Adaptive automatic boat locking device and method of using the same

Abstract

The application provides a kind of self-adapting automatic ship locking device and its using method, the device includes lock base, lock body, jacking rotary mechanism, lock cover and lock rod, lock body is fixed on the bottom end table of berth, jacking rotary mechanism is set in lock base, and is connected with lock body in vertical direction, lock cover can be adaptively covered on lock base, lock rod is installed in the specified part of ship, lock body includes lock ring component, lock core component and lock bolt component which are adaptively assembled together, lock core component is longitudinally connected with lock ring component, and the opening / closing action of lock ring component is realized through state linkage, lock bolt component is transversely connected with lock core component, so that lock core component can be in buckling state or debuckling state;The method includes steps of disassembly and installation, opening lock, boarding ship, automatic clamping, issuing unlocking instruction, automatic debonding and lock bolt return, the application increases the self-adapting adjustment range of ship locking device, improves the structural stability of device, and greatly improves the efficiency of ship mooring.

Description

Technical Field

[0001] This invention relates to the field of intelligent ship technology, and in particular to an adaptive automatic ship locking device and its usage method. Background Technology

[0002] Ships, as the preferred means of water transport, are widely used in rivers, lakes, and scenic spots, with high demand and frequent use. However, traditional ships have low levels of intelligence and cannot automatically lock into berths. This requires carrying mooring lines and the operator going ashore to moor the ship to the bollards, a cumbersome, time-consuming, and labor-intensive process. This is especially problematic for some lightweight ships that frequently enter berths, where rope mooring is inefficient. In light of this, existing patent CN116291062B provides an automatic ship locking method and device. This device provides an automatic ship locking mechanism with detachable components that can be installed between the ship and the berth, solving the problem of automatic ship mooring and improving the efficiency of automatic locking and unlocking by introducing an automatic ship locking method.

[0003] However, its applicable ship locking height and angle are limited, the success rate of automatic ship locking is low, and it can only be adapted to different ship docking environments by adjusting the size of the installation components. This wastes human resources in frequent berthing operations and reduces the efficiency of ship mooring. The locking ring components have problems such as the hoop lifting and asynchronous opening, which are easily damaged when unlocking and pushing the ship or when subjected to impact. The ship locking components have a jamming and rebound phenomenon, which may lead to locking failure. The battery has poor endurance. Summary of the Invention

[0004] The main objective of this invention is to provide an adaptive automatic boat locking device and its usage method, which solves the problems of poor environmental adaptability of existing automatic boat locking devices and methods, waste of manpower in adjustment methods, low mooring efficiency; problems such as the upward tilting of the locking ring component and asynchronous opening, which can easily lead to damage during unlocking and pushing the boat or under impact; the phenomenon of the locking component getting stuck and rebounding, which may lead to locking failure; and poor battery endurance.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: an adaptive automatic boat locking device, which includes a lock base, a lock body, a lifting and rotating mechanism, a lock cover and a lock rod;

[0006] The lock base serves as the fixed platform for the adaptive automatic ship locking device and can be fixed to a designated location at the berth. The lock body is fixed on the lock base and can lock a lock bar of the corresponding size. The lock bar is installed at a designated location on the ship and can automatically lock into the lock body. The lifting and rotating mechanism is set in the lock base and can lift and rotate the lock body. The lock cover can be fitted onto the lock base in an appropriate manner.

[0007] The lock body includes a lock ring component, a lock cylinder component, and a bolt component. The lock ring component is located at the front end of the lock base, and the lock cylinder component is adapted to be located at the rear end of the lock base and is longitudinally connected to the lock ring component. The locking / unlocking action of the lock ring component is realized through state linkage.

[0008] The bolt component is adapted to be disposed on one side of the lock cylinder component and is laterally connected to the lock cylinder component, which can put the lock cylinder component into a latched state or an unlocked state;

[0009] The lifting and rotating mechanism is located in the lock base, and its upper end is connected to the lock body in a vertical direction.

[0010] The front end of the lock cover is provided with a concave opening to accommodate the movement space of the lock bar and lock ring components;

[0011] The lock base includes a horizontal base plate, a vertical side frame, a vertical support platform, a horizontal mounting plate, and a vertical baffle.

[0012] The horizontal base plate is set on the horizontal surface of the bottom platform of the berth, with the front end of the horizontal base plate extending into the berth and the rear end fixed to the horizontal platform surface of the berth.

[0013] The vertical side frame is set on the vertical surface of the bottom platform of the berth. The top of the vertical side frame is connected to the front end of the horizontal base plate, and the bottom is fixed to the vertical side of the berth.

[0014] The vertical support platform is fixed vertically upward on the horizontal base plate. The setting height of the vertical support platform is adapted to the average working height of the lock rod, so that the middle part of the lock rod can be aligned with the lock body.

[0015] A horizontal mounting plate is set horizontally on top of the vertical support platform for mounting the lock body;

[0016] The vertical baffles are arranged around the outside of the vertical support platform;

[0017] The locking ring assembly includes a T-shaped shuttle, a Y-shaped locking tongue, a left J-shaped clamp component, a left connecting rod, a right J-shaped clamp component, a right connecting rod, a first movable pin, a second movable pin, and a limiter;

[0018] Two bearing pins are symmetrically fixed on the horizontal mounting plate;

[0019] The T-shaped shuttle rod is attached to the front end of the central axis of the upper end face of the transverse mounting plate;

[0020] The left hoop J-shaped component is placed upside down on the left side of the front end of the center axis of the upper end face of the transverse mounting plate. Its lower left corner is hinged to a bearing pin on the left side of the transverse mounting plate, and its lower right corner is hinged to one end of the left connecting rod through the first movable pin. The lower left corner of the T-shaped shuttle is hinged to the other end of the left connecting rod through the second movable pin.

[0021] The right hoop J-shaped component is placed upside down on the right side of the front end of the center axis of the upper end face of the transverse mounting plate. Its lower right corner is hinged to another bearing pin on the right side of the transverse mounting plate, and its lower left corner is hinged to one end of the right connecting rod through the first movable pin. The lower right corner of the T-shaped shuttle is hinged to the other end of the right connecting rod through the second movable pin.

[0022] Two guide grooves are symmetrically provided at the front end of the central axis of the upper surface of the transverse mounting plate. The first end of the arc-shaped groove section is connected to the end of the longitudinal groove section. At the same time, the first movable pin slides from the first end to the end in the arc-shaped groove section of the guide groove, while the second movable pin slides from the first end to the end in the longitudinal groove section of the guide groove, providing synchronous guidance for the left hoop J-shaped component, the left connecting rod, the right hoop J-shaped component and the right connecting rod.

[0023] The Y-shaped locking tongue is fixed to the top surface of the front end of the T-shaped shuttle;

[0024] The limiters are symmetrically arranged on both sides of the front end of the central axis of the upper end face of the transverse mounting plate. When the first movable pin and the second movable pin slide to the end of the corresponding groove at the same time, the outer sides of the left hoop J-shaped component and the right hoop J-shaped component abut against the limiters on both sides respectively.

[0025] The lock cylinder components include a main cylinder rod, a guide frame, a first guide tube, a first positioning clamp, a limit frame, and a front push spring;

[0026] The head end of the main core rod is provided with a first limiting groove, and the tail end is provided with a second limiting groove, and a baffle is provided in the second limiting groove;

[0027] A longitudinal through hole is provided in the middle of the guide frame;

[0028] A third limiting groove is provided at each end of the first guide tube. The distance between the two third limiting grooves is adapted to the length of the guide frame. The first guide tube is set in the longitudinal through hole of the guide frame. A first positioning clamp is provided in each third limiting groove. The first positioning clamp clamps longitudinally clamp the first guide tube in the longitudinal through hole of the guide frame.

[0029] The front end of the middle part of the limit frame is provided with a support hole. One end of the front top spring is set 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 main core rod with the elastic force required for forward return.

[0030] The middle part of the main core rod is movably sleeved in the first guide tube, and its head end is collinearly connected with the tail end of the T-shaped shuttle rod. A double-layered 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.

[0031] The limiting frame is fixed at the rear end of the center axis of the upper end face of the transverse mounting plate, and the guide frame is fixed at the middle end of the center axis of the upper end face of the transverse mounting plate;

[0032] The bolt assembly includes a buckle pin, a cap plate, a Z-shaped component, a second guide tube, and a second positioning clamp;

[0033] The Z-shaped component is fixed to one side of the center line of the upper end face of the horizontal mounting plate. It has a vertical through hole and a limiting pin hole at its top. The vertical through hole is directly opposite the center line of the upper end face of the horizontal mounting plate, and the limiting pin hole is located on one side of the vertical through hole.

[0034] A fourth limiting groove is provided at each end of the second guide tube. The distance between the two fourth limiting grooves is adapted to the thickness of the top of the Z-shaped component. The second positioning clamp vertically locks the second guide tube in the vertical through hole of the Z-shaped component.

[0035] The bottom end of the buckle is set as a triangular buckle head, with its vertical surface pointing to the rear end of the horizontal mounting plate and its inclined surface pointing to the front end of the horizontal mounting plate. The bottom locking surface has a concave arc surface, the curvature of which matches the curvature of the first limiting groove shaft section on the main core rod. The bottom end of the buckle is swivelly sleeved in the second guide tube with its bottom end facing down. When the triangular buckle head of the buckle moves down, it can be aligned and inserted into the first limiting groove of the main core rod, and its vertical surface can hold the rear end surface of the first limiting groove. When the buckle moves up, it can drive the triangular buckle head away from the first limiting groove of the main core rod.

[0036] The cap plate is connected to the top of the buckle and installed on the top surface of the Z-shaped component. A limit pin is set on one side of the buckle on the cap plate. When the buckle moves up and down, the cap plate drives the limit pin to move in the limit pin hole.

[0037] The bolt assembly also includes a T-shaped support, a rocker arm, and a return spring;

[0038] The T-shaped support is fixed on one side of the central axis of the upper end face of the horizontal mounting plate. Its top is hinged to the middle of the rocker arm. The front end of the rocker arm abuts against the bottom of the cap plate, which can drive the cap plate, buckle pin and limit pin to move upward.

[0039] One end of the return spring is attached to the front end of the rocker arm, and the other end is attached to the root of the T-shaped support. Its function is to pull the front end of the rocker arm down so that the cap plate, buckle pin and limit pin can move downward.

[0040] The rear end of the lock cover is fitted with an opening slot. The size of the opening slot can meet the space requirements for the rocker arm to move up and down. When the tail end of the rocker arm is tilted down to the lower end of the opening slot, the lower end face of the limiting pin is still in the limiting pin hole and there is a gap between it and the top end. When the tail end of the rocker arm is tilted up to the upper end of the opening slot, the front end of the rocker arm 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 surface of the second guide tube.

[0041] In the preferred embodiment, the lifting and rotating mechanism includes a lifting component and a rotating component;

[0042] The lifting components include a lifting plate, a hydraulic cylinder, a guide rod, a guide sleeve, and a cross plate;

[0043] The hydraulic cylinders are symmetrically arranged inside the vertical support platform, and the top of their piston rods are symmetrically connected to both ends of the lifting plate.

[0044] The upper surface of the hydraulic cylinder body is provided with a horizontal plate, which is vertically fixed to the side plate of the vertical support platform, and guide sleeves are provided symmetrically at both ends.

[0045] The guide rod is sleeved in the guide sleeve, and its upper end is connected to the four corners of the lifting plate. As the lifting plate is lifted, it moves up and down in the guide sleeve. When the hydraulic cylinder moves to the lowest point of its stroke, the lifting plate abuts against the upper end of the vertical support platform, and the lower end of the guide rod leaves a gap with the upper surface of the horizontal base plate.

[0046] The rotating components include a rotating plate, a rotating motor, a drive gear, a rotary gear, and a rotary shaft;

[0047] The rotary motor is located below the lifting plate and is connected to the lower surface of the lifting plate via a motor base. The output shaft of the rotary motor passes through the lifting plate and is connected to the drive gear.

[0048] The drive gear is located inside the first gear groove in the middle of the lifting plate on one side, and its upper surface is not higher than the upper surface of the lifting plate.

[0049] The rotary gear is set in the first gear groove in the middle of the lifting plate and meshes with the drive gear. Its lower end is rotatably connected to the lifting plate through the rotary shaft, and its upper end is set 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.

[0050] The lower surface of the rotating plate is also provided with a positioning pin, and the upper surface of the lifting plate is provided with a matching arc-shaped positioning groove. The lengths of the two ends of the positioning groove are adapted to the rotation range of the lock body.

[0051] The top of the lock cover is also equipped with a solar panel, and the interior of the vertical support platform is also equipped with a solar controller;

[0052] The locking bolt assembly also includes a straight boom motor, which contains a control board, a communication module, and a battery. The control board serves as the control center for the straight boom motor and can receive and process the operating data from the communication module. The communication module has wired and / or wireless communication functions. The battery provides power to the straight boom motor, and the solar controller controls the solar panels to charge the battery.

[0053] The straight arm motor is fixed on one side of the center axis of the upper end face of the horizontal mounting plate. 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.

[0054] The ship is equipped with a first unlocking button that can wirelessly communicate with the communication module;

[0055] The berth is equipped with a second unlocking button that can communicate with the communication module via wired connection;

[0056] Users can send commands to the control board via wired or wireless communication to drive the straight arm motor and achieve remote automatic unlocking. When the first or second unlock button is continuously pressed, a high-level unlock signal is continuously sent to the control board via the communication module. The control board drives the straight arm motor to move forward, increasing the output stroke, thereby driving the cap plate and buckle pin to move upward. When the first or second unlock button is released, the control board drives the straight arm motor to move in the opposite direction, shortening the output stroke, so that the cap plate and buckle pin can move downward.

[0057] The range of stroke variation at the output end of the straight arm motor is adapted to the action requirements of the latch pin;

[0058] A position sensor connected to the control board is installed on one side of the Y-type lock tongue. Its height is adapted to the height of the Y-type lock tongue. The sensing head of the position sensor rests against one side support arm of the Y-type lock tongue to monitor the position information of the Y-type lock tongue. The control board interprets the position information of the Y-type lock tongue to calculate the working status of the lock ring component.

[0059] The front end of the horizontal base plate is equipped with a photoelectric sensor connected to the control board, which is used to monitor the position information of the locking bar on the ship. The control board interprets the position and speed information of the locking bar and marks the working status of the locking bar.

[0060] In a preferred embodiment, a method of using an adaptive automatic boat locking device includes:

[0061] S1. Disassemble and install the locking bar to the middle protrusion at the bow and / or stern of the vessel, install the locking base to the bottom platform of the floating mooring position, then fix the locking body to the locking base, and then close the locking cover onto the locking base to cover the locking body; wherein the installation height of the locking bar is adapted to the installation height of the locking body.

[0062] S2, Unlocking, etc.: The user presses down on the end of the rocker arm, or continuously presses the first unlock button, or continuously presses the second unlock button to initialize the lock ring component to the "unlocked state". Then, the user releases the rocker arm, the first unlock button, and the second unlock button. At this time, the bolt component is in the "unlocked state" of the lock cylinder component.

[0063] S3. Automatic locking: The ship pushes against the locking bar and squeezes into the locking ring component, changing the locking ring component from the "unlocked state" to the "locked state", locking the locking bar to achieve automatic locking of the ship. At the same time, the bolt component changes the lock cylinder component from the "unlocked state" to the "locked state".

[0064] S4. Issue an unlock command. If the user continues to press down on the end of the rocker arm, or continues to press down on the first unlock button, or continues to press down on the second unlock button, an "unlock command" will be issued.

[0065] S5. Automatic release: The rocker arm or straight arm motor drives the latch pin in the bolt assembly to move upward, so that the bolt assembly changes from the "locked state" to the "unlocked state" in relation to the lock cylinder assembly. The lock cylinder assembly pushes out the lock rod and returns to the "unlocked state".

[0066] S6. Lock bolt return: If the user releases the rocker arm, the rocker arm will automatically return to its original position under the action of the return spring. Alternatively, if the user releases the first unlocking button and the second unlocking button, the electric pin will automatically reverse its movement and no longer press against the cap plate. The triangular buckle at the bottom of the pin will move downward under the action of gravity and press against the middle part of the main core rod.

[0067] In the preferred embodiment, in step S3, when the locking rod is pushed backward into the locking ring component, it contacts and pushes the Y-shaped locking tongue backward, which in turn pushes the T-shaped shuttle rod backward. During the backward movement of the T-shaped shuttle rod, the T-shaped shuttle rod, with the aid of the left connecting rod, pulls the left hoop J-shaped component to the right, while simultaneously, with the aid of the right connecting rod, it pulls the right hoop J-shaped component to the left. At the same time, the T-shaped shuttle rod pushes the main core rod backward, and the main core rod, with the aid of the baffle, compresses the front spring backward until the front ends of the left and right hoop J-shaped components touch each other, or until the main core rod is stopped. The bottom of the support hole of the frame is blocked; when the main core rod moves backward to the first specified stroke, the triangular buckle at the bottom of the buckle moves downward under the action of gravity and gets 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 less than the diameter of the lock rod, and the lock ring component is in the "locked state" and clamps the lock rod; if the lock rod no longer pushes the Y-shaped lock tongue backward, under the action of the front push spring, the rear end face of the first limiting groove of the main core rod is attached to the vertical face of the triangular buckle, and the bolt component changes from the "unlocked state" to the "locked state" of the lock core component.

[0068] In the preferred embodiment, in step S5, when the buckle moves upward to the third specified stroke, the triangular buckle head at the bottom of the buckle completely disengages from the first limiting groove on the main core rod; the bolt component changes from a "buckled state" to an "unbuckled state" with respect to the lock core component; the front push spring pushes the main core rod forward with the aid of the baffle, and the main core rod pushes the T-shaped shuttle forward; during the forward movement of the T-shaped shuttle, the T-shaped shuttle pushes the left hoop J-shaped component to open to the left with the aid of the left connecting rod, and at the same time, the T-shaped shuttle pushes the right hoop J-shaped component to open to the right with the aid of the right connecting rod, and at the same time, the T-shaped shuttle pushes the Y-shaped lock tongue forward, and the Y-shaped lock tongue pushes the lock 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 lock rod, and the lock ring component is in an "unlocked state" and pushes out the lock rod.

[0069] In the preferred embodiment, during the disassembly and installation process in step S1, the automatic boat locking device needs to undergo a power-on self-test and adjustment. Based on the power-on self-test results, the automatic boat locking device prompts the user to adjust the working status of the locking ring component and locking rod in the automatic boat locking device to ensure that the locking ring component and locking rod are in the correct docking mode.

[0070] Specifically, the position sensor monitors the position information of the Y-type lock tongue and transmits it to the control board. The control board calculates the swing angle and angular velocity information of the lock ring component based on the position information of the Y-type lock tongue and indicates the working status of the lock ring component.

[0071] Meanwhile, the photoelectric sensor monitors the dynamic position information of the locking bar and transmits it to the control board. The control board interprets the position and speed information of the locking bar and indicates the working status of the locking bar.

[0072] If the locking ring component and the locking rod are in an incorrect docking mode, or if the requirement for a stable docking mode cannot be met, the control panel will prompt the user to make corresponding adjustments to eliminate the incorrect docking mode and meet the corresponding requirements for a stable docking mode.

[0073] In the preferred embodiment, during the disassembly and installation in step S1, the automatic boat locking device also needs to undergo installation position / size detection and adjustment. Specifically, after the automatic boat locking device is installed, the ship is started and sails with the locking bar against it to within a specified distance from the locking ring component. The photoelectric sensor monitors the position information of the locking bar and transmits it to the control board. The control board interprets the position information of the locking bar and compares it with the installation information of the locking ring component to calculate the "installation suitability" of the automatic boat locking device. If the "installation suitability" is lower than a first specified threshold, the control board drives the hydraulic cylinder to lift the lock body until the "installation suitability" is higher than the first specified threshold.

[0074] Among them, when the ship is rocking up and down, there is a corresponding probability that the locking bar will miss the locking ring component in the upward or downward direction. The lower the first specified threshold is set, the greater the corresponding probability of missing in the vertical direction.

[0075] Specifically, "installation suitability" refers to the degree to which the locking bar is too high or too low relative to the locking ring component. The smaller the degree of being too high or too low, the higher the "installation suitability" value. The maximum "installation suitability" value is 100%, which means that the center part of the locking bar can move up and down evenly around the locking ring component. The minimum "installation suitability" value is 0%, which means that the locking bar cannot enter the locking ring component whether it is stable or shaking.

[0076] In the preferred embodiment, during the unlocking and boarding process in step S2, periodic unlocking detection and adjustment are also required. Specifically, the position sensor monitors the position information of the Y-type lock tongue and transmits it to the control board. The control board calculates the swing angle value of the lock ring component based on the position information of the Y-type lock tongue and calculates the current "clamp angle suitability" of the lock ring component. If the "clamp angle suitability" is lower than the second specified threshold, the control board prompts the user to make corresponding adjustments.

[0077] Among them, the lower the "clamp angle suitability", the lower the probability of the lock bar getting stuck in the lock ring component. This includes the possibility that the lock bar will miss the lock ring component to the left or right when the ship is rocking from side to side. The lower the second specified threshold is set, the greater the probability of missing it laterally.

[0078] The "hoop angle suitability" specifically refers to the degree to which the locking rod deviates to the left or right relative to the locking ring component. The smaller the gap between the front ends of the left and right hoop J-shaped components, the greater the degree of deviation to the left or right, and the smaller the "hoop angle suitability" value. The maximum value of "hoop angle suitability" is 100%, which means that the front ends of the left and right hoop J-shaped components are opened to 180 degrees. The minimum value of "hoop angle suitability" is 0%, which means that the gap between the front ends of the left and right hoop J-shaped components is less than the diameter of the locking rod.

[0079] The system prompts the user to make corresponding adjustments, including: the user first performs a first-stage adjustment, which involves pressing down on the end of the rocker arm, or continuously pressing the first unlock button, or continuously pressing the second unlock 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, the fault needs to be addressed first, such as checking whether the lock ring component is jammed or whether the straight arm motor is damaged. After confirming that the mechanical condition is correct, the rotary motor is driven to rotate the lock body until the "hoop angle suitability" is higher than the second specified threshold.

[0080] In the preferred embodiment, during the automatic ship locking process in step S3, periodic speed detection and adjustment are also required. Specifically, when the ship is sailing backward within the berth with the locking bar in place, the photoelectric sensor monitors the dynamic position information of the locking bar and transmits it to the control board. The control board interprets the position and speed information of the locking bar and calculates the "inertial fitness" of the locking bar. If the "inertial fitness" is lower than a third specified threshold, the control board sends specific alarm information back to the ship's monitoring system to prompt the user to make corresponding adjustments.

[0081] Both excessively low and excessively high ship speeds reduce the "inertial suitability". Insufficient speed results in insufficient momentum when the locking bar is squeezed into the locking ring component, making it difficult to achieve automatic locking. Excessive speed results in excessive momentum when the locking bar is squeezed into the locking ring component, which may damage the automatic ship locking device.

[0082] Specifically, "Inertial Suitability" refers to the degree to which the momentum required for the locking bar to engage with the locking ring component is too little or too much. The greater the degree of being too little or too much, the smaller the value of "Inertial Suitability". The maximum value of "Inertial Suitability" is 100%, which means that the locking bar can just engage with the locking ring component to achieve automatic locking without causing additional impact. The minimum value of "Inertial Suitability" is 0%, which means that the locking bar cannot contact the locking ring component or directly damages the automatic boat locking device.

[0083] The system prompts users to make corresponding adjustments, including increasing the throttle to accelerate the ship when the speed is too low, and decreasing the throttle to slow down the ship or braking in the opposite direction when the speed is too high; thereby adjusting the "inertia suitability" to a level higher than the third specified threshold.

[0084] Specifically, when the bolt component is in a "clicked state" with the lock cylinder component and the lock ring component is in a "locked state", the triangular buckle at the bottom of the buckle is inserted into the first limiting groove on the main core rod, wherein the vertical surface of the triangular buckle is against the rear end face of the first limiting groove, and the main core rod uses the baffle to push the front top spring into the support hole of the limiting frame, while the cap plate is placed on the top surface of the Z-shaped component;

[0085] If the user presses down on the end of the rocker arm, the front end of the rocker arm will lift the cap plate upwards. The cap plate will drive the buckle pin to move upwards. When it moves to the third specified stroke, the triangular buckle at the bottom of the buckle pin will completely disengage from the first limit groove on the main core rod. Alternatively, if the user sends an "unlock 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 in the forward direction, its output end will push the cap plate upwards. The cap plate will drive the buckle pin to move upwards. When it moves to the third specified stroke, the triangular buckle at the bottom of the buckle pin will completely disengage from the first limit groove on the main core rod.

[0086] When the triangular buckle is completely disengaged from the first limiting groove on the main core rod, the bolt component changes from a "locked" state to an "unlocked" state with respect to the lock core component. The front push spring pushes the main core rod forward with the help of the baffle, and the main core rod pushes the T-shaped shuttle rod forward. During the forward movement of the T-shaped shuttle rod, the T-shaped shuttle rod pushes the left hoop J-shaped component to open to the left with the help of the left connecting rod. At the same time, the T-shaped shuttle rod pushes the right hoop J-shaped component to open to the right with the help of the right connecting rod. Simultaneously, 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 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 lock rod. The lock ring component is in an "unlocked" state and pushes out the lock rod.

[0087] If the user stops pressing the rocker arm, and the straight arm motor output automatically reverses and stops pressing against the cap plate, the triangular buckle at the bottom of the buckle moves downward under the force of gravity and presses against the middle part of the main core rod.

[0088] When the locking ring component is in the "unlocked state," the bolt component is in the "unlocked state" against the lock cylinder component. If the ship continues to push the locking rod backward against the locking ring component, the locking rod pushes the Y-shaped locking tongue backward, and the Y-shaped locking tongue pushes the T-shaped shuttle backward. During the backward movement of the T-shaped shuttle, the T-shaped shuttle pulls the left hoop J-shaped component to the right with the help of the left connecting rod, and at the same time, the T-shaped shuttle pulls the right hoop J-shaped component to the left with the help of the right connecting rod. Simultaneously, the T-shaped shuttle pushes the main core rod backward, and the main core rod compresses the front push spring backward with the help of the baffle until the front ends of the left hoop J-shaped component and the front ends of the right hoop J-shaped component touch. Together, or until the main core rod is blocked by the bottom end of the support hole of the limiting frame; when the main core rod moves backward to the first specified stroke, the triangular buckle at the bottom of the latch pin moves downward under the action of gravity and gets 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 less than the diameter of the lock rod, and the lock ring component is in the "locked state" and clamps the lock rod; if the lock rod no longer pushes the Y-shaped lock tongue backward, under the action of the front push spring, the rear end face of the first limiting groove of the main core rod is attached to the vertical face of the triangular buckle, and the bolt component changes from the "unlocked state" to the "locked state" of the lock core component.

[0089] This invention provides an adaptive automatic boat locking device and its usage method, which has the following beneficial effects:

[0090] 1. Provides an automatic ship locking device with detachable components that can be installed between the vessel and the berth, solving the problem of automatic mooring of vessels and berths. The vessel automatically locks itself by pushing against the locking bar and squeezing into the locking ring component. When the vessel departs from the shore, the user issues an "unlock command," and the automatic ship locking device can automatically unlock and push the locking bar forward, reducing the probability of repeated locking of the vessel. It introduces an anti-upward Y-shaped locking tongue, an anti-asynchrony guide groove, and a bearing pin with stronger load-bearing capacity to improve the overall structural stability of the device and the accuracy of control.

[0091] 2. During the automatic locking of the locking bar into the locking ring component, the bolt component can be adapted to lock the lock cylinder component to prevent the locking ring component from automatically unlocking without instruction; during the unlocking process of the locking ring component, the locking bar and the vessel can be pushed forward to drift; by introducing a concave arc surface into the triangular buckle of the buckle, the locking surface is increased, the jamming rebound phenomenon is reduced, and the locking success rate is increased.

[0092] 3. Improve the efficiency of automatic locking and unlocking of ships by introducing automatic ship locking methods. Introduce factors such as "installation suitability", "hoop angle suitability" and "inertia suitability" into the automatic ship locking method to improve the success rate of automatic ship locking. Set up a lifting and rotating mechanism to adjust the working height and angle of the lock body so that the device can automatically adjust to the mooring of ships at different entry heights and angles.

[0093] 4. By adding solar panels and a solar controller, the battery is powered and stored, improving the overall endurance of the device, ensuring a stable power supply, and making it reliable and environmentally friendly. Attached Figure Description

[0094] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0095] Figure 1 This is an isometric structural diagram of the overall device of the present invention;

[0096] Figure 2 This is an isometric structural diagram of the overall device of the present invention in explosion mode;

[0097] Figure 3 This is an isometric structural diagram of the lock body of the present invention.

[0098] Figure 4 This is a cross-sectional view of the lock body of the present invention along its central axis.

[0099] Figure 5 This is an isometric structural diagram of the lock body of the present invention;

[0100] Figure 6 This is an isometric structural diagram of the lock body in explosion mode of the present invention;

[0101] Figure 7 This is a structural diagram showing the installation and disassembly of the locking ring component of the present invention;

[0102] Figure 8 This is an isometric structural diagram of the locking ring component of the present invention in explosion mode;

[0103] Figure 9 This is an isometric structural diagram of the lock cylinder component and the bolt component of the present invention;

[0104] Figure 10 This is an isometric structural diagram of the lock cylinder component of the present invention in explosion mode;

[0105] Figure 11 This is an isometric structural diagram of the bolt component of the present invention in explosion mode;

[0106] Figure 12 This is a main view of the installation structure of the lifting and rotating mechanism of the present invention;

[0107] Figure 13 This is an isometric structural diagram of the lifting and rotating mechanism of the present invention in explosion mode;

[0108] Figure 14 This is an isometric structural diagram of the installation and disassembly of the lifting plate and rotating plate of the present invention;

[0109] Figure 15 This is an isometric structural diagram of the overall device of the present invention installed at the berth;

[0110] Figure 16 This is a structural diagram of the adaptive height and angle adjustment of the non-aligned parking device of the locking bar according to the present invention;

[0111] Figure 17 This is a schematic diagram of the connection of the control components of the present invention;

[0112] Figure 18 This is a flowchart of the method of using the adaptive automatic boat locking device of the present invention.

[0113] In the diagram: Lock base 1; Horizontal base 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; Rotary motor 309; Drive gear 310; Rotary gear 31 1; Rotary shaft 312; Motor base 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-shaped shuttle 501; Y-shaped lock tongue 502; Left clamp J-shaped component 503; Left connecting rod 504; Right clamp J-shaped component 505; Right connecting rod 506; First movable pin 507; Second movable pin 508; Limiter 509; Lock cylinder component 6; Main Core rod 601; guide frame 602; first guide tube 603; first positioning clamp 604; limit frame 605; front top spring 606; first limit groove 607; second limit groove 608; baffle 609; longitudinal through hole 610; third limit groove 611; support hole 612; double-layer self-locking washer 613; bolt component 7; buckle pin 701; cap plate 702; Z-shaped component 703; vertical through hole 704; limit pin hole 705; triangular buckle head 706; Support base 707; rocker arm 708; return spring 709; second guide tube 710; second positioning clamp 711; fourth limiting groove 712; limiting pin 713; protrusion 714; straight arm motor 8; control board 801; battery 802; communication module 803; first unlock button 9; second unlock button 10; position sensor 11; photoelectric sensor 12; parking space 13; platform 131; locking rod 14; solar panel 15; solar controller 16. Detailed Implementation

[0114] Example 1

[0115] like Figures 1-16 As shown, an adaptive automatic boat locking device includes a lock base 1, a lock body 2, a lifting and rotating mechanism 3, a lock cover 4, and a lock rod 14.

[0116] The lock base 1 serves as the fixed base platform for the adaptive automatic ship locking device and can be fixed to a designated location at the berth 13. The lock body 2 is fixed on the lock base 1 and can lock the corresponding size lock rod 14. The lock rod 14 is installed at a designated location on the ship and can automatically lock into the lock body 2. The lifting and rotating mechanism 3 is set in the lock base 1 and can lift and rotate the lock body 2. The lock cover 4 can be adapted to cover the lock base 1.

[0117] The lock body 2 includes a lock ring component 5, a lock cylinder component 6, and a bolt component 7. The lock ring component 5 is located at the front end of the lock base 1, and the lock cylinder component 6 is adaptedly located at the rear end of the lock base 1 and longitudinally connected to the lock ring component 5. The locking / unlocking action of the lock ring component 5 is realized through state linkage.

[0118] The bolt component 7 is adaptedly disposed on one side of the lock cylinder component 6 and is laterally connected to the lock cylinder component 6, so that the lock cylinder component 6 can be in a latched state or an unlocked state.

[0119] The lifting and rotating mechanism 3 is installed in the lock base 1, and its upper end is connected to the lock body 2 in a vertical direction.

[0120] The front end of the lock cover 4 is provided with a concave opening 401 to accommodate the movement space of the lock rod 14 and the lock ring component 5;

[0121] The lock base 1 includes a horizontal base plate 101, a vertical side frame 102, a vertical support platform 103, a horizontal mounting plate 104, and a vertical baffle 105;

[0122] A horizontal base plate 101 is set on the horizontal surface of the bottom platform 131 of the berth 13. The front end of the horizontal base plate 101 extends into the berth 13, and the rear end is fixed to the horizontal platform surface of the berth 13.

[0123] The vertical side frame 102 is set on the vertical surface of the bottom platform 131 of the berth 13. The top of the vertical side frame 102 is connected to the front end of the horizontal base plate 101, and the bottom is fixed to the vertical side of the berth 13.

[0124] The vertical support platform 103 is fixed vertically upward on the horizontal base plate 101. 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 part of the locking rod 14 can be aligned with the lock body 2.

[0125] A horizontal mounting plate 104 is horizontally mounted on top of a vertical support platform 103 for mounting the lock body 2;

[0126] The vertical baffle 105 is arranged around the outside of the vertical support platform 103;

[0127] The locking ring component 5 includes a T-shaped shuttle 501, a Y-shaped locking tongue 502, a left clamp J-shaped component 503, a left connecting rod 504, a right clamp J-shaped component 505, a right connecting rod 506, a first movable pin 507, a second movable pin 508, and a limiter 509.

[0128] Two bearing pins 106 are symmetrically fixed on the transverse mounting plate 104;

[0129] The T-shaped shuttle 501 is attached to the front end of the central axis of the upper end face of the transverse mounting plate 104;

[0130] The left hoop J-shaped component 503 is placed upside down on the left side of the front end of the central axis of the upper end face of the transverse mounting plate 104. 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 the first movable pin 507. The lower left corner of the T-shaped shuttle 501 is hinged to the other end of the left connecting rod 504 through the second movable pin 508.

[0131] The right hoop J-shaped component 505 is placed upside down on the right side of the front end of the central axis of the upper end face of the transverse mounting plate 104. Its lower right corner is hinged to another bearing pin 106 on the right side of the transverse mounting plate 104. Its lower left corner is hinged to one end of the right connecting rod 506 through the first movable pin 507. The lower right corner of the T-shaped shuttle 501 is hinged to the other end of the right connecting rod 506 through the second movable pin 508.

[0132] Two guide grooves 107 are symmetrically provided at the front end of the central axis of the upper surface of the transverse mounting plate 104. The first end of the arc-shaped groove section is connected to the end of the longitudinal groove section. While the first movable pin 507 slides from the first end to the end in the arc-shaped groove section of the guide groove 107, the second movable pin 508 slides from the first end to the end in the longitudinal groove section of the guide groove 107, providing synchronous guidance for the left hoop J-shaped component 503, the left connecting rod 504, the right hoop J-shaped component 505 and the right connecting rod 506.

[0133] Y-type locking tongue 502 is fixed to the top front end of T-type shuttle 501;

[0134] Limiters 509 are symmetrically arranged on both sides of the front end of the central axis of the upper end face of the transverse mounting plate 104. When the first movable pin 507 and the second movable pin 508 slide to the end of the corresponding groove segment at the same time, the outer sides of the left hoop J-shaped component 503 and the right hoop J-shaped component 505 abut against the limiters 509 on both sides respectively.

[0135] The lock cylinder component 6 includes a main cylinder rod 601, a guide frame 602, a first guide tube 603, a first positioning clamp 604, a limiting frame 605, and a front push spring 606;

[0136] The head end of the main core rod 601 is provided with a first limiting groove 607, and the tail end is provided with a second limiting groove 608. A baffle 609 is provided in the second limiting groove 608.

[0137] A longitudinal through hole 610 is provided through the middle of the guide frame 602;

[0138] A third limiting groove 611 is provided at each end 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 provided in the longitudinal through hole 610 of the guide frame 602. A first positioning clamp 604 is provided in each third limiting groove 611. The first positioning clamp 604 longitudinally clamps the first guide tube 603 in the longitudinal through hole 610 of the guide frame 602.

[0139] The middle front end of the limiting frame 605 is provided with a support hole 612. One end of the front top spring 606 is set in the support hole 612, and the other end is sleeved on the tail end of the main core rod 601 and abuts against the baffle 609, so as to provide the main core rod 601 with the elastic force required for forward return.

[0140] The middle part of the main core rod 601 is movably sleeved in the first guide tube 603, and its head end is collinearly connected with the tail end of the T-shaped shuttle rod 501. A double-layered 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.

[0141] The limiting position 605 is fixed to the rear end of the central axis of the upper end face of the transverse mounting plate 104, and the guide frame 602 is fixed to the middle end of the central axis of the upper end face of the transverse mounting plate 104.

[0142] The bolt component 7 includes a buckle pin 701, a cap plate 702, a Z-shaped component 703, a second guide tube 710, and a second positioning clamp 711;

[0143] Z-shaped component 703 is fixed to one side of the center of the upper end face of the transverse mounting plate 104. It has a vertical through hole 704 and a limiting pin hole 705 on its top. The vertical through hole 704 is directly opposite the center of the upper end face of the transverse mounting plate 104, and the limiting pin hole 705 is located on one side of the vertical through hole 704.

[0144] The second guide tube 710 is provided with a fourth limiting groove 712 at each end. The distance between the two fourth limiting grooves 712 is adapted to the thickness of the top of the Z-shaped component 703. The second positioning clamp 711 vertically clamps the second guide tube 710 in the vertical through hole 704 of the Z-shaped component 703.

[0145] The bottom end of the buckle 701 is set as a triangular buckle 706, with its vertical surface pointing to the rear end of the horizontal mounting plate 104 and its inclined surface pointing to the front end of the horizontal mounting plate 104. The bottom locking surface is provided with a concave arc surface, the curvature of which is adapted to the arc of the first limiting groove 607 shaft section on the main core rod 601. The bottom end of the buckle 701 is swivelly sleeved in the second guide tube 710. When the triangular buckle 706 of the buckle 701 swivels downward, it can be aligned and inserted into the first limiting groove 607 of the main core rod 601, and its vertical surface can hold the rear end surface of the first limiting groove 607. When the buckle 701 swivels upward, it can drive the triangular buckle 706 to leave the first limiting groove 607 of the main core rod 601.

[0146] The cap plate 702 is connected to the top of the buckle pin 701 and installed on the top surface of the Z-shaped component 703. A limiting 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 limiting pin 713 is driven to move in the limiting pin hole 705 through the cap plate 702.

[0147] The bolt assembly 7 also includes a T-shaped support 707, a rocker arm 708, and a return spring 709;

[0148] T-shaped support 707 is fixed on one side of the central axis of the upper end face of the transverse mounting plate 104. Its top is hinged to the middle of the rocker arm 708. The front end of the rocker arm 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 move upward.

[0149] One end of the return spring 709 is hung on the front end of the rocker arm 708, and the other end is hung on the root of the T-shaped support 707. Its function is to pull the front end of the rocker arm 708 down, so that the cap plate 702, buckle pin 701 and limit pin 713 can move down.

[0150] The rear end of the lock cover 4 is fitted with an opening slot 402. The size of the opening slot 402 can meet the space requirements for the rocker arm 708 to rock up and down. When the tail end of the rocker arm 708 is rocked down to the lower end of the opening slot 402, the lower end face of the limiting pin 713 is still in the limiting pin hole 705 and there is a gap between it and the top end. When the tail end of the rocker arm 708 is rocked up to the upper end of the opening slot 402, the front end of the rocker arm 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 surface of the second guide tube 710.

[0151] In the preferred embodiment, the lifting and rotating mechanism 3 includes a lifting component 301 and a rotating component 302;

[0152] The lifting component 301 includes a lifting plate 303, a hydraulic cylinder 304, a guide rod 305, a guide sleeve 306, and a horizontal plate 307;

[0153] Hydraulic cylinders 304 are symmetrically arranged inside the vertical support platform 103, and the top of their piston rods are symmetrically connected to both ends of the lifting plate 303.

[0154] The upper surface of the hydraulic cylinder 304 is provided with a horizontal plate 307, which is vertically fixed to the side plate of the vertical support platform 103, and guide sleeves 306 are symmetrically provided at both ends.

[0155] 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. As the lifting plate 303 is lifted, it moves up and down in the guide sleeve 306. When the hydraulic cylinder 304 moves to the lowest point of its stroke, the lifting plate 303 abuts against the upper end of the vertical support platform 103, and the lower end of the guide rod 305 leaves a gap with the upper surface of the horizontal base plate 101.

[0156] The rotating component 302 includes a rotating plate 308, a rotary motor 309, a drive gear 310, a rotary gear 311, and a rotary shaft 312;

[0157] A rotary motor 309 is located below the lifting plate 303 and is connected to the lower surface of the lifting plate 303 via a motor base 313. The output shaft of the rotary motor 309 passes through the lifting plate 303 and is connected to the drive gear 310.

[0158] The drive gear 310 is located 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.

[0159] The rotary gear 311 is located in the first gear groove 314 in the middle of the lifting plate 303 and meshes with the drive gear 310. Its lower end is rotatably connected to the lifting plate 303 through the rotary shaft 312, and its upper end is located in the 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.

[0160] The lower surface of the rotating plate 308 is also provided with a positioning pin 316, and the upper surface of the lifting plate 303 is provided with a matching arc-shaped positioning groove 317. The lengths of the two ends of the positioning groove 317 are adapted to the rotation range of the lock body 2.

[0161] The upper end of the lock cover 4 is also equipped with a solar panel 15, and the vertical support platform 103 is also equipped with a solar controller 16.

[0162] The locking bolt component 7 also includes a straight boom motor 8. The straight boom motor 8 is equipped with a control board 801, a communication module 803 and a battery 802. The control board 801 serves as the control center of the straight boom motor 8 and can receive and process the working condition data of the communication module 803. The communication module 803 has wired communication and / or wireless communication functions. The battery 802 provides working power for the straight boom motor 8. The solar controller 16 controls the solar panel 15 to charge the battery 802.

[0163] The straight arm motor 8 is fixed on one side of the central axis of the upper end face of the horizontal mounting plate 104. 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 move upward.

[0164] The ship is equipped with a first unlocking button 9 that can wirelessly communicate with the communication module 803;

[0165] A second unlocking button 10 is provided on the berth 13, which can communicate with the communication module 803 via wired communication;

[0166] Users can send commands to the control board 801 via wired or wireless communication to drive the straight arm motor 8 and achieve remote automatic unlocking. When the first unlock button 9 or the second unlock button 10 is continuously pressed, a high-level unlocking signal can be continuously sent to the control board 801 via the communication module 803. The control board 801 drives the straight arm motor 8 to move forward, increasing the output stroke, thereby driving the cap plate 702 and the buckle 701 to move upward. When the first unlock button 9 and the second unlock button 10 are released, the control board 801 drives the straight arm motor 8 to move in the opposite direction, shortening the output stroke, so that the cap plate 702 and the buckle 701 can move downward.

[0167] The range of stroke variation at the output end of the straight arm motor 8 is adapted to the action requirements of the buckle pin 701;

[0168] A position sensor 11 connected to the control board 801 is provided on one side of the Y-type lock tongue 502. Its height is adapted to the height of the Y-type lock tongue 502. The sensing head of the position sensor 11 abuts against one side support arm of the Y-type lock tongue 502 to monitor the position information of the Y-type lock tongue 502. The control board 801 interprets the position information of the Y-type lock tongue 502 to calculate the working state of the lock ring component 5.

[0169] A photoelectric sensor 12 connected to the control board 801 is provided at the front end of the horizontal base plate 101 to monitor the position information of the locking bar 14 on the ship. The control board 801 interprets the position and speed information of the locking bar 14 and marks the working status of the locking bar 14.

[0170] Example 2

[0171] Further explanation in conjunction with Example 1, such as Figures 1-16 The structure shown illustrates a method of using an adaptive automatic boat locking device, the method comprising:

[0172] S1. Disassemble and install the locking rod 14 to the middle protrusion at the bow and / or stern of the vessel, install the locking base 1 to the bottom platform 131 of the floating mooring position 13, then fix the locking body 2 to the locking base 1, and then cover the locking cover 4 onto the locking base 1 to cover the locking body 2; wherein the installation height of the locking rod 14 is adapted to the installation height of the locking body 2.

[0173] S2, Unlocking, etc. The user presses down the end of the rocker arm 708, or continuously presses the first unlocking button 9, or continuously presses the second unlocking button 10 to initialize the lock ring component 5 to the "unlocked state". Then release the rocker arm 708, the first unlocking button 9 and the second unlocking button 10. At this time, the bolt component 7 is in the "unlocked state" of the lock cylinder component 6.

[0174] S3. Automatic locking: The ship pushes against the locking bar 14 and squeezes into the locking ring component 5, changing the locking ring component 5 from the "unlocked state" to the "locked state", locking the locking bar 14 to achieve automatic locking of the ship. At the same time, the bolt component 7 changes the lock cylinder component 6 from the "unlocked state" to the "locked state".

[0175] S4. Issue an unlock command. If the user continues to press down on the end of the rocker arm 708, or continues to press down on the first unlock button 9, or continues to press down on the second unlock button 10, an "unlock command" will be issued.

[0176] S5. Automatic release: The rocker arm 708 or the straight arm motor 8 drives the latch pin 701 in the bolt component 7 to move upward, so that the bolt component 7 changes from the "locked state" to the "unlocked state" of the lock cylinder component 6. The lock cylinder component 6 pushes out the lock rod 14 and returns to the "unlocked state".

[0177] S6. Lock bolt returns to position. If the user releases the rocker arm 708, the rocker arm 708 will automatically return 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 will automatically reverse its movement and no longer press against the cap plate 702. The triangular buckle 706 at the bottom of the buckle pin 701 will move downward under the action of gravity and press against the middle part of the main core rod 601.

[0178] Its overall usage flowchart is as follows Figure 18 As shown.

[0179] In the preferred embodiment, in step S3, when the locking rod 14 pushes 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 501 backward; during the backward movement of the T-shaped shuttle 501, the T-shaped shuttle 501 pulls the left hoop J-shaped component 503 to the right with the help of the left connecting rod 504, and at the same time, the T-shaped shuttle 501 pulls the right hoop J-shaped component 505 to the left with the help of the right connecting rod 506, and at the same time, the T-shaped shuttle 501 pushes the main core rod 601 backward, and the main core rod 601 compresses the front push 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 together, or until the main core rod 601 pushes the main core rod 601 backward. 1. The main core rod 601 is blocked by the bottom end of the support hole 612 of the limiting bracket 605. When the main core rod 601 moves backward to the first specified stroke, the triangular buckle 706 at the bottom of the buckle pin 701 moves downward under the action of 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 less than the diameter of the locking rod 14. The locking ring component 5 is in the "locked state" and locks the locking rod 14. If the locking rod 14 no longer pushes the Y-shaped locking tongue 502 backward, under the action of the front push spring 606, the rear end face of the first limiting groove 607 of the main core rod 601 is attached to the vertical face of the triangular buckle 706. The bolt component 7 changes the lock core component 6 from the "unlocked state" to the "locked state".

[0180] In the preferred embodiment, in step S5, when the latch 701 moves upward to the third specified stroke, the triangular latch head 706 at the bottom of the latch 701 completely disengages from the first limiting groove 607 on the main core rod 601; the bolt component 7 changes from a "locked state" to an "unlocked state" on the lock core component 6, and 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 501 forward; during the forward movement of the T-shaped shuttle 501, the T-shaped shuttle 501, with the aid of the left connecting rod... 504 pushes the left hoop J-shaped component 503 to open to the left, while the T-shaped shuttle 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 501 pushes the Y-shaped locking tongue 502 forward, and the Y-shaped locking tongue 502 pushes the locking rod 14 forward until the stop plate 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. The lock ring component 5 is in the "unlocked state" and pushes out the locking rod 14.

[0181] In the preferred embodiment, during the disassembly and installation process in step S1, the automatic boat locking device needs to undergo a power-on self-test and adjustment. Based on the power-on self-test results, the automatic boat locking device prompts the user to adjust the working status of the locking ring component 5 and the locking rod 14 in the automatic boat locking device to ensure that the locking ring component 5 and the locking rod 14 are in the correct docking mode.

[0182] Specifically, the position sensor 11 monitors the position information of the Y-type lock tongue 502 and transmits it to the control board 801. The control board 801 calculates the swing angle and angular velocity information of the lock ring component 5 based on the position information of the Y-type lock tongue 502 and indicates the working status of the lock ring component 5.

[0183] Meanwhile, 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.

[0184] If the locking ring component 5 and the locking rod 14 are in an incorrect docking mode, or if the requirement for a stable docking mode cannot be met, the control board 801 will prompt the user to make corresponding adjustments to eliminate the incorrect docking mode and meet the corresponding requirements for a stable docking mode.

[0185] In the preferred embodiment, during the disassembly and installation in step S1, the automatic boat locking device also needs to undergo installation position / size detection and adjustment. Specifically, after the automatic boat locking device is installed, the ship is started and sails with the locking rod 14 to within a specified distance of the locking ring component 5. The photoelectric sensor 12 monitors the position information of the locking rod 14 and transmits it to the control board 801. The control board 801 interprets the position information of the locking rod 14 and compares it with the installation information of the locking ring component 5 to calculate the "installation suitability" of the automatic boat 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.

[0186] When the ship is rocking up and down, there is a corresponding probability that the locking bar 14 will miss the locking ring component 5 in the upward or downward direction. The lower the first specified threshold is set, the greater the probability of missing in the vertical direction.

[0187] Specifically, "installation suitability" refers to the degree to which the locking rod 14 is too high or too low relative to the locking ring component 5. The smaller the degree of being too high or too low, the larger the value of "installation suitability". The maximum value of "installation suitability" is 100%, which means that the middle part of the locking rod 14 can move up and down evenly around the locking ring component 5. The minimum value of "installation suitability" is 0%, which means that the locking rod 14 cannot enter the locking ring component 5 whether it is stable or shaking.

[0188] When installing the automatic ship locking device, the docking height of ships in the berthing port is statistically analyzed. The average or median of the statistical data is selected to determine the basic height dimension of the vertical support platform 103, and its height parameter is set as H. The maximum height of the lifting and rotating mechanism 3 is equal to the basic height dimension 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. The installation height of the horizontal base plate 101 is adjusted, and the locking rod 14 is installed at a height of 1.2~1.8H corresponding to the ship to obtain greater installation suitability.

[0189] In the preferred embodiment, during the unlocking and boarding process in step S2, periodic unlocking detection and adjustment are also required. Specifically, the position sensor 11 monitors the position information of the Y-type 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-type lock tongue 502, and calculates the current "clamp angle suitability" of the lock ring component 5. If the "clamp angle suitability" is lower than the second specified threshold, the control board 801 prompts the user to make corresponding adjustments.

[0190] Among them, the lower the "clamp angle suitability", the lower the probability that the locking rod 14 will get stuck in the locking ring component 5. This includes the possibility that the locking rod 14 will miss the locking ring component 5 to the left or right when the ship is rocking from side to side. The lower the second specified threshold is set, the greater the probability of missing it laterally.

[0191] The "angle suitability" specifically refers to the degree to which the locking rod 14 deviates to the left or right relative to the locking ring component 5. The smaller the gap between the front end of the left J-shaped component 503 and the front end of the right J-shaped component 505, the greater the degree of deviation to the left or right, and the smaller the value of "angle suitability". The maximum value of "angle suitability" is 100%, which means that the front ends of the left J-shaped component 503 and the right J-shaped component 505 are opened to 180 degrees. The minimum value of "angle suitability" is 0%, which means that the gap between the front ends of the left J-shaped component 503 and the right J-shaped component 505 is less than the diameter of the locking rod 14.

[0192] The system prompts the user to make corresponding adjustments, including: the user first performs a first-stage adjustment, which is to press down on the end of the rocker arm 708, or continuously press the first unlock button 9, or continuously press the second unlock button 10 to initialize the lock ring component 5 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, the fault needs to be dealt with first, 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, the rotary motor 309 is driven to rotate the lock body 2 until the "hoop angle suitability" is higher than the second specified threshold.

[0193] The rotation angle of the locking ring component 5 is limited by the rotation angle of the positioning pin 316 in the positioning groove 317. The rotation range is 50° clockwise or counterclockwise with the central axis of the locking ring component 5 as the axis of symmetry.

[0194] In the preferred embodiment, during the automatic ship locking process in step S3, periodic speed detection and adjustment are also required. Specifically, when the ship is sailing backward within the berth 13 with the locking bar 14 in front of it, the photoelectric sensor 12 monitors the dynamic position information of the locking bar 14 and transmits it to the control board 801. The control board 801 interprets the position and speed information of the locking bar 14 and calculates the "inertial fitness" of the locking bar 14. If the "inertial fitness" is lower than the third specified threshold, the control board 801 sends specific alarm information back to the ship's monitoring system to prompt the user to make corresponding adjustments.

[0195] Both excessively low and excessively high ship speeds reduce the "inertial suitability". Insufficient speed results in insufficient momentum when the locking rod 14 is squeezed into the locking ring component 5, making it difficult to achieve automatic locking. Excessive speed results in excessive momentum when the locking rod 14 is squeezed into the locking ring component 5, which may damage the automatic ship locking device.

[0196] Specifically, "inertial 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 little or too much. The greater the degree of being too little or too much, the smaller the value of "inertial suitability". The maximum value of "inertial suitability" is 100%, which 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 of "inertial suitability" is 0%, which means that the locking rod 14 cannot contact the locking ring component 5 or directly damages the automatic boat locking device.

[0197] The system prompts users to make corresponding adjustments, including increasing the throttle to accelerate the ship when the speed is too low, and decreasing the throttle to slow down the ship or braking in the opposite direction when the speed is too high; thereby adjusting the "inertia suitability" to a level higher than the third specified threshold.

[0198] Specifically, when the bolt component 7 is in a "snap-in state" with the lock cylinder component 6 and the lock ring component 5 is in a "locked state", the triangular buckle 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 706 is against the rear end face of the first limiting groove 607, and the main core rod 601 uses the baffle 609 to squeeze the front push spring 606 into the support hole 612 of the limiting frame 605, while the cap plate 702 is attached to the top surface of the Z-shaped component 703;

[0199] If the user presses down on the end of the rocker arm 708, the front end of the rocker arm 708 will lift the cap plate 702 upwards. The cap plate 702 will drive the buckle pin 701 to move upwards. When it moves to the third specified stroke, the triangular buckle head 706 at the bottom of the buckle pin 701 will completely disengage from the first limiting groove 607 on the main core rod 601. Alternatively, 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 in the forward direction, its output end will push the cap plate 702 upwards. The cap plate 702 will drive the buckle pin 701 to move upwards. When it moves to the third specified stroke, the triangular buckle head 706 at the bottom of the buckle pin 701 will completely disengage from the first limiting groove 607 on the main core rod 601.

[0200] When the triangular buckle 706 is completely disengaged from the first limiting groove 607 on the main core rod 601, the bolt component 7 changes from a "locked state" to a "unlocked state" with respect to the lock cylinder component 6. The front push 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. 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 open to the left with the help of the left connecting rod 504. At the same time, the T-shaped shuttle 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 501 pushes the Y-shaped locking tongue 502 forward, and the Y-shaped locking tongue 502 pushes the locking rod 14 forward until the stop plate 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. The lock ring component 5 is in the "unlocked state" and pushes out the locking rod 14.

[0201] If the user stops pressing the rocker arm 708, and the output of the straight arm motor 8 automatically reverses and stops pressing against the cap plate 702, the triangular buckle 706 at the bottom of the buckle pin 701 moves downward under the action of gravity and presses against the middle part of the main core rod 601.

[0202] When the locking ring component 5 is in the "unlocked state," the bolt component 7 is in the "unlocked state" with respect to the lock cylinder component 6. If the ship continues to push the locking ring component 5 backward against the locking rod 14, the locking rod 14 pushes the Y-type locking tongue 502 backward, and the Y-type locking tongue 502 pushes the T-type shuttle 501 backward. During the backward movement of the T-type shuttle 501, the T-type shuttle 501 pulls the left hoop J-type component 503 to the right with the help of the left connecting rod 504. At the same time, the T-type shuttle 501 pulls the right hoop J-type component 505 to the left with the help of the right connecting rod 506. Simultaneously, the T-type shuttle 501 pushes the main core rod 601 backward. The main core rod 601 compresses the front push spring 606 backward with the help of the baffle 609 until the front end of the left hoop J-type component 503 and the front end of the right hoop J-type component 505... The ends touch each other, or until the main core rod 601 is blocked by the bottom end of the support hole 612 of the limiting frame 605; when the main core rod 601 moves backward to the first specified stroke, the triangular buckle 706 at the bottom of the buckle pin 701 moves downward under the action of gravity and gets 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 less than the diameter of the locking rod 14, and the locking ring component 5 is in the "locked state" and clamps the locking rod 14; if the locking rod 14 no longer presses the Y-shaped locking tongue 502 backward, under the action of the front push spring 606, the rear end face of the first limiting groove 607 of the main core rod 601 is attached to the vertical face of the triangular buckle 706, and the bolt component 7 changes from the "unlocked state" to the "locked state" of the lock core component 6.

[0203] Example 3

[0204] Based on Examples 1 and 2, such as Figure 17 , 18 As shown, the ship's bridge user control system monitors the status of the automatic ship locking device and provides early warnings, enabling users to make timely adjustments.

[0205] During the disassembly and installation process in step S1, the automatic boat locking device needs to be self-tested and adjusted for its power-on status. Based on the self-test results, the automatic boat locking device prompts the user to adjust the working status of the locking ring component 5 and the locking rod 14 in the automatic boat locking device. This ensures that the locking ring component 5 and the locking rod 14 are in the correct docking mode without the need for crew members to go ashore to check.

[0206] Specifically, the position sensor 11 monitors the position information of the Y-type lock tongue 502 and transmits it to the control board 801. The control board 801 calculates the swing angle and angular velocity information of the lock ring component 5 based on the position information of the Y-type lock tongue 502. The swing angle can determine the gap value between the front end of the left hoop J-type component 503 and the front end of the right hoop J-type component 505, and indicate the working status of the lock ring component 5, including "unlocking, unlocking completed, locking in progress or locking completed".

[0207] Meanwhile, 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, including "being outside the locking ring component 5 and actively moving backward, being inside the locking ring and actively pressing the T-shaped locking tongue 502 backward, being inside the locking ring and randomly swaying forward / backward, being inside the locking ring and passively moving forward, or being outside the locking ring component 5 and actively moving forward".

[0208] The correct docking mode between the locking ring component 5 and the locking rod 14 is shown in Table 1 below:

[0209]

[0210] Among them, the locking ring component 5 and the locking rod 14 have an incorrect docking mode. The system prompts the user to check and adjust, as shown in Table 2 below:

[0211]

[0212] The above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The scope of protection of the present invention should be limited to the technical solutions described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. An adaptive automatic boat locking device, characterized in that: The device includes 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) serves as the fixed base platform for the adaptive automatic ship locking device and can be fixed to a designated location on the berth (13). The lock body (2) is fixed on the lock base (1) and can lock the corresponding size lock rod (14). The lock rod (14) is installed on a designated location on the ship and can be automatically locked into the lock body (2). The lifting and rotating mechanism (3) is set in the lock base (1) and can lift and rotate the lock body (2). The lock cover (4) can be fitted onto the lock base (1) in an appropriate manner. The lock body (2) includes a lock ring component (5), a lock cylinder component (6) and a bolt component (7). The lock ring component (5) is located at the front end of the lock base (1), and the lock cylinder component (6) is adapted to be located 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 bolt component (7) is adapted to be disposed on one side of the lock cylinder component (6) and is laterally connected to the lock cylinder component (6), so that the lock cylinder component (6) can be in a latched state or an unlocked state; The lifting and rotating mechanism (3) is set 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) to accommodate the movement space of the lock rod (14) and the lock ring component (5); 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 horizontal plate (307). The hydraulic cylinder (304) is symmetrically arranged inside the vertical support platform (103), and the top of its piston rod is symmetrically connected to both ends of the lifting plate (303); The upper surface of the cylinder body of the hydraulic cylinder (304) is provided with a horizontal plate (307), which is vertically fixed to the side plate of the vertical support platform (103), and guide sleeves (306) are symmetrically provided at both ends. 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). As the lifting plate (303) is lifted, it moves up and down in the guide sleeve (306). When the hydraulic cylinder (304) moves to the lowest point of its stroke, the lifting plate (303) abuts against the upper end of the vertical support platform (103), and the lower end of the guide rod (305) leaves a gap with the upper surface of the horizontal base plate (101). The rotating component (302) includes a rotating plate (308), a rotary motor (309), a drive gear (310), a rotary gear (311), and a rotary shaft (312). The rotary motor (309) is located below the lifting plate (303) and is connected to the lower surface of the lifting plate (303) through the motor base (313). The output shaft of the rotary motor (309) passes through the lifting plate (303) and is connected to the drive gear (310). The drive gear (310) is located inside the first gear groove (314) in the middle of the lifting plate (303) on one side, and its upper surface is not higher than the upper surface of the lifting plate (303); The rotary gear (311) is located in the first gear groove (314) in the middle of the lifting plate (303) and meshes with the drive gear (310). Its lower end is rotatably connected to the lifting plate (303) through the rotary shaft (312), and its upper end is located 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). The lower surface of the rotating plate (308) is also provided with a positioning pin (316), and the upper surface of the lifting plate (303) is provided with a matching arc-shaped positioning groove (317). The lengths of the two ends of the positioning groove (317) are adapted to the rotation range of the lock body (2). The upper end of the lock cover (4) is also equipped with a solar panel (15), and the interior of the vertical support platform (103) is also equipped with a solar controller (16). The bolt assembly (7) also includes a straight boom motor (8), which is equipped with a control board (801), a communication module (803) and a battery (802). The control board (801) serves as the control center of the straight boom motor (8) and can receive and process the working condition data of the communication module (803). The communication module (803) has wired communication and / or wireless communication functions. The battery (802) provides working power for the straight boom motor (8). The solar controller (16) controls the solar panel (15) to charge the battery (802). The straight arm motor (8) is fixed on one side of the central axis of the upper end face of the horizontal mounting plate (104). 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 (701) to move upward. The ship is equipped with a first unlocking button (9) that can wirelessly communicate with the communication module (803); The parking space (13) is equipped with a second unlocking button (10) that can communicate with the communication module (803) via wired communication. Users can send commands to the control board (801) via wired or wireless communication to drive 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 high-level unlocking signal to the control board (801). 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 (701) to move 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 opposite direction to shorten the output end stroke, so that the cap plate (702) and the buckle (701) can move downward. The range of stroke variation at the output end of the straight arm motor (8) is adapted to the action requirements of the buckle (701); A position sensor (11) connected to the control board (801) is provided on one side of the Y-type lock tongue (502). Its height is adapted to the height of the Y-type lock tongue (502). The sensing head of the position sensor (11) rests against one side support arm of the Y-type lock tongue (502) to monitor the position information of the Y-type lock tongue (502). The control board (801) interprets the position information of the Y-type lock tongue (502) to calculate the working status of the lock ring component (5). A photoelectric sensor (12) connected to the control board (801) is provided at the front end of the horizontal base plate (101) to monitor the position information of the lock bar (14) on the ship. The control board (801) interprets the position and speed information of the lock bar (14) and marks the working status of the lock bar (14).

2. The adaptive automatic boat locking device according to claim 1, characterized in that: The lock base (1) includes a horizontal base plate (101), a vertical side frame (102), a vertical support platform (103), a horizontal mounting plate (104), and a vertical baffle (105). A horizontal base plate (101) is set on the horizontal surface of the bottom platform (131) of the berth (13). The front end of the horizontal base plate (101) extends into the berth (13), and the rear end is fixed on the horizontal platform surface of the berth (13). The vertical side frame (102) is set on the vertical surface of the bottom platform (131) of the berth (13). The top of the vertical side frame (102) is connected to the front end of the horizontal base plate (101), and the bottom is fixed to the vertical side of the berth (13). The vertical support platform (103) is fixed vertically upward on the horizontal base plate (101). 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 part of the locking rod (14) can be aligned with the lock body (2). A horizontal mounting plate (104) is horizontally set on top of a vertical support platform (103) for mounting the lock body (2). The vertical baffle (105) is arranged around the outside 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 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 limiter (509). Two bearing pins (106) are symmetrically fixed on the transverse mounting plate (104). The T-shaped shuttle (501) is attached to the front end of the central axis of the upper end face of the transverse mounting plate (104); The left hoop J-shaped component (503) is placed upside down on the left side of the front end of the center axis of the upper end face of the transverse mounting plate (104). Its lower left corner is hinged to a bearing pin (106) on the left side of the transverse mounting plate (104). Its lower right corner is hinged to one end of the left connecting rod (504) through the first movable pin (507). The lower left corner of the T-shaped shuttle rod (501) is hinged to the other end of the left connecting rod (504) through the second movable pin (508). The right hoop J-shaped component (505) is placed upside down on the right side of the front end of the center axis of the upper end face of the transverse mounting plate (104). Its lower right corner is hinged to another bearing pin (106) on the right side of the transverse mounting plate (104). Its lower left corner is hinged to one end of the right connecting rod (506) through the first movable pin (507). The lower right corner of the T-shaped shuttle rod (501) is hinged to the other end of the right connecting rod (506) through the second movable pin (508). Two guide grooves (107) are symmetrically provided at the front end of the central axis of the upper surface of the transverse mounting plate (104). The first end of the arc-shaped groove section is connected to the end of the longitudinal groove section. While the first movable pin (507) slides from the first end to the end in the arc-shaped groove section of the guide groove (107), the second movable pin (508) slides from the first end to the end in the longitudinal groove section of the guide groove (107), providing synchronous guidance for the left hoop J-shaped component (503), the left connecting rod (504), the right hoop J-shaped component (505) and the right connecting rod (506). The Y-type locking tongue (502) is fixed to the top surface of the front end of the T-type shuttle (501); The limiters (509) are symmetrically arranged on both sides of the front end of the central axis of the upper end face of the transverse mounting plate (104). When the first movable pin (507) and the second movable pin (508) slide to the 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) abut against the limiters (509) on both sides respectively. The lock cylinder component (6) includes a main cylinder rod (601), a guide frame (602), a first guide tube (603), a first positioning clamp (604), a limit frame (605), and a front push spring (606). The head end of the main core rod (601) is provided with a first limiting groove (607), and the tail end is provided with a second limiting groove (608). A baffle (609) is provided in the second limiting groove (608). A longitudinal through hole (610) is provided in the middle of the guide frame (602). A third limiting groove (611) is provided at each end 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 provided in the longitudinal through hole (610) of the guide frame (602). A first positioning clamp (604) is provided in each third limiting groove (611). The first positioning clamp (604) clamps the first guide tube (603) longitudinally in the longitudinal through hole (610) of the guide frame (602). The middle front end of the limiting frame (605) is provided with a support hole (612). One end of the front push spring (606) is set in the support hole (612), and the other end is sleeved on the tail end of the main core rod (601) and abuts against the baffle (609) to provide the main core rod (601) with the elastic force required for forward return. The middle part of the main core rod (601) is movably sleeved in the first guide tube (603), and its head end is collinearly connected with the tail end of the T-shaped shuttle rod (501). A double-layered 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 limiting frame (605) is fixed to the rear end of the central axis of the upper end face of the transverse mounting plate (104), and the guide frame (602) is fixed to the middle end of the central axis of the upper end face of the transverse mounting plate (104); The bolt assembly (7) includes a buckle pin (701), a cap plate (702), a Z-shaped component (703), a second guide tube (710), and a second positioning clamp (711); Z-shaped component (703) is fixed to one side of the center of the upper end face of the transverse mounting plate (104). It has a vertical through hole (704) and a limiting pin hole (705) on its top. The vertical through hole (704) is directly opposite the center of the upper end face of the transverse mounting plate (104), and the limiting pin hole (705) is located 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). The distance between the two fourth limiting grooves (712) is adapted to the thickness of the top of the Z-shaped component (703). The second positioning clamp (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 (701) is set as a triangular buckle (706), with its vertical surface pointing to the rear end of the horizontal mounting plate (104) and its inclined surface pointing to the front end of the horizontal mounting plate (104). The bottom locking surface is provided with a concave arc surface, the curvature of which is adapted to the curvature of the first limiting groove (607) shaft section on the main core rod (601). The bottom end of the buckle (701) is swivelly sleeved in the second guide tube (710). When the triangular buckle (706) of the buckle (701) swivels downward, it can be aligned and inserted into the first limiting groove (607) of the main core rod (601), and its vertical surface is locked in the rear end surface of the first limiting groove (607). When the buckle (701) swivels upward, it can drive the triangular buckle (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 (701) and installed on the top surface of the Z-shaped component (703). A limiting pin (713) is provided on one side of the buckle (701) on the cap plate (702). When the buckle (701) moves up and down, the limiting pin (713) is driven to move in the limiting pin hole (705) through the cap plate (702). The bolt assembly (7) also includes a T-shaped support (707), a rocker arm (708), and a return spring (709). The T-shaped support (707) is fixed on one side of the central axis of the upper end face of the transverse mounting plate (104). Its top is hinged to the middle of the rocker arm (708). The front end of the rocker arm (708) abuts against the bottom of the cap plate (702), which can drive the cap plate (702), buckle pin (701) and limit pin (713) to move upward. One end of the return spring (709) is hung on the front end of the rocker arm (708), and the other end is hung on the root of the T-shaped support (707). Its function is to pull the front end of the rocker arm (708) down so that the cap plate (702), buckle pin (701) and limit pin (713) can move downward. The rear end of the lock cover (4) is fitted with an opening groove (402). The size of the opening groove (402) can meet the space requirements for the rocker arm (708) to rock up and down. When the tail end of the rocker arm (708) is tilted down to the lower end of the opening groove (402), the lower end face of the limiting pin (713) is still in the limiting pin hole (705) and there is a gap between it and the top end. When the tail end of the rocker arm (708) is tilted up to the upper end of the opening groove (402), the front end of the rocker arm (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 surface of the second guide tube (710).

3. The method of using the adaptive automatic boat locking device according to any one of claims 1 to 2, characterized in that: The method includes: S1. Disassemble and install the lock bar (14) to the middle protrusion of the bow and / or stern of the ship, install the lock base (1) to the bottom platform (131) of the floating mooring position (13), then fix the lock body (2) to the lock base (1), and then cover the lock body (2) with the lock cover (4); wherein the installation height of the lock bar (14) is adapted to the installation height of the lock body (2); S2, unlocking, etc., the user presses down the end of the rocker arm (708), or by continuously pressing the first unlock button (9), or by continuously pressing the second unlock button (10), to initialize the lock ring component (5) to the "unlocked state", and then releases the rocker arm (708), the first unlock button (9) and the second unlock button (10). At this time, the bolt component (7) is in the "unlocked state" of the lock cylinder component (6); S3, Automatic locking: The ship pushes against the locking bar (14) and squeezes into the locking ring component (5), changing the locking ring component (5) from "unlocked state" to "locked state", locking the locking bar (14) to achieve automatic ship locking. At the same time, the bolt component (7) changes the lock cylinder component (6) from "unlocked state" to "locked state". S4. Issue an unlock command. If the user continues to press down on the end of the rocker arm (708), or by continuously pressing down on the first unlock button (9), or by continuously pressing down on the second unlock button (10), an "unlock command" is issued. S5. Automatic unhooking: The rocker arm (708) or the straight arm motor (8) drives the buckle pin (701) in the bolt component (7) to move upward, so that the bolt component (7) changes from the "buckled state" to the "unbuckled state" of the lock cylinder component (6), and the lock cylinder component (6) pushes out the lock rod (14) and returns to the "unlocked state". S6. Lock bolt returns to position. If the user releases the rocker arm (708), the rocker arm (708) will automatically return to its original position under the action of the return spring (709). Alternatively, if the user releases the first unlocking button (9) and the second unlocking button (10), the electric pin will automatically reverse its movement and no longer press against the cap plate (702). The triangular buckle (706) at the bottom of the buckle pin (701) will move downward under the action of gravity and press against the middle part of the main core rod (601).

4. The method of using the adaptive automatic boat locking device according to claim 3, characterized in that: In step S3, when the locking rod (14) pushes backward into the locking ring component (5), it contacts and pushes the Y-type locking tongue (502) backward, and the Y-type locking tongue (502) pushes the T-type shuttle rod (501) backward. During the backward movement of the T-type shuttle rod (501), the T-type shuttle rod (501) pulls the left hoop J-type component (503) to the right side with the help of the left connecting rod (504), and at the same time, the T-type shuttle rod (501) pulls the right hoop J-type component (505) to the left side with the help of the right connecting rod (506), and at the same time, the T-type shuttle rod (501) pushes the main core rod (601) backward. The main core rod (601) compresses the front push spring (606) backward with the help of the baffle (609) until the front end of the left hoop J-type component (503) and the front end of the right hoop J-type component (505) touch together, or until the main core rod (601) is... The bottom end of the support hole (612) of the limit frame (605) is blocked; when the main core rod (601) moves backward to the first specified stroke, the triangular buckle (706) at the bottom of the buckle pin (701) moves downward under the action of gravity and is locked into the first limit 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 less than the diameter of the lock rod (14), and the lock ring component (5) is in the "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 face of the first limit groove (607) of the main core rod (601) is attached to the vertical face of the triangular buckle (706), and the bolt component (7) changes from the "unlocked state" to the "locked state" of the lock core component (6).

5. The method of using the adaptive automatic boat locking device according to claim 3, characterized in that: In step S5, when the latch (701) moves upward to the third specified stroke, the triangular latch (706) at the bottom of the latch (701) completely disengages from the first limiting groove (607) on the main core rod (601); the bolt component (7) changes from a "locked state" to an "unlocked state" on the lock core component (6), and the front push 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 (501) forward; during the forward movement of the T-shaped shuttle (501), the T-shaped shuttle (501) uses the left connecting rod (504) Push the left hoop J-shaped component (503) to open to the left. At the same time, the T-shaped shuttle (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 (501) pushes the Y-shaped locking tongue (502) forward. The Y-shaped locking tongue (502) pushes the locking rod (14) forward until the baffle (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). The locking ring component (5) is in the "unlocked state" and pushes out the locking rod (14).

6. The method of using the adaptive automatic boat locking device according to claim 3, characterized in that: in During the disassembly and installation process in step S1, the automatic boat locking device needs to be self-tested and adjusted in terms of power-on status. Based on the self-test results of the power-on status, the automatic boat locking device prompts the user to adjust the working status of the locking ring component (5) and the locking rod (14) in the automatic boat locking device to ensure that the locking ring component (5) and the locking rod (14) are in the correct docking mode. Specifically, the position sensor (11) monitors the position information of the Y-type lock tongue (502) and transmits it to the control board (801). The control board (801) calculates the swing angle and angular velocity information of the lock ring component (5) based on the position information of the Y-type lock tongue (502) and indicates the working status of the lock ring component (5). Meanwhile, 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 lock ring component (5) and the lock rod (14) are in an incorrect docking mode, or if the requirement for a stable docking mode is 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.

7. The method of using the adaptive automatic boat locking device according to claim 3, characterized in that: in During the disassembly and installation of step S1, the automatic boat locking device also needs to be installed and adjusted in terms of position / size. Specifically, after the automatic boat locking device is installed, the ship is started and sails with the locking bar (14) to within a specified distance from the locking ring component (5). The photoelectric sensor (12) monitors the position information of the locking bar (14) and transmits it to the control board (801). The control board (801) interprets the position information of the locking bar (14) and compares it with the installation information of the locking ring component (5). It calculates the "installation suitability" of the automatic boat 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. Among them, when the ship is rocking up and down, the locking bar (14) will have a corresponding probability of missing the locking ring component (5) in the upward or downward direction. The lower the first specified threshold is set, the greater the corresponding probability of missing in the vertical direction. Among them, "installation suitability" specifically refers to the degree of being too high or too low relative to the locking ring component (5). The smaller the degree of being too high or too low, the larger the "installation suitability" value is. The maximum value of "installation suitability" is 100%, that is, the middle part of the locking rod (14) can swing up and down evenly around the locking ring component (5). The minimum value of "installation suitability" is 0%, that is, the locking rod (14) cannot enter the locking ring component (5) whether it is stable or shaking.

8. The method of using the adaptive automatic boat locking device according to claim 3, characterized in that: in During the unlocking and boarding process in step S2, periodic unlocking detection and adjustment are also required. Specifically, the position sensor (11) monitors the position information of the Y-type 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-type lock tongue (502) and calculates the current "clamp angle suitability" of the lock ring component (5). If the "clamp angle suitability" is lower than the second specified threshold, the control board (801) prompts the user to make corresponding adjustments. Among them, the lower the "clamp angle suitability", the lower the probability that the locking bar (14) will get stuck in the locking ring component (5). This includes the possibility that when the ship is rocking left and right, the locking bar (14) will miss the locking ring component (5) to the left or right. The lower the second specified threshold is set, the greater the probability of missing it laterally. The "angle suitability" specifically refers to the degree to which the locking rod (14) is deviated to the left or 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 deviation to the left or right, and the smaller the value of "angle suitability". The maximum value of "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 value of "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 less than the diameter of the locking rod (14). The user is prompted to make corresponding adjustments, including: the user first makes a first-stage adjustment, that is, press down on the end of the rocker arm (708), or press the first unlock button (9) continuously, or press the second unlock button (10) continuously to initialize the lock ring component (5) to the "unlocked state"; after the user makes the first-stage adjustment, if the "hoop angle suitability" is still lower than the second specified threshold, the fault needs to be dealt with first, check whether the lock ring component (5) is stuck, or whether 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.

9. The method of using the adaptive automatic boat locking device according to claim 3, characterized in that: in During the automatic ship locking process in step S3, periodic speed detection and adjustment are also required. Specifically, when the ship is sailing backward in the berth (13) with the locking bar (14) against it, the photoelectric sensor (12) monitors the dynamic position information of the locking bar (14) and transmits it to the control board (801). The control board (801) interprets the position and speed information of the locking bar (14) and calculates the "inertial fitness" of the locking bar (14). If the "inertial fitness" is lower than the third specified threshold, the control board (801) sends the specific alarm information back to the ship's monitoring system to prompt the user to make corresponding adjustments. In particular, both too low and too high ship speeds will reduce the "inertial suitability". When the speed is too low, the momentum is insufficient when the locking bar (14) squeezes into the locking ring component (5), making it difficult to achieve automatic locking. When the speed is too high, the momentum is excessive when the locking bar (14) squeezes into the locking ring component (5), which may damage the automatic ship locking device. Among them, "inertia suitability" refers to the degree to which the momentum required for the locking bar (14) to squeeze into the locking ring component (5) is too little or too much. The greater the degree of being too little or too much, the smaller the value of "inertia suitability" is assigned. The maximum value of "inertia suitability" of 100% means that the locking bar (14) can just squeeze into the locking ring component (5) to achieve automatic locking without causing additional impact. The minimum value of "inertia suitability" of 0% means that the locking bar (14) cannot contact the locking ring component (5) or directly damages the automatic boat locking device. The system prompts users to make corresponding adjustments, including increasing the throttle to accelerate the ship when the speed is too low, and decreasing the throttle to slow down the ship or braking in the opposite direction when the speed is too high; thereby adjusting the "inertia suitability" to a level higher than the third specified threshold.

Images