, the limit pin is driven to shuttle in the limit pin hole through the cap plate. The locking bolt components also include a T-shaped support seat, a tilting rod and a return spring; The T-shaped support seat is fixed on one side of the central axis of the upper end surface of the horizontal mounting plate, and its top is hinged to the middle of the tilting rod. The front end of the tilting rod abuts against the bottom of the cap plate, which can drive the cap plate, buckle pin and limit pin to shuttle upward; One end of the return spring is hung on the front end of the tilting rod, and the other end is hung on the root of the T-shaped support seat. Its function is to pull the front end of the tilting rod downward to facilitate the downward shuttle movement of the cap plate, buckle pin and limit pin; An opening groove is adaptively provided at the rear end of the lock cover, and the size of the opening groove can meet the space requirement for the tilting rod to tilt up and down. When the tail end of the tilting rod tilts down to the lower end of the opening groove, the lower end face of the limit pin is still in the limit pin hole and a gap is retained with its top end. When the tail end of the tilting rod tilts up to the upper end of the opening groove, the front end of the tilting rod is close to the lower end face of the cap plate and the lower end face of the cap plate is coplanar with the top face of the second guide tube.

[0005] In the preferred embodiment, the lifting and rotating mechanism includes a lifting component and a rotating component; The lifting components include a lifting plate, a hydraulic cylinder, a guide rod, a guide sleeve and a cross plate; The hydraulic cylinder is symmetrically arranged inside the vertical support platform, and the top end of the piston rod is symmetrically connected to the two ends of the jacking plate; A horizontal plate is provided on the upper surface of the hydraulic cylinder body, which is vertically fixed to the side plate of the vertical support platform, and guide sleeves are symmetrically provided at both ends; The guide rod sleeve is arranged in the guide sleeve, and its upper end is connected to the four corners of the jacking plate respectively. It shuttles up and down in the guide sleeve as the jacking plate is lifted. When the hydraulic cylinder moves to the lowest point of the stroke, the jacking plate abuts against the upper end of the vertical support platform, and a gap is left between the lower end of the guide rod and the upper surface of the horizontal bottom plate. The rotating parts include a rotating plate, a rotating motor, a driving gear, a rotating gear and a rotating shaft; The rotating motor is arranged below the jacking plate and connected to the lower surface of the jacking plate through a motor seat, and the output shaft of the rotating motor passes through the jacking plate and is connected to the driving gear; The driving gear is arranged on one side of the first gear groove in the middle of the lifting plate, and its upper surface is not higher than the upper surface of the lifting plate; The rotary gear is arranged in the first gear groove in the middle of the lifting plate and meshes with the driving gear. The lower end of the rotary gear is rotatably connected to the lifting plate through a rotary shaft. The upper end of the rotary gear is arranged in the second gear groove on the lower surface of the rotating plate and connected to the rotating plate. A gap is left between the lower surface of the rotating plate and the upper surface of the lifting plate. A positioning pin is also provided on the lower surface of the rotating plate, and a matching arc-shaped positioning groove is provided on the upper surface of the lifting plate, and the length of both ends of the positioning groove is matched with the rotation range of the lock body; A solar panel is also provided on the upper end of the lock cover, and a solar controller is also provided inside the vertical support platform; The locking bolt component also includes a straight arm motor, in which a control panel, a communication module and a battery are arranged. The control panel serves as a control center of the straight arm motor and can receive and process the working condition data of the communication module. The communication module has a wired communication function and / or a wireless communication function. The battery provides working power for the straight arm motor, and the solar controller controls the solar panel to charge the battery. The straight arm motor is fixed on one side of the central axis of the upper end surface of the horizontal mounting plate, and the output end of the straight arm motor is vertically aligned with the protrusion at the bottom of the cap plate, which can drive the cap plate and the buckle pin to shuttle upward; The ship is provided with a first unlocking button which can communicate wirelessly with the communication module; A second unlocking button capable of performing wired communication with the communication module is provided on the berth; The user can send instructions to the control panel through wired communication or wireless communication to drive the straight arm motor to work and realize the remote automatic unlocking function. When the first unlocking button or the second unlocking button is continuously pressed, the communication module can continuously send a high-level unlocking signal to the control panel, and the control panel drives the straight arm motor to move forward to increase the output end stroke, thereby driving the cap plate and the buckle pin to shuttle upward; when the first unlocking button and the second unlocking button are released, the control panel drives the straight arm motor to move in the reverse direction to shorten the output end stroke, so as to facilitate the cap plate and the buckle pin to shuttle downward; The range of variation of the stroke at the output end of the straight arm motor is adapted to the action requirements of the buckle pin; A position sensor connected to the control board is provided on one side of the Y-shaped lock tongue, and its height is adapted to the height of the Y-shaped lock tongue. The sensing head of the position sensor is against one side arm of the Y-shaped lock tongue, and is used to monitor the position information of the Y-shaped lock tongue. The control board interprets the position information of the Y-shaped lock tongue to deduce the working state of the lock ring component; A photoelectric sensor connected to a control panel is provided at the front end of the horizontal bottom plate to monitor the position information of the locking rod on the ship. The control panel interprets the position and speed information of the locking rod and indicates the working status of the locking rod.

[0006] In a preferred embodiment, a method for using an adaptive automatic ship locking device comprises: S1. Split installation: install the lock rod to the middle protrusion of the bow and / or stern of the ship, install the lock base to the bottom table of the floating berth, then fix the lock body to the lock base, and then cover the lock cover on the lock base to cover the lock body; wherein the installation height of the lock rod is adapted to the installation height of the lock body; S2, unlocking the waiting ship, the user presses down the tail end of the tilting lever, or continuously presses the first unlocking button, or continuously presses the second unlocking button, so that the lock ring component is initialized to the "unlocking state", and then releases the tilting lever, the first unlocking button and the second unlocking button, at which time the lock bolt component is in the "unfastened state" with respect to the lock core component; S3, automatic clamping lock, the ship pushes the lock rod into the lock ring component, turns the lock ring component from "unlocked state" to "locked state", clamps the lock rod to achieve automatic locking of the ship, and at the same time, the lock bolt component changes the lock core component from "unlocked state" to "locked state"; S4, issuing an unlock command, if the user continuously presses down the tail end of the tilting lever, or continuously presses down the first unlocking button, or continuously presses down the second unlocking button to issue an "unlock command"; S5, automatic unhooking, the tilting rod or the straight arm motor drives the buckle pin in the lock bolt component to shuttle upward, so that the lock bolt component changes from the "locking state" to the "unlocking state" with the lock core component, and the lock core component pushes the lock rod out and returns to the "unlocking state"; S6, the lock bolt returns to its original position. If the user releases the lever, the lever returns to its original position automatically under the action of the return spring. Or if the user releases the first unlocking button and the second unlocking button, the electric pin automatically reverses and no longer presses against the cap plate. The triangular buckle head at the bottom of the buckle pin moves downward under the action of gravity and presses against the middle end of the main core rod.

[0007] In the preferred embodiment, in step S3, when the locking rod is squeezed backward into the locking ring component, it contacts and pushes the Y-shaped locking tongue backward, and the Y-shaped locking tongue pushes the T-shaped shuttle rod backward; in the process of the T-shaped shuttle rod moving backward, the T-shaped shuttle rod pulls the left hoop J-shaped component to swing to the right with the help of the left connecting rod, and at the same time, the T-shaped shuttle rod pulls the right hoop J-shaped component to swing to the left with the help of the right connecting rod, and at the same time, the T-shaped shuttle rod pushes the main core rod backward, and the main core rod compresses the front top spring backward with the help of the baffle until the front ends of the left hoop J-shaped component and the right hoop J-shaped component touch each other, or until the main core rod is limited. When the main core rod moves backward to the first specified stroke, the triangular buckle head at the bottom of the buckle pin shuttles downward under the action of gravity and is stuck in the first limiting groove. At this time, the gap between the front end of the left hoop J-shaped component and the front end of the right hoop J-shaped component is smaller than the diameter of the locking rod, and the locking ring component is in a "locked state" and clamps the locking rod; if the locking rod no longer squeezes the Y-shaped lock tongue backward, under the action of the front top spring, the rear end face of the first limiting groove of the main core rod sticks to the vertical face of the triangular buckle head, and the locking bolt component changes from an "unfastened state" to a "locked state" with respect to the lock core component.

[0008] In the preferred embodiment, in step S5, when the buckle pin shuttles upward to the third specified stroke, the triangular buckle head at the bottom of the buckle pin completely disengages from the first limiting groove on the main core rod; the lock bolt component changes from a "locked state" to an "unlocked state" with respect to the lock core component, and the front top spring pushes the main core rod forward with the aid of the baffle, and the main core rod pushes the T-shaped shuttle rod forward; in the process of the T-shaped shuttle rod moving forward, the T-shaped shuttle rod pushes the left hoop J-shaped component to the left with the aid of the left connecting rod to open, and at the same time, the T-shaped shuttle rod pushes the right hoop J-shaped component to the right with the aid of the right connecting rod, and at the same time, the T-shaped shuttle rod pushes the Y-shaped lock tongue forward, and the Y-shaped lock tongue pushes the locking rod forward until the baffle is blocked by the first guide tube, at this time, the gap between the front end of the left hoop J-shaped component and the front end of the right hoop J-shaped component is greater than the diameter of the locking rod, and the lock ring component is in an "unlocked state" and pushes the locking rod out.

[0009] In the preferred solution, during the disassembly and installation process of step S1, the automatic ship locking device needs to be self-checked and adjusted in the power-on state; the automatic ship locking device prompts the user to adjust the working state of the lock ring component and the lock rod in the automatic ship locking device according to the self-check result of the power-on state, to ensure that the lock ring component and the lock rod are in the correct docking mode; Specifically, the position sensor monitors the position information of the Y-shaped lock tongue and transmits it to the control board, and the control board calculates the swing angle value and angular velocity information of the lock ring component according to the position information of the Y-shaped lock tongue, and indicates the working state of the lock ring component; At the same time, the photoelectric sensor monitors the dynamic position information of the lock rod and transmits it to the control board, and the control board interprets the position and speed information of the lock rod and indicates the working status of the lock rod; If the locking ring component and the locking rod are in an incorrect docking mode, or the requirements for a stable docking mode are not met, the control panel prompts the user to make corresponding adjustments to eliminate the incorrect docking mode and meet the corresponding requirements for a stable docking mode.

[0010] In the preferred solution, during the disassembly installation in step S1, the automatic ship locking device also needs to be inspected and adjusted for installation position / size; specifically, after the automatic ship locking device is installed, the ship is started to sail against the locking rod to within a specified distance from the locking ring component, the photoelectric sensor monitors the position information of the locking rod and transmits it to the control panel, the control panel interprets the position information of the locking rod, compares it with the installation information of the locking ring component, and calculates the "installation suitability" of the automatic ship locking device. If the "installation suitability" is lower than the first specified threshold, the control panel drives the hydraulic cylinder to lift the lock body until the "installation suitability" is higher than the first specified threshold; When the ship shakes up and down, the locking rod has a corresponding probability of missing the locking ring component upward or downward. The lower the first specified threshold is set, the greater the corresponding probability of longitudinal missing. Among them, "installation suitability" specifically refers to: the degree to which the locking rod is higher / lower than the locking ring component. The smaller the higher / lower the degree, the greater the value of "installation suitability"; the maximum value of "installation suitability" is 100%, that is, the middle end of the locking rod can be shaken up and down evenly around the locking ring component, and the minimum value of "installation suitability" is 0%, that is, the locking rod cannot enter the locking ring component whether it is stable or shaking.

[0011] In the preferred solution, during the unlocking and boarding process in step S2, it is also necessary to periodically perform unlocking detection and adjustment; specifically, the position sensor monitors the position information of the Y-shaped lock tongue and transmits it to the control panel, and the control panel calculates the swing angle value of the lock ring component according to the position information of the Y-shaped lock tongue, and calculates the current "hoop angle suitability" of the lock ring component. If the "hoop angle suitability" is lower than the second specified threshold, the control panel prompts the user to make corresponding adjustments; The lower the "hoop angle suitability", the lower the probability that the lock rod is stuck in the lock ring component, including when the ship sways left and right, the lock rod has a corresponding probability of missing the lock ring component to the left or right. The lower the second specified threshold is set, the greater the corresponding probability of lateral miss; The "hoop angle suitability" specifically refers to the degree to which the lock rod is biased to the left / right relative to the lock ring component. The smaller the gap between the front ends of the left hoop J-shaped component and the right hoop J-shaped component, the greater the degree of bias to the left / right, and the smaller the value of the "hoop angle suitability" is assigned; the maximum value of the "hoop angle suitability" is 100%, that is, the front ends of the left hoop J-shaped component and the front ends of the right hoop J-shaped component are opened to 180 degrees, and the minimum value of the "hoop angle suitability" is 0%, that is, the gap between the front ends of the left hoop J-shaped component and the right hoop J-shaped component is smaller than the diameter of the lock rod; Among them, the user is prompted to make corresponding adjustments, including: the user first performs the first stage adjustment, that is, presses down the tail end of the tilting lever, or continuously presses the first unlocking button, or continuously presses the second unlocking button to initialize the lock ring component to the "unlocked state"; after the user performs the first stage adjustment, if the "hoop angle suitability" is still lower than the second specified threshold, it is necessary to deal with the fault first, such as checking whether the lock ring component is stuck or the straight arm motor is damaged. After confirming that the mechanical state is correct, drive the rotating motor to rotate the lock body until the "hoop angle suitability" is higher than the second specified threshold.

[0012] In the preferred solution, during the process of automatic ship locking in step S3, speed detection and adjustment need to be performed periodically; specifically, when the ship is sailing backward in the berth with the lock rod against it, the photoelectric sensor monitors the dynamic position information of the lock rod and transmits it to the control panel, and the control panel interprets the position and speed information of the lock rod and calculates the "inertia suitability" of the lock rod. If the "inertia suitability" is lower than the third specified threshold, the control panel will send specific alarm information back to the monitoring system of the ship to prompt the user to make corresponding adjustments; If the ship speed is too low or too high, the "inertia suitability" will be reduced. If the speed is too low, the locking rod will not have enough momentum when it squeezes into the locking ring component, making it difficult to achieve automatic locking; if the speed is too high, the locking rod will have excessive momentum when it squeezes into the locking ring component, which will easily damage the automatic ship locking device. Among them, "inertia suitability" specifically refers to the degree to which the momentum required for the lock rod to squeeze into the lock ring component is too little / too much. The greater the degree of less / too much, the smaller the value of "inertia suitability" is. The maximum value of "inertia suitability" is 100%, which means that the lock rod can just squeeze into the lock ring component to achieve automatic locking without causing additional impact. The minimum value of "inertia suitability" is 0%, which means that the lock rod cannot contact the lock ring component or directly damages the automatic ship locking device. The user is prompted to make corresponding adjustments, including increasing the throttle to accelerate the ship when the speed is too low, and reducing the throttle to slow down the ship or reverse braking when the speed is too high; thereby adjusting the "inertia suitability" to a value higher than the third specified threshold; Specifically, when the lock bolt component is in a "buckle state" with the lock core component, and the lock ring component is in a "locked state", the triangular buckle head at the bottom of the buckle pin is inserted into the first limiting groove on the main core rod, wherein the vertical surface of the triangular buckle head blocks the rear end surface of the first limiting groove, and the main core rod squeezes the front top spring into the supporting hole of the limiting frame with the help of the blocking sheet, and the cap plate is placed on the top surface of the Z-shaped component; If the user presses down on the tail end of the tilting rod, the front end of the tilting rod tilts the cap plate upward, and the cap plate drives the buckle pin to shuttle upward. When the shuttle moves to the third specified stroke, the triangular buckle head at the bottom of the buckle pin completely disengages from the first limit groove on the main core rod; or if the user sends an "unlocking command" to the control board of the straight arm motor via the communication module, when the control board drives the straight arm motor to move forward, its output end pushes the cap plate upward, and the cap plate drives the buckle pin to shuttle upward. When the shuttle moves to the third specified stroke, the triangular buckle head at the bottom of the buckle pin completely disengages from the first limit groove on the main core rod; When the triangular buckle head is completely separated from the first limiting groove on the main core rod, the lock bolt component changes from the "locking state" to the "unlocking state" with respect to the lock core component, and the front top spring pushes the main core rod forward with the help of the blocking piece, and the main core rod pushes the T-shaped shuttle rod forward; in the process of the T-shaped shuttle rod moving forward, the T-shaped shuttle rod pushes the left hoop J-shaped component to the left to open, and at the same time, the T-shaped shuttle rod pushes the right hoop J-shaped component to the right to open with the help of the right connecting rod, and at the same time, the T-shaped shuttle rod pushes the Y-shaped lock tongue forward, and the Y-shaped lock tongue pushes the lock rod forward until the blocking piece is blocked by the first guide tube. At this time, the gap between the front end of the left hoop J-shaped component and the front end of the right hoop J-shaped component is larger than the diameter of the lock rod, and the lock ring component is in the "unlocking state" and pushes the lock rod out; If the user stops pressing the tilting rod, and the output end of the straight arm motor automatically reverses and no longer presses against the cap plate, the triangular buckle head at the bottom of the buckle pin will shuttle downward under the action of gravity and press against the middle end of the main core rod; When the lock ring component is in the "unlocked state", the lock bolt component is in the "unfastened state" with respect to the lock core component. If the ship continues to squeeze the lock ring component backward against the lock rod, the lock rod pushes the Y-shaped lock tongue backward, and the Y-shaped lock tongue pushes the T-shaped shuttle rod backward; in the process of the T-shaped shuttle rod moving backward, the T-shaped shuttle rod pulls the left hoop J-shaped component to swing to the right with the help of the left connecting rod, and at the same time, the T-shaped shuttle rod pulls the right hoop J-shaped component to swing to the left with the help of the right connecting rod, and at the same time, the T-shaped shuttle rod pushes the main core rod backward, and the main core rod compresses the front top spring backward with the help of the baffle until the front ends of the left hoop J-shaped component and the right hoop J-shaped component touch each other. Together, or until the main core rod is blocked by the bottom end of the supporting hole of the limit frame; when the main core rod moves backward to the first specified stroke, the triangular buckle head at the bottom of the buckle pin shuttles downward under the action of gravity and is stuck in the first limit groove. At this time, the gap between the front end of the left hoop J-shaped component and the front end of the right hoop J-shaped component is smaller than the diameter of the locking rod, and the locking ring component is in a "locked state" and clamps the locking rod; if the locking rod no longer squeezes the Y-shaped lock tongue backward, under the action of the front top spring, the rear end face of the first limit groove of the main core rod is attached to the vertical face of the triangular buckle head, and the locking bolt component changes from an "unfastened state" to a "locked state" with respect to the lock core component.

[0013] The present invention provides an adaptive automatic ship locking device and a method for using the same, which have the following beneficial effects: 1. Provide an automatic ship locking device with detachable components that can be installed between the ship and the berth to solve the problem of automatic mooring between the ship and the berth. The ship can automatically lock by pushing the locking rod into the locking ring component. When the ship is sailing offshore, the user issues an "unlock command", and the automatic ship locking device can automatically unlock and push the locking rod forward to reduce the probability of repeated locking of the ship; introduce an anti-upward Y-shaped lock tongue, an anti-asynchronous guide groove, and a bearing pin with stronger load-bearing capacity to improve the stability of the overall structure of the device and the accuracy of control.

[0014] 2. When the lock rod is automatically locked into the lock ring component, the lock bolt component can adaptively lock the lock core component to prevent the lock ring component from automatically unlocking without instructions; when the lock ring component is unlocked, the lock rod and its ship can be pushed to drift forward; by introducing a concave arc surface on the triangular buckle head of the buckle pin, the locking surface is increased, the rebound phenomenon is reduced, and the locking success rate is increased.

[0015] 3. The efficiency of automatic locking and unlocking of ships is improved by introducing an automatic ship locking method. The factors of "installation suitability", "hoop angle suitability" and "inertia suitability" are introduced into the automatic ship locking method to improve the success rate of automatic ship locking. A lifting and rotating mechanism is set to adjust the working height and angle of the lock body so that the device can automatically adjust to adapt to the mooring of ships with different port entry heights and angles.

[0016] 4. By adding solar panels and solar controllers, the battery can be powered and stored to improve the overall endurance of the device, ensuring a stable power supply that is reliable and environmentally friendly. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described below in conjunction with the accompanying drawings and embodiments: Figure 1 It is an axonometric structural diagram of the overall device of the present invention; Figure 2 It is an axonometric structural diagram of the overall device of the present invention in an exploded mode; Figure 3 This is an isometric structural diagram of the lock body of the present invention; Figure 4 This is a diagram of the installation structure of the lock body of the present invention cut away along the central axis; Figure 5 This is an axonometric structural diagram of the lock body of the present invention; Figure 6 This is an axonometric structural diagram of the lock body of the present invention in an exploded mode; Figure 7 This is a structural diagram of the installation and disassembly of the lock ring component of the present invention; Figure 8 This is an exploded isometric structural diagram of the lock ring component of the present invention; Fig. 9 It is an axonometric structural diagram of the lock core component and the locking bolt component of the present invention; Fig.10 This is an exploded isometric structural diagram of the lock core component of the present invention; Fig.11 is an axonometric structural diagram of the lock bolt component of the present invention in an exploded mode; Fig.12 This is a front view structural diagram of the jacking and rotating mechanism of the present invention; Fig.13 This is an axonometric structural diagram of the explosion mode of the lifting and rotating mechanism of the present invention; Fig.14 This is an axonometric structural diagram of the jacking plate and the rotating plate of the present invention when installed and disassembled; Fig.15 This is an axonometric structural diagram of the overall device of the present invention installed in a berth; Fig.16 It is a structural diagram of the adaptive height and angle adjustment of the non-normal-position parking device of the lock rod of the present invention; Fig.17 It is a schematic diagram of the connection of the control components of the present invention; Fig.18 The present invention is a flowchart of the method for using the self-adaptive automatic ship locking device.

[0018] In the figure: lock base 1; horizontal bottom plate 101; vertical side frame 102; vertical support platform 103; horizontal mounting plate 104; vertical baffle 105; bearing pin 106; guide groove 107; lock body 2; lifting and rotating mechanism 3; lifting component 301; rotating component 302; lifting plate 303; hydraulic cylinder 304; guide rod 305; guide sleeve 306; horizontal plate 307; rotating plate 308; rotating motor 309; driving gear 310; rotating gear 311 1; rotary shaft 312; motor seat 313; first gear groove 314; second gear groove 315; positioning pin 316; positioning groove 317; lock cover 4; concave opening 401; opening groove 402; lock ring component 5; T-type shuttle rod 501; Y-type lock tongue 502; left hoop J-shaped component 503; left connecting rod 504; right hoop J-shaped component 505; right connecting rod 506; first movable pin 507; second movable pin 508; stopper 509; lock core component 6; main Core rod 601; guide frame 602; first guide tube 603; first positioning hoop 604; limit frame 605; front top spring 606; first limit slot 607; second limit slot 608; blocking piece 609; longitudinal through hole 610; third limit slot 611; support hole 612; double stacked self-locking washer 613; locking bolt component 7; buckle pin 701; cap plate 702; Z-shaped member 703; vertical through hole 704; limit pin hole 705; triangular buckle head 706; Support seat 707; tilting rod 708; return spring 709; second guide tube 710; second positioning hoop 711; fourth limiting groove 712; limiting pin 713; protrusion 714; straight arm motor 8; control board 801; battery 802; communication module 803; first unlocking button 9; second unlocking button 10; position sensor 11; photoelectric sensor 12; parking space 13; table 131; locking rod 14; solar panel 15; solar controller 16. DETAILED DESCRIPTION

[0019] Example 1 like Figures 1 to 16 As shown, an adaptive automatic ship locking device comprises a lock base 1, a lock body 2, a lifting and rotating mechanism 3, a lock cover 4 and a lock rod 14; The lock base 1 as a fixed base platform of the adaptive automatic ship locking device can be fixed to a designated position of the berthing position 13, the lock body 2 is fixed on the lock base 1, and can lock a lock rod 14 of a corresponding size, the lock rod 14 is installed at a designated position of the ship, and can be automatically locked into the lock body 2, the lifting and rotating mechanism 3 is arranged in the lock base 1, and can lift and rotate the lock body 2, and the lock cover 4 can be adaptively covered on the lock base 1; The lock body 2 includes a lock ring component 5, a lock core component 6 and a lock bolt component 7. The lock ring component 5 is arranged at the front end of the lock base 1, and the lock core component 6 is adaptively arranged at the rear end of the lock base 1 and is longitudinally connected to the lock ring component 5. The lock ring component 5 can be unlocked / locked through state linkage. The lock bolt component 7 is adaptively arranged on one side of the lock core component 6 and is laterally connected to the lock core component 6, so that the lock core component 6 can be in a locked state or an unlocked state; The lifting and rotating mechanism 3 is arranged in the lock base 1, and its upper end is connected to the lock body 2 in a vertical direction; The front end of the lock cover 4 is provided with a concave opening 401 for adapting the movement space of the lock rod 14 and the lock ring component 5; The lock base 1 includes a horizontal bottom plate 101, a vertical side frame 102, a vertical support platform 103, a horizontal mounting plate 104 and a vertical baffle 105; The horizontal bottom plate 101 is arranged on the horizontal plane of the table surface 131 at the bottom end of the berth 13, the front end of the horizontal bottom plate 101 extends into the berth 13, and the rear end is fixed on the horizontal surface of the berth 13; The vertical side frame 102 is disposed on a vertical surface of a tabletop 131 at the bottom end of the berth 13, the top of the vertical side frame 102 is connected to the front end of the horizontal bottom plate 101, and the bottom is fixed to a vertical side surface of the berth 13; The vertical support platform 103 is fixed vertically upward on the horizontal bottom plate 101. The setting height of the vertical support platform 103 is adapted to the average working height of the lock rod 14, so that the middle rod body of the lock rod 14 is aligned with the lock body 2. The transverse carrying plate 104 is horizontally arranged on the top of the vertical support platform 103 and is used to carry the lock body 2; The vertical baffle 105 is arranged around the outer side of the vertical support platform 103; The locking ring component 5 includes a T-shaped shuttle rod 501, a Y-shaped locking tongue 502, a left hoop J-shaped member 503, a left connecting rod 504, a right hoop J-shaped member 505, a right connecting rod 506, a first movable pin 507, a second movable pin 508 and a stopper 509; Two bearing pins 106 are symmetrically fixedly disposed on the transverse mounting plate 104; The T-shaped shuttle rod 501 is attached to the front end of the central axis of the upper end surface of the horizontal mounting plate 104; The left hoop J-shaped member 503 is placed upside down on the left side of the front end of the central axis of the upper end surface of the horizontal mounting plate 104, and its lower left corner is hinged to a bearing pin 106 on the left side of the horizontal mounting plate 104, and its lower right corner is hinged to one end of the left connecting rod 504 through a first movable pin 507, and the lower left corner of the T-shaped shuttle rod 501 is hinged to the other end of the left connecting rod 504 through a second movable pin 508; The right hoop J-shaped member 505 is placed upside down on the right side of the front end of the central axis of the upper end surface of the horizontal mounting plate 104, and its lower right corner is hinged to another bearing pin 106 on the right side of the horizontal mounting plate 104, and its lower left corner is hinged to one end of the right connecting rod 506 through a first movable pin 507, and the lower right corner of the T-shaped shuttle rod 501 is hinged to the other end of the right connecting rod 506 through a second movable pin 508; Two guide grooves 107 are symmetrically provided at the front end of the central axis of the upper end surface of the transverse mounting plate 104, and the head end of the arcuate groove section is connected to the tail end of the longitudinal groove section. When the first movable pin 507 slides from the head end to the tail end in the arcuate groove section of the guide groove 107, the second movable pin 508 slides from the head end to the tail end in the longitudinal groove section of the guide groove 107, providing synchronous guidance for the left hoop J-shaped member 503, the left connecting rod 504, the right hoop J-shaped member 505 and the right connecting rod 506; The Y-shaped locking tongue 502 is fixed to the front end top surface of the T-shaped shuttle rod 501; The stoppers 509 are symmetrically arranged on both sides of the front end of the central axis of the upper end surface of the transverse mounting plate 104. When the first movable pin 507 and the second movable pin 508 slide to the tail end of the corresponding groove section at the same time, the outer sides of the left hoop J-shaped member 503 and the right hoop J-shaped member 505 respectively abut against the stoppers 509 on both sides; The lock core component 6 includes a main core rod 601, a guide frame 602, a first guide tube 603, a first positioning hoop 604, a limit frame 605 and a front top spring 606; The head end of the main core rod 601 is provided with a first limiting groove 607, the tail end is provided with a second limiting groove 608, and a blocking piece 609 is provided in the second limiting groove 608; A longitudinal through hole 610 is provided through the middle of the guide frame 602; A third limiting groove 611 is respectively provided at both ends of the first guide tube 603, and the distance between the two third limiting grooves 611 is adapted to the length of the guide frame 602. The first guide tube 603 is provided in the longitudinal through hole 610 of the guide frame 602, and a first positioning hoop 604 is provided in each third limiting groove 611. The first positioning hoop 604 clamps the first guide tube 603 longitudinally in the longitudinal through hole 610 of the guide frame 602; A support hole 612 is provided at the front end of the middle of the limit frame 605. One end of the front top spring 606 is provided in the support hole 612, and the other end is sleeved on the rear end of the main core rod 601 and abuts against the blocking piece 609, so as to provide the main core rod 601 with the elastic force required for returning forward. The middle part of the main core rod 601 can be movably sleeved in the first guide tube 603, and its head end is connected to the tail end of the T-shaped shuttle rod 501 in a colinear manner. A double-stacked self-locking washer 613 is also provided at the connection. The main core rod 601 can drive the T-shaped shuttle rod 501 to shuttle back and forth, thereby realizing the state linkage between the main core rod 601 and the T-shaped shuttle rod 501; The limit frame position 605 is fixed to the rear end of the central axis of the upper end surface of the horizontal mounting plate 104, and the guide frame 602 is fixed to the middle end of the central axis of the upper end surface of the horizontal mounting plate 104; The locking bolt component 7 includes a buckle pin 701, a cap plate 702, a Z-shaped member 703, a second guide tube 710, and a second positioning hoop 711; The Z-shaped member 703 is fixed to one side of the middle end of the central axis of the upper end surface of the horizontal mounting plate 104, and a vertical through hole 704 and a limit pin hole 705 are provided on the top thereof. The vertical through hole 704 is directly opposite to the central axis of the upper end surface of the horizontal mounting plate 104, and the limit pin hole 705 is provided on one side of the vertical through hole 704; A fourth limiting groove 712 is provided at each end of the second guide tube 710, and the distance between the two fourth limiting grooves 712 matches the thickness of the top of the Z-shaped member 703. The second positioning hoop 711 vertically clamps the second guide tube 710 in the vertical through hole 704 of the Z-shaped member 703; The bottom end of the buckle pin 701 is set as a triangular buckle head 706, the vertical surface of which points to the rear end of the horizontal mounting plate 104, and the inclined surface points to the front end of the horizontal mounting plate 104. The bottom locking surface is provided with a concave arc surface, and its arc is adapted to the arc of the shaft section of the first limiting groove 607 on the main core rod 601. The bottom end of the buckle pin 701 is downwardly movably sleeved in the second guide tube 710. When the triangular buckle head 706 of the buckle pin 701 moves downward, it can be aligned with and inserted into the first limiting groove 607 of the main core rod 601, and the rear end surface of the first limiting groove 607 is clamped by its vertical surface. When the buckle pin 701 moves upward, it can drive the triangular buckle head 706 to leave the first limiting groove 607 of the main core rod 601. The cap plate 702 is connected to the top of the buckle pin 701 and is installed on the top surface of the Z-shaped component 703. A limit pin 713 is provided on one side of the buckle pin 701 on the cap plate 702. When the buckle pin 701 shuttles up and down, the limit pin 713 is driven to shuttle in the limit pin hole 705 through the cap plate 702. The locking bolt component 7 also includes a T-shaped support seat 707, a tilting rod 708 and a return spring 709; The T-shaped support seat 707 is fixed to one side of the central axis of the upper end surface of the horizontal mounting plate 104, and its top is hinged to the middle of the tilting rod 708. The front end of the tilting rod 708 abuts against the bottom of the cap plate 702, which can drive the cap plate 702, the buckle pin 701 and the limit pin 713 to shuttle upward; One end of the return spring 709 is hung on the front end of the tilting rod 708, and the other end is hung on the root of the T-shaped support seat 707, and its function is to pull the front end of the tilting rod 708 downward to facilitate the cap plate 702, the buckle pin 701 and the limit pin 713 to shuttle downward; An opening slot 402 is adaptively provided at the rear end of the lock cover 4, and the size of the opening slot 402 can meet the space requirement for the tilting rod 708 to tilt up and down. When the rear end of the tilting rod 708 tilts down to the lower end of the opening slot 402, the lower end face of the limit pin 713 is still in the limit pin hole 705 and a gap is retained with its top end. When the rear end of the tilting rod 708 tilts up to the upper end of the opening slot 402, the front end of the tilting rod 708 is close to the lower end face of the cap plate 702 and the lower end face of the cap plate 702 is coplanar with the top face of the second guide tube 710.

[0020] In the preferred embodiment, the lifting and rotating mechanism 3 includes a lifting component 301 and a rotating component 302; The lifting component 301 includes a lifting plate 303, a hydraulic cylinder 304, a guide rod 305, a guide sleeve 306 and a cross plate 307; The hydraulic cylinder 304 is symmetrically arranged inside the vertical support platform 103, and the top end of the piston rod thereof is symmetrically connected to the two ends of the lifting plate 303; A horizontal plate 307 is provided on the upper surface of the hydraulic cylinder 304, and the horizontal plate 307 is vertically fixed to the side plate of the vertical support platform 103, and guide sleeves 306 are symmetrically provided at both ends thereof; The guide rod 305 is sleeved in the guide sleeve 306, and its upper end is connected to the four corners of the lifting plate 303 respectively. With the lifting of the lifting plate 303, the guide rod 305 shuttles up and down in the guide sleeve 306. When the hydraulic cylinder 304 moves to the lowest point of the stroke, the lifting plate 303 abuts against the upper end of the vertical support platform 103, and a gap is left between the lower end of the guide rod 305 and the upper surface of the horizontal bottom plate 101; The rotating component 302 includes a rotating plate 308, a rotating motor 309, a driving gear 310, a rotating gear 311 and a rotating shaft 312; The rotating motor 309 is arranged below the lifting plate 303 and connected to the lower surface of the lifting plate 303 through the motor seat 313. The output shaft of the rotating motor 309 passes through the lifting plate 303 and is connected to the driving gear 310. The driving gear 310 is arranged on one side of the first gear groove 314 in the middle of the lifting plate 303, and its upper surface is not higher than the upper surface of the lifting plate 303; The rotary gear 311 is disposed in the first gear groove 314 in the middle of the lifting plate 303 and meshes with the driving gear 310. The lower end of the rotary gear 311 is rotatably connected to the lifting plate 303 through the rotary shaft 312. The upper end of the rotary gear 311 is disposed in the second gear groove 315 on the lower surface of the rotating plate 308 and connected to the rotating plate 308. A gap is left between the lower surface of the rotating plate 308 and the upper surface of the lifting plate 303. A positioning pin 316 is also provided on the lower surface of the rotating plate 308, and a matching arc-shaped positioning groove 317 is provided on the upper surface of the lifting plate 303. The lengths of both ends of the positioning groove 317 are adapted to the rotation range of the lock body 2. A solar panel 15 is also provided at the upper end of the lock cover 4, and a solar controller 16 is also provided inside the vertical support platform 103; The locking bolt component 7 also includes a straight arm motor 8, in which a control panel 801, a communication module 803 and a battery 802 are arranged. The control panel 801 serves as a control center of the straight arm motor 8 and can receive and process the working condition data of the communication module 803. The communication module 803 has a wired communication function and / or a wireless communication function. The battery 802 provides a working power supply for the straight arm motor 8. The solar controller 16 controls the solar panel 15 to charge the battery 802. The straight arm motor 8 is fixed to one side of the central axis of the upper end surface of the horizontal mounting plate 104, and the output end of the straight arm motor 8 is vertically aligned with the protrusion 714 at the bottom of the cap plate 702, which can drive the cap plate 702 and the buckle pin 701 to shuttle upward; The ship is provided with a first unlocking button 9 which can wirelessly communicate with the communication module 803; The parking space 13 is provided with a second unlocking button 10 which can communicate with the communication module 803 by wire; The user can send instructions to the control board 801 through wired communication or wireless communication, thereby driving the straight arm motor 8 to work and realize the remote automatic unlocking function. When the first unlocking button 9 or the second unlocking button 10 is continuously pressed, the communication module 803 can continuously send a ground unlocking high-level signal to the control board 801, and the control board 801 drives the straight arm motor 8 to move forward to increase the output end stroke, thereby driving the cap plate 702 and the buckle pin 701 to shuttle upward; when the first unlocking button 9 and the second unlocking button 10 are released, the control board 801 drives the straight arm motor 8 to move in the reverse direction to shorten the output end stroke, so as to facilitate the cap plate 702 and the buckle pin 701 to shuttle downward; The range of variation of the stroke of the output end of the straight arm motor 8 is adapted to the action requirements of the buckle pin 701; A position sensor 11 connected to the control board 801 is provided on one side of the Y-shaped lock tongue 502, and its height is adapted to the height of the Y-shaped lock tongue 502. The sensing head of the position sensor 11 is against one side arm of the Y-shaped lock tongue 502, and is used to monitor the position information of the Y-shaped lock tongue 502. The control board 801 interprets the position information of the Y-shaped lock tongue 502 to calculate the working state of the lock ring component 5; A photoelectric sensor 12 connected to a control board 801 is provided at the front end of the horizontal bottom plate 101 for monitoring the position information of a locking rod 14 on the ship. The control board 801 interprets the position and speed information of the locking rod 14 and indicates the working status of the locking rod 14 .

[0021] Example 2 Further illustrate with reference to Example 1, Figures 1 to 16 The structure shown in the figure is a method for using the adaptive automatic ship locking device, the method comprising: S1. Install the lock rod 14 on the middle protrusion of the bow and / or stern of the ship, install the lock base 1 on the bottom table 131 of the floating berth 13, then fix the lock body 2 on the lock base 1, and then cover the lock cover 4 on the lock base 1 to cover the lock body 2; wherein the installation height of the lock rod 14 is adapted to the installation height of the lock body 2; S2, unlocking the waiting ship, the user presses down the tail end of the tilting rod 708, or continuously presses the first unlocking button 9, or continuously presses the second unlocking button 10, so that the lock ring component 5 is initialized to the "unlocking state", and then releases the tilting rod 708, the first unlocking button 9 and the second unlocking button 10, at which time the lock bolt component 7 is in the "unfastened state" with respect to the lock core component 6; S3, automatic locking, the ship pushes the lock rod 14 into the lock ring component 5, changes the lock ring component 5 from the "unlocked state" to the "locked state", clamps the lock rod 14 to achieve automatic locking of the ship, and at the same time, the lock bolt component 7 changes the lock core component 6 from the "unfastened state" to the "fastened state"; S4, issuing an unlocking command, if the user continues to press down the tail end of the tilting lever 708, or by continuously pressing down the first unlocking button 9, or by continuously pressing down the second unlocking button 10 to issue an "unlocking command"; S5, automatic unhooking, the tilting rod 708 or the straight arm motor 8 drives the buckle pin 701 in the lock bolt component 7 to shuttle upward, so that the lock bolt component 7 changes the lock core component 6 from the "locking state" to the "unlocking state", and the lock core component 6 pushes the lock rod 14 out and returns to the "unlocking state"; S6, the lock bolt returns to its original position. If the user releases the tilting rod 708, the tilting rod 708 automatically returns to its original position under the action of the return spring 709, or if the user releases the first unlocking button 9 and the second unlocking button 10, the electric pin automatically reverses and no longer presses against the cap plate 702. The triangular buckle head 706 at the bottom of the buckle pin 701 moves downward under the action of gravity and presses against the middle end of the main core rod 601. The overall usage flow chart is as follows Fig.18 shown.

[0022] In the preferred embodiment, in the step S3, when the locking rod 14 squeezes into the locking ring component 5 backward, it contacts and pushes the Y-shaped locking tongue 502 backward, and the Y-shaped locking tongue 502 pushes the T-shaped shuttle rod 501 backward; during the backward movement of the T-shaped shuttle rod 501, the T-shaped shuttle rod 501 pulls the left hoop J-shaped component 503 to swing to the right with the help of the left connecting rod 504, and at the same time, the T-shaped shuttle rod 501 pulls the right hoop J-shaped component 505 to swing to the left with the help of the right connecting rod 506, and at the same time, the T-shaped shuttle rod 501 pushes the main core rod 601 backward, and the main core rod 601 compresses the front top spring 606 backward with the help of the baffle 609 until the front end of the left hoop J-shaped component 503 and the front end of the right hoop J-shaped component 505 touch each other, or until the main core rod 60 1 is blocked by the bottom end of the supporting hole 612 of the limiting frame 605; when the main core rod 601 moves backward to the first specified stroke, the triangular buckle head 706 at the bottom of the buckle pin 701 shuttles downward under the action of gravity and is stuck in the first limiting groove 607. At this time, the gap between the front end of the left hoop J-shaped component 503 and the front end of the right hoop J-shaped component 505 is smaller than the diameter of the locking rod 14, and the lock ring component 5 is in the "locked state" and clamps the locking rod 14; if the locking rod 14 no longer squeezes the Y-shaped lock tongue 502 backward, under the action of the front top spring 606, the rear end surface of the first limiting groove 607 of the main core rod 601 is attached to the vertical surface of the triangular buckle head 706, and the lock bolt component 7 changes the lock core component 6 from the "unfastened state" to the "locked state".

[0023] In the preferred embodiment, in step S5, when the buckle pin 701 shuttles upward to the third specified stroke, the triangular buckle head 706 at the bottom of the buckle pin 701 completely disengages from the first limiting groove 607 on the main core rod 601; the lock bolt component 7 changes the lock core component 6 from the "locking state" to the "unlocking state", and the front top spring 606 pushes the main core rod 601 forward with the help of the baffle 609, and the main core rod 601 pushes the T-shaped shuttle rod 501 forward; in the process of the T-shaped shuttle rod 501 moving forward, the T-shaped shuttle rod 501 is pushed forward with the help of the left connecting rod 504 pushes the left hoop J-shaped component 503 to open to the left, and at the same time, the T-shaped shuttle rod 501 pushes the right hoop J-shaped component 505 to open to the right with the help of the right connecting rod 506, and at the same time, the T-shaped shuttle rod 501 pushes the Y-shaped locking tongue 502 forward, and the Y-shaped locking tongue 502 pushes the locking rod 14 forward until the blocking piece 609 is blocked by the first guide tube 603. At this time, the gap between the front end of the left hoop J-shaped component 503 and the front end of the right hoop J-shaped component 505 is greater than the diameter of the locking rod 14, and the locking ring component 5 is in the "unlocked state" and pushes the locking rod 14 out.

[0024] In the preferred solution, during the disassembly and installation process of step S1, the automatic ship locking device needs to be self-checked and adjusted in the power-on state; the automatic ship locking device prompts the user to adjust the working state of the lock ring component 5 and the lock rod 14 in the automatic ship locking device according to the self-check result of the power-on state, to ensure that the lock ring component 5 and the lock rod 14 are in the correct docking mode; Specifically, the position sensor 11 monitors the position information of the Y-shaped lock tongue 502 and transmits it to the control board 801. The control board 801 calculates the swing angle value and angular velocity information of the lock ring component 5 according to the position information of the Y-shaped lock tongue 502, and indicates the working state of the lock ring component 5. At the same time, the photoelectric sensor 12 monitors the dynamic position information of the locking rod 14 and transmits it to the control board 801. The control board 801 interprets the position and speed information of the locking rod 14 and indicates the working status of the locking rod 14. If the locking ring component 5 and the locking rod 14 are in an incorrect docking mode, or the requirements for a stable docking mode are not met, the control panel 801 prompts the user to make corresponding adjustments to eliminate the incorrect docking mode and meet the corresponding requirements for a stable docking mode.

[0025] In the preferred solution, during the disassembly installation in step S1, the automatic ship locking device also needs to be inspected and adjusted for the installation position / size; specifically, after the automatic ship locking device is installed, the ship is started to sail against the locking rod 14 to within a specified distance from the lock ring component 5, and the photoelectric sensor 12 monitors the position information of the locking rod 14 and transmits it to the control board 801, and the control board 801 interprets the position information of the locking rod 14, compares it with the installation information of the lock ring component 5, and calculates the "installation suitability" of the automatic ship locking device. If the "installation suitability" is lower than the first specified threshold, the control board 801 drives the hydraulic cylinder 304 to lift the lock body 2 until the "installation suitability" is higher than the first specified threshold; When the ship shakes up and down, the locking rod 14 has a corresponding probability of missing the locking ring component 5 upward or downward. The lower the first specified threshold is set, the greater the corresponding probability of longitudinal missing. The "installation suitability" specifically refers to the degree to which the locking rod 14 is higher or lower than the locking ring component 5. The smaller the higher or lower the degree, the greater the value of the "installation suitability" is. The maximum value of the "installation suitability" is 100%, that is, the middle end of the locking rod 14 can be evenly shaken up and down around the locking ring component 5. The minimum value of the "installation suitability" is 0%, that is, the locking rod 14 cannot enter the locking ring component 5 whether it is stable or shaking. When installing the automatic ship locking device, the docking height of the ships at the moored port is counted, and the average or median of the statistical data is selected to select the basic height size of the vertical support platform 103, and its height parameter is set to H. The maximum height of the jacking and rotating mechanism 3 is equal to the basic height size of the vertical support platform 103, that is, the height range of the locking ring component 5 of the automatic ship locking device is H~2H, and the installation height of the horizontal bottom plate 101 is adjusted, and the locking rod 14 is installed to the corresponding height of 1.2~1.8H of the ship to obtain greater installation suitability; In the preferred solution, during the unlocking and boarding process in step S2, it is also necessary to periodically perform unlocking detection and adjustment; specifically, the position sensor 11 monitors the position information of the Y-shaped lock tongue 502 and transmits it to the control board 801, and the control board 801 calculates the swing angle value of the lock ring component 5 according to the position information of the Y-shaped lock tongue 502, and calculates the current "hoop angle suitability" of the lock ring component 5. If the "hoop angle suitability" is lower than the second specified threshold, the control board 801 prompts the user to make corresponding adjustments; The lower the "hoop angle suitability", the lower the probability that the lock rod 14 is stuck in the lock ring component 5, including when the ship sways left and right, the lock rod 14 has a corresponding probability of missing the lock ring component 5 to the left or right. The lower the second specified threshold is set, the greater the corresponding probability of lateral miss. The “hoop angle suitability” specifically refers to the degree to which the locking rod 14 deviates to the left / right relative to the locking ring component 5. The smaller the gap between the front end of the left hoop J-shaped component 503 and the front end of the right hoop J-shaped component 505, the greater the degree of deviating to the left / right, and the smaller the value assigned to the “hoop angle suitability”; the maximum value assigned to the “hoop angle suitability” is 100%, that is, the front end of the left hoop J-shaped component 503 and the front end of the right hoop J-shaped component 505 are opened to 180 degrees, and the minimum value assigned to the “hoop angle suitability” is 0%, that is, the gap between the front end of the left hoop J-shaped component 503 and the front end of the right hoop J-shaped component 505 is smaller than the diameter of the locking rod 14; Among them, prompting the user to make corresponding adjustments includes: the user first performs the first stage adjustment, that is, pressing down the tail end of the tilting rod 708, or by continuously pressing the first unlocking button 9, or by continuously pressing the second unlocking button 10, so that the lock ring component 5 is initialized to the "unlocked state"; after the user performs the first stage adjustment, if the "hoop angle suitability" is still lower than the second specified threshold, it is necessary to deal with the fault first, such as checking whether the lock ring component 5 is stuck or the straight arm motor 8 is damaged, and after confirming that the mechanical state is correct, drive the rotary motor 309 to rotate the lock body 2 until the "hoop angle suitability" is higher than the second specified threshold; The rotation angle of the locking ring component 5 is limited by limiting the rotation angle of the positioning pin 316 in the positioning groove 317, and the rotation range is 50° clockwise or counterclockwise with the central axis of the locking ring component 5 as the axis of symmetry.

[0026] In the preferred solution, during the process of automatic ship locking in step S3, speed detection and adjustment need to be performed periodically; specifically, when the ship is sailing backward in the berth 13 with the lock rod 14 against it, the photoelectric sensor 12 monitors the dynamic position information of the lock rod 14 and transmits it to the control board 801, and the control board 801 interprets the position and speed information of the lock rod 14, and calculates the "inertia suitability" of the lock rod 14. If the "inertia suitability" is lower than the third specified threshold, the control board 801 transmits specific alarm information back to the monitoring system of the ship, prompting the user to make corresponding adjustments; If the ship speed is too low or too high, the "inertia suitability" will be reduced. If the speed is too low, the locking rod 14 will not have enough momentum to squeeze into the locking ring component 5, making it difficult to achieve automatic locking. If the speed is too high, the locking rod 14 will have excessive momentum to squeeze into the locking ring component 5, which will easily damage the automatic ship locking device. The "inertia suitability" specifically refers to the degree to which the momentum required for the lock rod 14 to squeeze into the lock ring component 5 is too little / too much. The greater the degree of less / too much, the smaller the value of the "inertia suitability" is. The maximum value of "inertia suitability" is 100%, which means that the lock rod 14 can just squeeze into the lock ring component 5 to achieve automatic locking without causing additional impact. The minimum value of "inertia suitability" is 0%, which means that the lock rod 14 cannot contact the lock ring component 5 or directly damages the automatic ship locking device. Among them, the user is prompted to make corresponding adjustments, including increasing the throttle to drive the ship to accelerate when the speed is too slow, and reducing the throttle to slow down the ship or reverse braking when the speed is too high; thereby adjusting the "inertia suitability" to be higher than the third specified threshold.

[0027] Specifically, when the lock bolt component 7 is in a "buckled state" with the lock core component 6, and the lock ring component 5 is in a "locked state", the triangular buckle head 706 at the bottom of the buckle pin 701 is inserted into the first limiting groove 607 on the main core rod 601, wherein the vertical surface of the triangular buckle head 706 blocks the rear end surface of the first limiting groove 607, and the main core rod 601 squeezes the front top spring 606 into the supporting hole 612 of the limiting frame 605 with the help of the blocking sheet 609, and the cap plate 702 is placed on the top surface of the Z-shaped component 703; If the user presses down the tail end of the tilting rod 708, the front end of the tilting rod 708 tilts the cap plate 702 upward, and the cap plate 702 drives the buckle pin 701 to shuttle upward. When the shuttle moves to the third specified stroke, the triangular buckle head 706 at the bottom of the buckle pin 701 completely disengages from the first limit groove 607 on the main core rod 601; or if the user sends an "unlocking command" to the control board 801 of the straight arm motor 8 via the communication module, when the control board 801 drives the straight arm motor 8 to move forward, its output end pushes the cap plate 702 upward, and the cap plate 702 drives the buckle pin 701 to shuttle upward. When the shuttle moves to the third specified stroke, the triangular buckle head 706 at the bottom of the buckle pin 701 completely disengages from the first limit groove 607 on the main core rod 601; When the triangular buckle head 706 is completely separated from the first limiting groove 607 on the main core rod 601, the lock bolt component 7 changes the lock core component 6 from the "locking state" to the "unlocking state", and the front top spring 606 pushes the main core rod 601 forward with the help of the blocking piece 609, and the main core rod 601 pushes the T-shaped shuttle rod 501 forward; during the forward movement of the T-shaped shuttle rod 501, the T-shaped shuttle rod 501 pushes the left hoop J-shaped component 503 to the left with the help of the left connecting rod 504, At the same time, the T-shaped shuttle rod 501 pushes the right hoop J-shaped member 505 to open to the right side with the help of the right connecting rod 506, and at the same time, the T-shaped shuttle rod 501 pushes the Y-shaped locking tongue 502 forward, and the Y-shaped locking tongue 502 pushes the locking rod 14 forward until the blocking piece 609 is blocked by the first guide tube 603. At this time, the gap between the front end of the left hoop J-shaped member 503 and the front end of the right hoop J-shaped member 505 is larger than the diameter of the locking rod 14, and the lock ring component 5 is in the "unlocking state" and pushes the locking rod 14 out; If the user no longer presses the tilting rod 708, and the output end of the straight arm motor 8 automatically reverses and no longer presses against the cap plate 702, the triangular buckle head 706 at the bottom of the buckle pin 701 moves downward under the action of gravity and presses against the middle end of the main core rod 601; When the lock ring component 5 is in the "unlocked state", the lock bolt component 7 is in the "unfastened state" with respect to the lock core component 6. If the ship continues to squeeze the lock ring component 5 backward against the lock rod 14, the lock rod 14 pushes the Y-shaped lock tongue 502 backward, and the Y-shaped lock tongue 502 pushes the T-shaped shuttle rod 501 backward; during the backward movement of the T-shaped shuttle rod 501, the T-shaped shuttle rod 501 pulls the left hoop J-shaped component 503 to swing to the right with the help of the left connecting rod 504, and at the same time, the T-shaped shuttle rod 501 pulls the right hoop J-shaped component 505 to swing to the left with the help of the right connecting rod 506, and at the same time, the T-shaped shuttle rod 501 pushes the main core rod 601 backward, and the main core rod 601 compresses the front top spring 606 backward with the help of the baffle 609 until the front end of the left hoop J-shaped component 503 and the front end of the right hoop J-shaped component 505 are locked. The ends touch each other, or until the main core rod 601 is blocked by the bottom end of the supporting hole 612 of the limiting frame 605; when the main core rod 601 moves backward to the first specified stroke, the triangular buckle head 706 at the bottom of the buckle pin 701 shuttles downward under the action of gravity and is stuck in the first limiting groove 607. At this time, the gap between the front end of the left hoop J-shaped component 503 and the front end of the right hoop J-shaped component 505 is smaller than the diameter of the locking rod 14, and the locking ring component 5 is in a "locked state" and clamps the locking rod 14; if the locking rod 14 no longer squeezes the Y-shaped lock tongue 502 backward, under the action of the front top spring 606, the rear end face of the first limiting groove 607 of the main core rod 601 is attached to the vertical surface of the triangular buckle head 706, and the locking bolt component 7 changes the lock core component 6 from an "unfastened state" to a "locked state".

[0028] Example 3 On the basis of Example 1 and Example 2, Fig.17 , 18As shown, the user control system in the ship's cab monitors the status of the automatic ship locking device and issues early warning, so that the user can make timely adjustments.

[0029] During the disassembly and installation process in step S1, the automatic ship locking device needs to be self-checked and adjusted in the power-on state; the automatic ship locking device prompts the user to adjust the working state of the lock ring component 5 and the lock rod 14 in the automatic ship locking device according to the self-check result of the power-on state, and the crew does not need to go off the ship to check to ensure that the lock ring component 5 and the lock rod 14 are in the correct docking mode; Specifically, the position sensor 11 monitors the position information of the Y-shaped lock tongue 502 and transmits it to the control board 801. The control board 801 calculates the swing angle value and angular velocity information of the lock ring component 5 according to the position information of the Y-shaped lock tongue 502. The swing angle can determine the gap value between the front end of the left hoop J-shaped component 503 and the front end of the right hoop J-shaped component 505, and indicate the working state of the lock ring component 5, including "unlocking, unlocking completed, locking or locking completed"; At the same time, the photoelectric sensor 12 monitors the dynamic position information of the locking rod 14 and transmits it to the control board 801, and the control board 801 interprets the position and speed information of the locking rod 14, and indicates the working state of the locking rod 14, including "being outside the locking ring component 5 and actively moving backward, being inside the locking ring and actively squeezing the T-shaped locking tongue 502 backward, being inside the locking ring and randomly shaking forward / backward, being inside the locking ring and passively moving forward, or being outside the locking ring component 5 and actively moving forward". The correct docking mode of the locking ring component 5 and the locking rod 14 is shown in Table 1 below:

[0030] Among them, the locking ring component 5 and the locking rod 14 have an incorrect docking mode, and the system reminds the user to check and adjust, as shown in the following table 2:

[0031] The above embodiments are only preferred technical solutions of the present invention and should not be regarded as limiting the present invention. The protection scope of the present invention shall be the technical solutions recorded in the claims, including equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. An adaptive automatic ship locking device, characterized by: The device comprises a lock base (1), a lock body (2), a lifting and rotating mechanism (3), a lock cover (4) and a lock rod (14); The lock base (1) can be fixed to a designated position of a berthing position (13) as a fixed base platform of an adaptive automatic ship locking device; the lock body (2) is fixed on the lock base (1) and can lock a lock rod (14) of a corresponding size; the lock rod (14) is installed at a designated position of the ship and can be automatically locked into the lock body (2); the lifting and rotating mechanism (3) is arranged in the lock base (1) and can lift and rotate the lock body (2); and the lock cover (4) can be adaptively covered on the lock base (1); The lock body (2) comprises a lock ring component (5), a lock core component (6) and a lock bolt component (7); the lock ring component (5) is arranged at the front end of the lock base (1); the lock core component (6) is adaptively arranged at the rear end of the lock base (1) and is longitudinally connected to the lock ring component (5); and the lock ring component (5) can be unlocked / locked by state linkage; The lock bolt component (7) is adaptively arranged on one side of the lock core component (6) and is laterally connected to the lock core component (6), so that the lock core component (6) can be in a locked state or an unlocked state; The lifting and rotating mechanism (3) is arranged in the lock base (1), and the upper end thereof is connected to the lock body (2) in a vertical direction; The front end of the lock cover (4) is provided with a concave opening (401) for adapting the movement space of the lock rod (14) and the lock ring component (5).

2. The adaptive automatic ship locking device according to claim 1 is characterized in that: The lock base (1) comprises a horizontal bottom plate (101), a vertical side frame (102), a vertical support platform (103), a horizontal mounting plate (104) and a vertical baffle (105); The horizontal bottom plate (101) is arranged on a horizontal plane of a table top (131) at the bottom end of the berthing space (13), the front end of the horizontal bottom plate (101) extends into the berthing space (13), and the rear end is fixed on the horizontal surface of the berthing space (13); The vertical side frame (102) is arranged on a vertical surface of a bottom end tabletop (131) of the berthing position (13), the top of the vertical side frame (102) is connected to the front end of the horizontal bottom plate (101), and the bottom is fixed on a vertical side surface of the berthing position (13); The vertical support platform (103) is fixed vertically upward on the horizontal bottom plate (101), and the setting height of the vertical support platform (103) is adapted to the average working height of the locking rod (14), so that the middle rod body of the locking rod (14) is aligned with the lock body (2); A transverse carrying plate (104) is horizontally arranged on the top of the vertical support platform (103) and is used to carry the lock body (2); The vertical baffle (105) is arranged around the outside of the vertical support platform (103); The locking ring component (5) comprises a T-shaped shuttle rod (501), a Y-shaped locking tongue (502), a left hoop J-shaped component (503), a left connecting rod (504), a right hoop J-shaped component (505), a right connecting rod (506), a first movable pin (507), a second movable pin (508) and a stopper (509); Two bearing pins (106) are symmetrically fixedly arranged on the transverse mounting plate (104); The T-shaped shuttle rod (501) is attached to the front end of the central axis of the upper end surface of the transverse mounting plate (104); The left hoop J-shaped member (503) is placed upside down on the left side of the front end of the central axis of the upper end surface of the transverse mounting plate (104), and its lower left corner is hinged to a bearing pin (106) on the left side of the transverse mounting plate (104), and its lower right corner is hinged to one end of the left connecting rod (504) through a first movable pin (507), and the lower left corner of the T-shaped shuttle rod (501) is hinged to the other end of the left connecting rod (504) through a second movable pin (508); The right hoop J-shaped member (505) is placed upside down on the right side of the front end of the central axis of the upper end surface of the transverse mounting plate (104), and its lower right corner is hinged to another bearing pin (106) on the right side of the transverse mounting plate (104), and its lower left corner is hinged to one end of the right connecting rod (506) through a first movable pin (507), and the lower right corner of the T-shaped shuttle rod (501) is hinged to the other end of the right connecting rod (506) through a second movable pin (508); Two guide grooves (107) are symmetrically provided at the front end of the central axis of the upper end surface of the transverse mounting plate (104), wherein the head end of the arcuate groove section is connected to the tail end of the longitudinal groove section, and the first movable pin (507) slides from the head end to the tail end in the arcuate groove section of the guide groove (107), while the second movable pin (508) slides from the head end to the tail end in the longitudinal groove section of the guide groove (107), thereby providing synchronous guidance for the left hoop J-shaped member (503), the left connecting rod (504), the right hoop J-shaped member (505) and the right connecting rod (506); The Y-shaped locking tongue (502) is fixed to the front end top surface of the T-shaped shuttle rod (501); The stoppers (509) are symmetrically arranged on both sides of the front end of the central axis of the upper end surface of the transverse mounting plate (104); when the first movable pin (507) and the second movable pin (508) slide to the tail end of the corresponding groove section at the same time, the outer sides of the left hoop J-shaped component (503) and the right hoop J-shaped component (505) respectively abut against the stoppers (509) on both sides; The lock core component (6) comprises a main core rod (601), a guide frame (602), a first guide tube (603), a first positioning hoop (604), a limit frame (605) and a front top spring (606); The head end of the main core rod (601) is provided with a first limiting groove (607), the tail end is provided with a second limiting groove (608), and a blocking piece (609) is provided in the second limiting groove (608); A longitudinal through hole (610) is provided through the middle of the guide frame (602); A third limiting groove (611) is respectively arranged at both ends of the first guide tube (603), the distance between the two third limiting grooves (611) is adapted to the length of the guide frame (602), the first guide tube (603) is arranged in the longitudinal through hole (610) of the guide frame (602), a first positioning hoop (604) is arranged in each third limiting groove (611), and the first positioning hoop (604) clamps the first guide tube (603) longitudinally in the longitudinal through hole (610) of the guide frame (602); A support hole (612) is provided at the front end of the middle portion of the limiting frame (605); one end of the front spring (606) is disposed in the support hole (612); the other end is sleeved on the rear end of the main core rod (601) and abuts against the blocking sheet (609), so as to provide the main core rod (601) with the elastic force required for returning forward; The middle part of the main core rod (601) can be movably sleeved in the first guide tube (603), and the head end thereof is connected to the tail end of the T-shaped shuttle rod (501) in a colinear manner. A double-stacked self-locking washer (613) is also provided at the connection. The main core rod (601) can drive the T-shaped shuttle rod (501) to shuttle forward and backward, thereby realizing the state linkage between the main core rod (601) and the T-shaped shuttle rod (501); The limit frame position (605) is fixed to the rear end of the central axis of the upper end surface of the transverse carrying plate (104), and the guide frame (602) is fixed to the middle end of the central axis of the upper end surface of the transverse carrying plate (104); The locking bolt component (7) comprises a buckle pin (701), a cap plate (702), a Z-shaped component (703), a second guide tube (710), and a second positioning hoop (711); The Z-shaped member (703) is fixed to one side of the middle end of the central axis of the upper end surface of the horizontal mounting plate (104), and a vertical through hole (704) and a limit pin hole (705) are arranged on the top of the Z-shaped member (703). The vertical through hole (704) faces the central axis of the upper end surface of the horizontal mounting plate (104), and the limit pin hole (705) is arranged on one side of the vertical through hole (704). A fourth limiting groove (712) is respectively provided at both ends of the second guide tube (710), the distance between the two fourth limiting grooves (712) is adapted to the thickness of the top of the Z-shaped component (703), and the second positioning hoop (711) vertically clamps the second guide tube (710) in the vertical through hole (704) of the Z-shaped component (703); The bottom end of the buckle pin (701) is provided with a triangular buckle head (706), the vertical surface of which points to the rear end of the horizontal mounting plate (104), and the inclined surface points to the front end of the horizontal mounting plate (104). The locking surface of the bottom end is provided with a concave arc surface, the arc of which matches the arc of the shaft section of the first limiting groove (607) on the main core rod (601). The bottom end of the buckle pin (701) is downwardly movably sleeved in the second guide tube (710). When the triangular buckle head (706) of the buckle pin (701) moves downward, it can be aligned with and inserted into the first limiting groove (607) of the main core rod (601), and the rear end surface of the first limiting groove (607) is clamped by its vertical surface. When the buckle pin (701) moves upward, it can drive the triangular buckle head (706) to leave the first limiting groove (607) of the main core rod (601); The cap plate (702) is connected to the top of the buckle pin (701) and is installed on the top surface of the Z-shaped component (703). A limit pin (713) is provided on one side of the buckle pin (701) on the cap plate (702). When the buckle pin (701) moves up and down, the limit pin (713) is driven to move in the limit pin hole (705) through the cap plate (702). The locking bolt component (7) further comprises a T-shaped support seat (707), a tilting rod (708) and a return spring (709); The T-shaped support seat (707) is fixed to one side of the central axis of the upper end surface of the transverse mounting plate (104), and the top of the T-shaped support seat (707) is hinged to the middle of the tilting rod (708). The front end of the tilting rod (708) abuts against the bottom of the cap plate (702), and can drive the cap plate (702), the buckle pin (701) and the limit pin (713) to shuttle upward; One end of the return spring (709) is hung on the front end of the tilting rod (708), and the other end is hung on the root of the T-shaped support seat (707), and the function is to pull the front end of the tilting rod (708) downward to facilitate the cap plate (702), the buckle pin (701) and the limit pin (713) to shuttle downward; The rear end of the lock cover (4) is adaptively provided with an opening groove (402), and the size of the opening groove (402) can meet the space requirement for the tilting rod (708) to tilt up and down. When the rear end of the tilting rod (708) tilts down to the lower end of the opening groove (402), the lower end surface of the limit pin (713) is still in the limit pin hole (705) and a gap is retained with the top end thereof. When the rear end of the tilting rod (708) tilts up to the upper end of the opening groove (402), the front end of the tilting rod (708) is tightly attached to the lower end surface of the cap plate (702) and the lower end surface of the cap plate (702) is coplanar with the top surface of the second guide tube (710).

3. The adaptive automatic ship locking device according to claim 1 is characterized in that: The lifting and rotating mechanism (3) comprises a lifting component (301) and a rotating component (302); The lifting component (301) comprises a lifting plate (303), a hydraulic cylinder (304), a guide rod (305), a guide sleeve (306) and a cross plate (307); The hydraulic cylinder (304) is symmetrically arranged inside the vertical support platform (103), and the top end of the piston rod thereof is symmetrically connected to the two ends of the jacking plate (303); A horizontal plate (307) is provided on the upper surface of the cylinder body of the hydraulic cylinder (304), and the horizontal plate (307) is vertically fixed to the side plate of the vertical support platform (103), and guide sleeves (306) are symmetrically provided at both ends of the horizontal plate (307); The guide rod (305) is sleeved in the guide sleeve (306), and the upper end thereof is respectively connected to the four corners of the lifting plate (303). As the lifting plate (303) is lifted, the guide rod (305) moves up and down in the guide sleeve (306). When the hydraulic cylinder (304) moves to the lowest point of the stroke, the lifting plate (303) abuts against the upper end of the vertical support platform (103), and a gap is left between the lower end of the guide rod (305) and the upper surface of the horizontal bottom plate (101); The rotating component (302) includes a rotating plate (308), a rotating motor (309), a driving gear (310), a rotating gear (311) and a rotating shaft (312); The rotating motor (309) is arranged below the lifting plate (303) and is connected to the lower surface of the lifting plate (303) via a motor seat (313); an output shaft of the rotating motor (309) passes through the lifting plate (303) and is connected to a driving gear (310); The driving gear (310) is arranged on one side inside the first gear groove (314) in the middle of the lifting plate (303), and its upper surface is not higher than the upper surface of the lifting plate (303); The rotary gear (311) is arranged in a first gear groove (314) in the middle of the lifting plate (303) and meshes with the driving gear (310). The lower end of the rotary gear (311) is rotatably connected to the lifting plate (303) via a rotary shaft (312). The upper end of the rotary gear (311) is arranged in a second gear groove (315) on the lower surface of the rotating plate (308) and is connected to the rotating plate (308). A gap is left between the lower surface of the rotating plate (308) and the upper surface of the lifting plate (303). A positioning pin (316) is also provided on the lower surface of the rotating plate (308), and a matching arc-shaped positioning groove (317) is provided on the upper surface of the lifting plate (303). The lengths of both ends of the positioning groove (317) are matched to the rotation range of the lock body (2); A solar panel (15) is also provided at the upper end of the lock cover (4), and a solar controller (16) is also provided inside the vertical support platform (103); The locking bolt component (7) further comprises a straight arm motor (8), wherein a control panel (801), a communication module (803) and a storage battery (802) are arranged in the straight arm motor (8), wherein the control panel (801) serves as a control center of the straight arm motor (8) and can receive and process working condition data of the communication module (803), wherein the communication module (803) has a wired communication function and / or a wireless communication function, wherein the storage battery (802) provides working power for the straight arm motor (8), and wherein the solar energy controller (16) controls the solar panel (15) to charge the storage battery (802); The straight arm motor (8) is fixed to one side of the central axis of the upper end surface of the horizontal mounting plate (104), and the output end of the straight arm motor (8) is vertically aligned with the protrusion (714) at the bottom of the cap plate (702), so as to drive the cap plate (702) and the buckle pin (701) to shuttle upward; The ship is provided with a first unlocking button (9) capable of wirelessly communicating with the communication module (803); A second unlocking button (10) capable of performing wired communication with the communication module (803) is provided on the berth (13); The user can send instructions to the control board (801) by wired communication or wireless communication, thereby driving the straight arm motor (8) to work and realize the remote automatic unlocking function, wherein when the first unlocking button (9) or the second unlocking button (10) is continuously pressed, the communication module (803) can continuously send a ground unlocking high-level signal to the control board (801), and the control board (801) drives the straight arm motor (8) to move forward to increase the output end stroke, thereby driving the cap plate (702) and the buckle pin (701) to shuttle upward; when the first unlocking button (9) and the second unlocking button (10) are released, the control board (801) drives the straight arm motor (8) to move backward to shorten the output end stroke, thereby facilitating the cap plate (702) and the buckle pin (701) to shuttle downward; The range of variation of the stroke of the output end of the straight arm motor (8) is adapted to the action requirements of the buckle pin (701); A position sensor (11) connected to the control board (801) is provided on one side of the Y-shaped lock tongue (502), and its height is adapted to the height of the Y-shaped lock tongue (502). The sensing head of the position sensor (11) abuts against a side arm of the Y-shaped lock tongue (502) and is used to monitor the position information of the Y-shaped lock tongue (502). The control board (801) interprets the position information of the Y-shaped lock tongue (502) to deduce the working state of the lock ring component (5); A photoelectric sensor (12) connected to a control panel (801) is provided at the front end of the horizontal bottom plate (101) for monitoring position information of a locking rod (14) on the ship. The control panel (801) interprets the position and speed information of the locking rod (14) and indicates the working status of the locking rod (14).

4. A method for using the adaptive automatic ship locking device according to any one of claims 1 to 3, characterized in that: The method includes: S1. Split installation, install the lock rod (14) to the middle protrusion of the bow and / or stern of the ship, install the lock base (1) to the bottom table (131) of the floating berth (13), then fix the lock body (2) to the lock base (1), and then cover the lock cover (4) on the lock base (1) to cover the lock body (2); wherein the installation height of the lock rod (14) is adapted to the installation height of the lock body (2); S2, unlocking the waiting ship, the user presses down the tail end of the tilting rod (708), or continuously presses the first unlocking button (9), or continuously presses the second unlocking button (10), so that the lock ring component (5) is initialized to the "unlocking state", and then releases the tilting rod (708), the first unlocking button (9) and the second unlocking button (10), at which time the lock bolt component (7) is in the "unfastened state" relative to the lock core component (6); S3, automatic locking, the ship pushes against the locking rod (14) and squeezes into the locking ring component (5), turning the locking ring component (5) from the "unlocked state" to the "locked state", clamping the locking rod (14) to achieve automatic locking of the ship, and at the same time, the locking bolt component (7) turns the lock core component (6) from the "unfastened state" to the "locked state"; S4, issuing an unlocking command, if the user continuously presses down the end of the tilting lever (708), or continuously presses down the first unlocking button (9), or continuously presses down the second unlocking button (10), an "unlocking command" is issued; S5, automatic unhooking, the tilting rod (708) or the straight arm motor (8) drives the buckle pin (701) in the lock bolt component (7) to shuttle upward, so that the lock bolt component (7) changes from the "locking state" to the "unlocking state" with respect to the lock core component (6), and the lock core component (6) pushes out the lock rod (14) and returns to the "unlocking state"; S6, the lock bolt returns to its original position. If the user releases the tilting rod (708), the tilting rod (708) automatically returns to its original position under the action of the return spring (709), or if the user releases the first unlocking button (9) and the second unlocking button (10), the electric pin automatically reverses and no longer presses against the cap plate (702), and the triangular buckle head (706) at the bottom of the buckle pin (701) moves downward under the action of gravity and presses against the middle end of the main core rod (601).

5. The method for using the adaptive automatic ship locking device according to claim 4 is characterized by: In the step S3, when the locking rod (14) is squeezed backward into the locking ring component (5), it contacts and pushes the Y-shaped locking tongue (502) backward, and the Y-shaped locking tongue (502) pushes the T-shaped shuttle rod (501) backward; during the backward movement of the T-shaped shuttle rod (501), the T-shaped shuttle rod (501) pulls the left hoop J-shaped component (503) to swing to the right side with the help of the left connecting rod (504), and at the same time, the T-shaped shuttle rod (501) pulls the right hoop J-shaped component (505) to swing to the left side with the help of the right connecting rod (506), and at the same time, the T-shaped shuttle rod (501) pushes the main core rod (601) backward, and the main core rod (601) compresses the front top spring (606) backward with the help of the baffle (609), until the front end of the left hoop J-shaped component (503) and the front end of the right hoop J-shaped component (505) touch each other, or until the main core rod (601) is The bottom end of the support hole (612) of the limiting frame (605) is blocked; when the main core rod (601) moves backward to the first specified stroke, the triangular buckle head (706) at the bottom of the buckle pin (701) is shuttled downward by gravity and is locked into the first limiting groove (607). At this time, the gap between the front end of the left hoop J-shaped component (503) and the front end of the right hoop J-shaped component (505) is smaller than the diameter of the lock rod (14), and the lock ring component (5) is in a "locked state" and clamps the lock rod (14); if the lock rod (14) no longer presses the Y-shaped lock tongue (502) backward, under the action of the front top spring (606), the rear end surface of the first limiting groove (607) of the main core rod (601) is attached to the vertical surface of the triangular buckle head (706), and the lock bolt component (7) changes from the "unfastened state" to the "locked state" with respect to the lock core component (6).

6. The method for using the adaptive automatic ship locking device according to claim 4 is characterized by: In the step S5, when the buckle pin (701) shuttles upward to the third designated stroke, the triangular buckle head (706) at the bottom of the buckle pin (701) completely disengages from the first limiting groove (607) on the main core rod (601); the lock bolt component (7) changes the lock core component (6) from the "locking state" to the "unlocking state", the front push spring (606) pushes the main core rod (601) forward with the aid of the baffle (609), and the main core rod (601) pushes the T-shaped shuttle rod (501) forward; during the forward movement of the T-shaped shuttle rod (501), the T-shaped shuttle rod (501) is moved forward with the aid of the left connecting rod (504). The left hoop J-shaped component (503) is pushed to open to the left, and at the same time, the T-shaped shuttle rod (501) pushes the right hoop J-shaped component (505) to open to the right with the help of the right connecting rod (506). At the same time, the T-shaped shuttle rod (501) pushes the Y-shaped locking tongue (502) forward, and the Y-shaped locking tongue (502) pushes the locking rod (14) forward until the blocking piece (609) is blocked by the first guide tube (603). At this time, the gap between the front end of the left hoop J-shaped component (503) and the front end of the right hoop J-shaped component (505) is larger than the diameter of the locking rod (14), and the locking ring component (5) is in an "unlocked state" and pushes the locking rod (14) out.

7. The method for using the adaptive automatic ship locking device according to claim 4 is characterized by: Step S1: During the disassembly and installation process, the automatic ship locking device needs to be self-checked and adjusted in the power-on state; the automatic ship locking device prompts the user to adjust the working state of the lock ring component (5) and the lock rod (14) in the automatic ship locking device according to the power-on state self-check result, to ensure that the lock ring component (5) and the lock rod (14) are in the correct docking mode; Specifically, the position sensor (11) monitors the position information of the Y-shaped lock tongue (502) and transmits it to the control board (801); the control board (801) calculates the swing angle value and angular velocity information of the lock ring component (5) according to the position information of the Y-shaped lock tongue (502), and indicates the working state of the lock ring component (5); At the same time, the photoelectric sensor (12) monitors the dynamic position information of the locking rod (14) and transmits it to the control board (801); the control board (801) interprets the position and speed information of the locking rod (14) and indicates the working state of the locking rod (14); If the locking ring component (5) and the locking rod (14) are in an incorrect docking mode, or the requirements for a stable docking mode are not met, the control panel (801) prompts the user to make corresponding adjustments to eliminate the incorrect docking mode and meet the corresponding requirements for a stable docking mode.

8. The method for using the adaptive automatic ship locking device according to claim 4 is characterized by: During the disassembly and installation in step S1, the automatic ship locking device also needs to be inspected and adjusted for installation position / size; specifically, after the automatic ship locking device is installed, the ship is started to sail against the locking rod (14) to within a specified distance from the locking ring component (5), the photoelectric sensor (12) monitors the position information of the locking rod (14) and transmits it to the control panel (801), the control panel (801) interprets the position information of the locking rod (14), compares it with the installation information of the locking ring component (5), and calculates the "installation suitability" of the automatic ship locking device. If the "installation suitability" is lower than a first specified threshold, the control panel (801) drives the hydraulic cylinder (304) to lift the lock body (2) until the "installation suitability" is higher than the first specified threshold; When the ship shakes up and down, the locking rod (14) has a corresponding probability of missing the locking ring component (5) upward or downward, and the lower the first specified threshold is set, the greater the corresponding probability of longitudinal missing; The "installation suitability" specifically refers to: the degree of height or height relative to the locking ring component (5); the smaller the height or height, the greater the value of the "installation suitability"; the maximum value of the "installation suitability" is 100%, that is, the middle end of the locking rod (14) can be evenly shaken up and down around the locking ring component (5); the minimum value of the "installation suitability" is 0%, that is, the locking rod (14) cannot enter the locking ring component (5) regardless of whether it is stable or shaking.

9. The method for using the adaptive automatic ship locking device according to claim 4 is characterized by: In the process of unlocking and boarding in step S2, it is also necessary to periodically perform unlocking detection and adjustment; specifically, the position sensor (11) monitors the position information of the Y-shaped lock tongue (502) and transmits it to the control board (801); the control board (801) calculates the swing angle value of the lock ring component (5) based on the position information of the Y-shaped lock tongue (502), and calculates the current "hoop angle suitability" of the lock ring component (5); if the "hoop angle suitability" is lower than a second specified threshold, the control board (801) prompts the user to make corresponding adjustments; The lower the "hoop angle suitability", the lower the probability that the lock rod (14) is stuck in the lock ring component (5), including when the ship sways left and right, there is a corresponding probability that the lock rod (14) will miss the lock ring component (5) to the left or right, and the lower the second specified threshold is set, the greater the corresponding probability of lateral miss; The "hoop angle suitability" specifically refers to the degree to which the locking rod (14) deviates to the left / right relative to the locking ring component (5). The smaller the gap between the front end of the left hoop J-shaped component (503) and the front end of the right hoop J-shaped component (505), the greater the degree of deviating to the left / right, and the smaller the value assigned to the "hoop angle suitability". The maximum assigned value of the "hoop angle suitability" is 100%, that is, the front end of the left hoop J-shaped component (503) and the front end of the right hoop J-shaped component (505) are opened to 180 degrees. The minimum assigned value of the "hoop angle suitability" is 0%, that is, the gap between the front end of the left hoop J-shaped component (503) and the front end of the right hoop J-shaped component (505) is smaller than the diameter of the locking rod (14). The user is prompted to make corresponding adjustments, including: the user first performs a first stage adjustment, that is, presses down the tail end of the tilting rod (708), or continuously presses the first unlocking button (9), or continuously presses the second unlocking button (10), so that the lock ring component (5) is initialized to the "unlocked state"; after the user performs the first stage adjustment, if the "hoop angle suitability" is still lower than the second specified threshold, it is necessary to first handle the fault, such as checking whether the lock ring component (5) is stuck or whether the straight arm motor (8) is damaged. After confirming that the mechanical state is correct, drive the rotating motor (309) to rotate the lock body (2) until the "hoop angle suitability" is higher than the second specified threshold.

10. The method for using the adaptive automatic ship locking device according to claim 4, characterized in that: During the process of automatically locking the ship in step S3, speed detection and adjustment need to be performed periodically; specifically, when the ship is sailing backward in the berth (13) with the locking rod (14) against it, the photoelectric sensor (12) monitors the dynamic position information of the locking rod (14) and transmits it to the control board (801); the control board (801) interprets the position and speed information of the locking rod (14) and calculates the "inertia suitability" of the locking rod (14); if the "inertia suitability" is lower than a third specified threshold, the control board (801) transmits specific alarm information back to the monitoring system of the ship, prompting the user to make corresponding adjustments; If the ship speed is too low or too high, the "inertia suitability" will be reduced. If the speed is too low, the locking rod (14) will have insufficient momentum when squeezing into the locking ring component (5), making it difficult to achieve automatic locking. If the speed is too high, the locking rod (14) will have excessive momentum when squeezing into the locking ring component (5), making it easy to damage the automatic ship locking device. The "inertia suitability" refers to the degree to which the momentum required for the locking rod (14) to squeeze into the locking ring component (5) is too small / too large. The greater the degree of the "inertia suitability", the smaller the value assigned to the "inertia suitability". The maximum value assigned to the "inertia suitability" of 100% means that the locking rod (14) can just squeeze into the locking ring component (5) to achieve automatic locking without causing additional impact. The minimum value assigned to the "inertia suitability" of 0% means that the locking rod (14) cannot contact the locking ring component (5) or directly damages the automatic ship locking device. Among them, the user is prompted to make corresponding adjustments, including increasing the throttle to drive the ship to accelerate when the speed is too slow, and reducing the throttle to slow down the ship or reverse braking when the speed is too high; thereby adjusting the "inertia suitability" to be higher than the third specified threshold.

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