Vehicle-mounted gas-liquid fender system and berthing method

Abstract

The invention relates to the technical field of ship berthing operation, in particular to a vehicle-mounted gas-liquid fender system and a berthing method, solves the problems that a traditional fender system is high in deployment efficiency and difficult to adjust the underwater depth of a fender in deep water, improves the deployment efficiency and flexibly adjusts the depth of a fender body, and comprises a gas-liquid fender module, a turnover vertical mechanism and a vehicle-mounted platform. The turnover erecting mechanism comprises a turnover support capable of rotating on the vertical face, and the fender body is connected to the turnover support in a horizontal state and can move back and forth in the length direction of the turnover support. The vehicle-mounted platform comprises a movable vehicle body and a vehicle frame arranged on the movable vehicle body, and the overturning and erecting mechanism is arranged on the vehicle frame.

Description

Technical Field

[0001] The present invention relates to the technical field of ship berthing operations, and in particular to a vehicle-mounted gas-liquid fender system and a berthing method. Background Art

[0002] The fender system is a commonly used device for ships to berth in ports. Rubber fenders are generally installed on the edges or walls of ports and docks to form a buffer zone. When a ship approaches the dock, the fender can contact the hull and buffer and disperse the impact force generated when the ship berths, departs, or docks.

[0003] However, most traditional port fenders are of fixed structures. In actual use, when special ships such as semi-submersible ships and submarines need to berth temporarily, the deployment of the fender system is slow, and the fender needs to be deep into the water to a certain depth. It is difficult for traditional fenders to achieve depth adjustment in the vertical direction. Summary of the Invention

[0004] The present invention provides a vehicle-mounted gas-liquid fender system and a berthing method, which solve the problems of low deployment efficiency of the traditional fender system and difficulty in adjusting the depth of the fender underwater, improve the deployment efficiency, and flexibly adjust the depth of the fender body.

[0005] The present invention is realized through the following technical solutions: A vehicle-mounted gas-liquid fender system includes: A gas-liquid fender module, including a fender body. An injection water chamber is provided inside the fender body. A gas inlet and outlet pipe for charging and discharging gas and a liquid inlet and outlet pipe for charging and discharging liquid are provided at the top of the fender body; A flipping and erecting mechanism, including a flipping bracket capable of rotating in a vertical plane. The fender body is connected to the flipping bracket in a lying state and can move back and forth along the length direction of the flipping bracket; A vehicle-mounted platform, including a moving vehicle body and a vehicle frame provided on the moving vehicle body. The flipping and erecting mechanism is provided on the vehicle frame.

[0006] Further, the flipping and erecting mechanism further includes a post-flipping base and a telescopic cylinder. The post-flipping base is fixed at a position on the vehicle frame close to the rear of the vehicle. The rear side position at the bottom of the flipping bracket is hinged to the post-flipping base. One end of the telescopic cylinder is rotatably connected to the vehicle frame at a position close to the front of the vehicle through a fixing seat, and the other end is rotatably connected to the front side position at the bottom of the flipping bracket; The telescopic cylinder can drive the flipping bracket to flip from the horizontal direction to the vertical direction.

[0007] Further, guide rails are installed on the flipping bracket along the front-rear direction. A sliding seat is slidably connected to the guide rails. The gas-liquid fender module is installed on the sliding seat; A screw rod is rotatably mounted on the flipping bracket, the bottom of the sliding seat is threadedly connected to the screw rod, and the screw rod can drive the sliding seat to move back and forth along the guide rail.

[0008] Further, the sliding seat is in the shape of a long plate, and the gas-liquid fender module further includes a buffer backrest frame and a buffer assembly. The fender body is fixed on the buffer backrest frame in a lying state, and the buffer backrest frame is connected to the sliding seat through the buffer assembly.

[0009] Further, the buffer assembly includes a number of solid rubber fenders horizontally distributed along the length direction of the vehicle body. A central shaft is assembled at the axis of each solid rubber fender, and the left and right ends of the central shafts of all the solid rubber fenders are respectively connected to a cross plate together; A plurality of vertically extending vertical plates are fixed on the cross plate. Vertical waist holes are respectively arranged at the upper and lower parts of the vertical plates; the two waist holes of the vertical plates are respectively connected to the sides of the buffer backrest frame and the sliding seat through pin shafts, and the vertical plates can move up and down relative to the buffer backrest frame and the sliding seat.

[0010] Further, a gas-liquid filling and fixing frame is installed at a position close to the front of the vehicle on the buffer backrest frame. An upper connecting flange is provided at the top end of the fender body, and a lower connecting flange is provided at the bottom end. The upper connecting flange is connected to the gas-liquid filling and fixing frame through a connecting support; The gas-liquid filling and fixing frame is provided with a gas three-way valve, a gas charging pipe interface, an exhaust pipe interface, a liquid three-way valve, a water charging pipe interface and a drain pipe interface. The three interfaces of the gas three-way valve are respectively connected to the gas charging pipe interface, the exhaust pipe interface and the gas inlet and outlet pipe through pipelines; the three interfaces of the liquid three-way valve are respectively connected to the water charging pipe interface, the drain pipe interface and the liquid inlet and outlet pipe through pipelines.

[0011] Further, a counterweight is fixed on the lower connecting flange, and the counterweight is connected to a position close to the rear of the vehicle on the buffer backrest frame through a chain or a cable.

[0012] Further, it further includes a leg leveling mechanism, and the leg leveling mechanism includes a plurality of telescopic legs arranged at the bottom of the vehicle frame.

[0013] A berthing method for a vehicle-mounted gas-liquid fender system, using the above vehicle-mounted gas-liquid fender system for berthing the fender body, includes the following steps: S10. The vehicle-mounted platform travels to the target berth; S20. Level the vehicle-mounted platform; S30. The flipping bracket of the flipping and erecting mechanism drives the gas-liquid fender module to be erected vertically from the vehicle frame, so that the fender body forms a working state perpendicular to the water surface; S40, controlling the fender body to move downward along the length direction of the flip bracket, so that the fender body moves to a predetermined water depth position, and injecting water into the water injection cavity of the fender body through the liquid inlet and outlet pipes to adapt to the water depth position; S50, fix the gas-liquid fender module to complete the ship berthing buffer; S60, when the fender body is to be evacuated, compressed gas is injected into the water injection cavity of the fender body through the gas inlet and outlet pipes to discharge the water in the water injection cavity, and the fender body is controlled to move upward along the length direction of the flip bracket to leave the water surface.

[0014] Furthermore, in step S40, water is injected into the water injection cavity of the fender body by a water pump. The relationship between the distance x that the lower end of the fender moves below the water surface and the flow rate Q of the water pump is as follows: , Wherein, t is the water injection time of the water pump, and D is the inner diameter of the water injection cavity of the fender body.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention provides a vehicle-mounted gas-liquid fender system, which mainly includes a vehicle-mounted platform, a gas-liquid fender module, and a flip erection mechanism. The vehicle-mounted platform can be moved at any time to realize the vehicle-mounted mobility transportation of the fender system, and the fender body can be quickly deployed through the flip erection mechanism; the fender body is connected to the flip bracket in a horizontal state and can move back and forth along the length direction of the flip bracket, and the depth of the fender body in the water can be quickly adjusted, and the stability is ensured by injecting water into the fender body; the deployment efficiency of the traditional fender system is overcome, and the difficulty of adjusting the underwater depth of the fender is improved, the deployment efficiency is improved, and the depth of the fender body can be flexibly adjusted; The present invention provides a berthing method for a vehicle-mounted gas-liquid fender system, which realizes motorized transportation of a fender body through a vehicle-mounted platform, and rapidly deploys the fender body vertically to a specified water depth by utilizing multi-stage operations such as flipping and erecting, gas-liquid loading and sliding, etc., thereby solving the problems of maneuverability and depth adjustment when berthing special ships such as semi-submersible ships and submarines, and has the advantages of high deployment efficiency, strong adaptability, and high degree of automation; 2. The flip erection mechanism also includes a flip rear base and a telescopic cylinder, through which the flip bracket can be driven to flip from a horizontal direction to a vertical direction, with a stable structure, convenient operation, and improved deployment efficiency; 3. A screw rod is swivel-mounted on the flip bracket, and the bottom of the sliding seat is threadedly connected to the screw rod. The screw rod can drive the sliding seat to move back and forth along the guide rail, so as to quickly adjust the depth of the fender body; 4. The gas-liquid filling fixture is installed with a gas three-way valve, a gas filling pipe interface, an exhaust pipe interface, a liquid three-way valve, a water filling pipe interface and a drain pipe interface. By injecting compressed air and water, the dead weight of the fender body is adjusted to adapt to the buoyancy at different depths and ensure the stability of the system. 5. The gas-liquid fender module further includes a buffer backrest frame and a buffer assembly. The buffer assembly prevents the impact force of the ship from damaging the flipping bracket, the lead screw and the guide rail, improves the overall durability of the system, and ensures stability. Description of the Drawings

[0016] Figure 1 This is the front view of the vehicle-mounted gas-liquid fender system of the present invention; Figure 2 This is the top view of the vehicle-mounted gas-liquid fender system of the present invention; Figure 3 This is the schematic diagram of the buffer assembly of the present invention; Figure 4 This is the schematic diagram of the gas-liquid filling fixture of the present invention; Figure 5 This is the schematic diagram of the lying state of the fender body of the vehicle-mounted gas-liquid fender system of the present invention; Figure 6 This is the schematic diagram of the upright state of the fender body of the vehicle-mounted gas-liquid fender system of the present invention; Figure 7 This is the schematic diagram of the state of the fender body of the vehicle-mounted gas-liquid fender system of the present invention located underwater; In the figure: 1. Fender body, 2. Flipping bracket, 3. Vehicle frame, 4. Gas inlet and outlet pipe orifice, 5. Liquid inlet and outlet pipe orifice, 6. Rear base after flipping, 7. Telescopic cylinder, 8. Guide rail, 9. Sliding seat, 10. Lead screw, 11. Buffer backrest frame, 12. Buffer assembly, 1201. Solid rubber fender, 1202. Horizontal plate, 1203. Vertical plate, 1204. Kidney-shaped hole, 13. Gas-liquid filling fixture, 14. Gas three-way valve, 15. Liquid three-way valve, 16. Gas filling pipe interface, 17. Water filling pipe interface, 18. Counterweight, 19. Telescopic support leg, 20. Built-in pipe. Detailed Embodiment

[0017] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0018] In the description of the invention, it should be understood that the orientation or positional relationship indicated by terms such as "front", "rear", "upper", "lower", "left", "right", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0019] As Figure 1 - Figure 2 shown, this embodiment discloses an on-vehicle air-liquid fender system, which mainly includes an air-liquid fender module, a flipping and erecting mechanism, an on-vehicle platform, a leg leveling mechanism and other structures. The flipping and erecting mechanism is arranged on the vehicle frame 3.

[0020] Among them, the on-vehicle platform includes a moving vehicle body and the vehicle frame 3. The vehicle frame 3 is installed on the moving vehicle body and is used for the road / site transportation of the fender system. The leg leveling mechanism includes a plurality of telescopic legs 19. The telescopic legs 19 can be conventional hydraulic legs. The telescopic legs 19 are installed at the bottom of the vehicle frame 3, and a horizontal sensor is assembled on the frame. The on-vehicle platform can be quickly leveled through the cooperation of the horizontal sensor and the leg leveling mechanism.

[0021] The main function of the flipping and erecting mechanism is to drive the fender module to flip from the horizontal transportation state to the vertical working state (the flipping angle ≥ 90°). The flipping and erecting mechanism mainly includes a flipping bracket 2, a rear flipping base 6 and a telescopic cylinder 7. The rear flipping base 6 is fixed at a position close to the rear of the vehicle frame 3. The rear side position at the bottom of the flipping bracket 2 is hinged to the rear flipping base 6. One end of the telescopic cylinder 7 is rotatably connected to the vehicle frame 3 at a position close to the front of the vehicle through a fixing seat, and the other end is rotatably connected to the front side position at the bottom of the flipping bracket 2. In this embodiment, the telescopic cylinder 7 can be a hydraulic cylinder. The telescopic cylinder 7 can drive the flipping bracket 2 to flip from the horizontal direction to the vertical direction.

[0022] A guide rail 8 is installed on the flipping bracket 2 along the front-rear direction, and a sliding seat 9 is slidably connected to the guide rail 8. The sliding seat 9 is a long plate shape, which is convenient for the air-liquid fender module to be installed on the sliding seat 9. A lead screw 10 is rotatably installed on the flipping bracket 2 through a bearing assembly. The bottom of the sliding seat 9 is threadedly connected to the lead screw 10. One end of the lead screw 10 is driven to rotate by a motor, so that the lead screw 10 can drive the sliding seat 9 to move back and forth along the length direction of the guide rail 8.

[0023] As Figure 3 - Figure 4As shown in the figure, the pneumatic and hydraulic fender module mainly includes a fender body 1, a buffer backrest frame 11 and a buffer assembly 12. The fender body 1 is fixed on the buffer backrest frame 11 in a lying state, and the buffer backrest frame 11 is connected to the sliding seat 9 through the buffer assembly 12. In this embodiment, the buffer assembly 12 includes a number of solid rubber fenders 1201 horizontally distributed along the length direction of the vehicle body. A central shaft is assembled at the axis of each solid rubber fender 1201, and horizontal plates 1202 are commonly connected to the left and right ends of the central shafts of all the solid rubber fenders 1201 respectively. The solid rubber fender 1201 is cylindrical, and its diameter is greater than the height of the horizontal plate 1202. Four vertically extending vertical plates 1203 are fixed on each side of the horizontal plate 1202, and vertically distributed waist-shaped holes 1204 are processed at the upper and lower parts of the vertical plates 1203 respectively. The two waist-shaped holes 1204 of the vertical plate 1203 are respectively connected to the sides of the buffer backrest frame 11 and the sliding seat 9 through pin shafts, and the vertical plate 1203 can move up and down relative to the buffer backrest frame 11 and the sliding seat 9. Designed in this way, the impact force of the ship is avoided from damaging the flipping bracket, the lead screw and the guide rail through the buffer assembly, the overall durability of the system is improved, and the stability is ensured.

[0024] The pneumatic and hydraulic fender module mainly includes structures such as a fender body 1, a pneumatic and hydraulic filling and fixing frame 13 and a counterweight 18. Among them, a water injection cavity is provided in the fender body 1, an upper connecting flange is provided at the top end of the fender body 1, and a lower connecting flange is provided at the bottom end. The pneumatic and hydraulic filling and fixing frame 13 is installed at a position close to the front of the buffer backrest frame 11, and the upper connecting flange of the fender body 1 is connected to the pneumatic and hydraulic filling and fixing frame 13 through a connecting support, so that the fender body 1 is connected to the buffer backrest frame 11 in a lying state.

[0025] A gas inlet and outlet pipe orifice 4 for charging and discharging gas into the water injection cavity and a liquid inlet and outlet pipe orifice 5 for charging and discharging liquid are installed at the top end of the fender body 1, and an inner pipe 20 extending to its bottom is installed in the water injection cavity. The top end of the inner pipe 20 is communicated with the liquid inlet and outlet pipe orifice 5. A gas three-way valve 14, a gas charging pipe interface 16, an exhaust pipe interface, a liquid three-way valve 15, a water charging pipe interface 17 and a drain pipe interface are installed on the pneumatic and hydraulic filling and fixing frame 13. The three interfaces of the gas three-way valve 14 are respectively communicated with the gas charging pipe interface 16, the exhaust pipe interface and the gas inlet and outlet pipe orifice 4 through pipelines; the three interfaces of the liquid three-way valve 15 are respectively communicated with the water charging pipe interface 17, the drain pipe interface and the liquid inlet and outlet pipe orifice 5 through pipelines, and the gas charging pipe interface 16 and the water charging pipe interface 17 are respectively communicated with an air pump and a water pump.

[0026] In order to prevent the lower part of the fender body 1 from drifting in the water, a counterweight 18 is fixed to the lower connecting flange of the fender body 1, and the counterweight 18 is connected to a position close to the rear of the buffer backrest frame 11 through a chain or a cable.

[0027] Based on the above-mentioned vehicle-mounted gas-liquid fender system, this embodiment also provides a berthing method for the vehicle-mounted gas-liquid fender system, comprising the following steps: S10, such as Figure 5 As shown, the vehicle-mounted platform drives to the target berth; S20, the vehicle-mounted platform is quickly leveled through the level sensor and the outrigger leveling mechanism; S30, such as Figure 6 As shown, the flip bracket 2 of the flip erection mechanism rotates around the flip rear base 6 under the action of the telescopic cylinder, thereby driving the gas-liquid fender module to stand upright from the frame 3, so that the fender body 1 is in a working state perpendicular to the water surface; S40, such as Figure 7 As shown, the motor controls the screw rod to rotate, so that the sliding seat moves downward relative to the guide rail, thereby controlling the fender body 1 to move downward along the length direction of the flip bracket 2, so that the fender body 1 moves to a predetermined water depth position, and water is injected into the water injection cavity of the fender body 1 through the water pump and the liquid inlet and outlet pipe 5 to adapt to the water depth position, so as to avoid excessive buoyancy affecting the stability of the system; In this embodiment, about 60% of the fender body 1 is under water to achieve the overall buoyancy balance, and the entire diving process is to gradually add water into the fender body to achieve dynamic diving; In this step, the relationship between the distance x that the lower end of the fender body 1 moves downward on the water surface and the flow rate Q of the water pump is as follows: , Wherein, t is the water injection time of the water pump, and D is the inner diameter of the water injection cavity of the fender body 1; S50, fix the gas-liquid fender module to complete the ship berthing buffer; S60, when the fender body 1 is to be evacuated, compressed gas is injected into the water injection cavity of the fender body 1 through the gas inlet and outlet pipe port 4, and the compressed air squeezes the water in the water injection cavity. The water enters from the bottom end of the built-in pipe 20, passes through the liquid three-way valve 15 and is discharged from the drain pipe interface, thereby discharging the water in the water injection cavity and controlling the fender body 1 to move upward along the length direction of the flip bracket 2 to leave the water surface.

[0028] Through the above scheme, the vehicle-mounted platform can be moved at any time to realize the vehicle-mounted mobile transportation of the fender system, and the fender body can be quickly deployed through the flip erection mechanism; the fender body is connected to the flip bracket in a horizontal state and can move back and forth along the length direction of the flip bracket, and the depth of the fender body in the water can be quickly adjusted, and stability is ensured by injecting water into the fender body; the problems of deployment efficiency and difficulty in adjusting the underwater depth of the fender of the traditional fender system are overcome, the deployment efficiency is improved, and the depth of the fender body can be flexibly adjusted.

Claims

1. A vehicle-mounted gas-liquid fender system, characterized in that, It includes a gas-liquid fender module, including a fender body (1). An injection cavity is provided inside the fender body (1). A gas inlet / outlet pipe (4) for charging and discharging gas and a liquid inlet / outlet pipe (5) for charging and discharging liquid are provided at the top of the fender body (1); a turning and erecting mechanism, including a turning bracket (2) capable of rotating in a vertical plane. The fender body (1) is connected to the turning bracket (2) in a horizontal state and can move back and forth along the length direction of the turning bracket (2); a vehicle-mounted platform, including a moving vehicle body and a vehicle frame (3) provided on the moving vehicle body. The turning and erecting mechanism is provided on the vehicle frame (3).

2. The vehicle-mounted gas-liquid fender system according to claim 1, wherein The turning and erecting mechanism further includes a post-turning base (6) and a telescopic cylinder (7). The post-turning base (6) is fixed at a position near the rear of the vehicle on the vehicle frame (3). The rear side position at the bottom of the turning bracket (2) is hinged to the post-turning base (6). One end of the telescopic cylinder (7) is rotatably connected to the vehicle frame (3) at a position near the front of the vehicle through a fixed seat, and the other end is rotatably connected to the front side position at the bottom of the turning bracket (2); The telescopic cylinder (7) can drive the turning bracket (2) to turn from the horizontal direction to the vertical direction.

3. The vehicle-mounted pneumatic and hydraulic fender system according to claim 1, characterized in that, A guide rail (8) is installed on the turning bracket (2) along the front-rear direction. A sliding seat (9) is slidably connected to the guide rail (8). The gas-liquid fender module is installed on the sliding seat (9); A lead screw (10) is rotatably installed on the turning bracket (2). The bottom of the sliding seat (9) is threadedly connected to the lead screw (10). The lead screw (10) can drive the sliding seat (9) to move back and forth along the guide rail (8).

4. The vehicle-mounted pneumatic and hydraulic fender system according to claim 3, characterized in that, The sliding seat (9) is in the shape of a long plate. The gas-liquid fender module further includes a buffer backrest frame (11) and a buffer assembly (12). The fender body (1) is fixed to the buffer backrest frame (11) in a horizontal state. The buffer backrest frame (11) is connected to the sliding seat (9) through the buffer assembly (12).

5. The vehicle-mounted gas-liquid fender system according to claim 4, characterized in that, The buffer assembly (12) includes a number of solid rubber fenders (1201) horizontally distributed along the length direction of the vehicle body. A central shaft is assembled at the center of each solid rubber fender (1201). The left and right ends of the central shafts of all the solid rubber fenders (1201) are respectively connected to a cross plate (1202) together; A plurality of vertically extending vertical plates (1203) are fixed on the cross plate (1202). Vertical waist holes (1204) are provided at the upper and lower parts of the vertical plates (1203). The two waist holes (1204) of the vertical plate (1203) are respectively connected to the sides of the buffer backrest frame (11) and the sliding seat (9) through pin shafts. The vertical plate (1203) can move up and down relative to the buffer backrest frame (11) and the sliding seat (9).

6. The vehicle-mounted pneumatic and hydraulic fender system according to claim 4, characterized in that, A gas-liquid filling and fixing frame (13) is installed at a position near the front of the vehicle on the buffer backrest frame (11). An upper connecting flange is provided at the top of the fender body (1), and a lower connecting flange is provided at the bottom. The upper connecting flange is connected to the gas-liquid filling and fixing frame (13) through a connecting support; The gas-liquid filling fixing frame (13) is equipped with a gas three-way valve (14), a gas filling pipe interface (16), an exhaust pipe interface, a liquid three-way valve (15), a water filling pipe interface (17) and a drainage pipe interface. The three interfaces of the gas three-way valve (14) are respectively connected to the gas filling pipe interface (16), the exhaust pipe interface and the gas inlet and outlet pipe port (4) through pipelines; the three interfaces of the liquid three-way valve (15) are respectively connected to the water filling pipe interface (17), the drainage pipe interface and the liquid inlet and outlet pipe port (5) through pipelines.

7. The vehicle-mounted gas-liquid fender system according to claim 6, wherein, A counterweight (18) is fixed to the lower connecting flange, and the counterweight (18) is connected to the buffer backrest frame (11) at a position close to the rear of the vehicle via a chain or a cable.

8. The vehicle-mounted gas-liquid fender system according to any one of claims 1-7, characterized in that, It also includes a leg leveling mechanism, which includes a plurality of retractable legs (19) arranged at the bottom of the frame (3).

9. A berthing method for an on-vehicle air-liquid fender system, characterized in that, The vehicle-mounted gas-liquid fender system according to any one of claims 1 to 7 is used to berth the fender body, comprising the following steps: S10, the vehicle-mounted platform drives to the target berth; S20, leveling the vehicle-mounted platform; S30, the flip bracket (2) of the flip erection mechanism drives the gas-liquid fender module to stand upright from the frame (3), so that the fender body (1) is in a state of being perpendicular to the water surface and ready for operation; S40, controlling the fender body (1) to move downward along the length direction of the flip bracket (2) so that the fender body (1) moves to a predetermined water depth position, and injecting water into the water injection cavity of the fender body (1) through the liquid inlet and outlet pipe (5) to adapt to the water depth position; S50, fix the gas-liquid fender module to complete the ship berthing buffer; S60. When the fender body (1) is to be evacuated, compressed gas is injected into the water injection cavity of the fender body (1) through the gas inlet and outlet pipe (4) to discharge the water in the water injection cavity, thereby controlling the fender body (1) to move upward along the length direction of the flip bracket (2) and to leave the water surface.

10. The berthing method of the vehicle-mounted gas-liquid fender system according to claim 9, characterized in that, In step S40, water is injected into the water injection cavity of the fender body (1) by a water pump. The relationship between the distance x that the lower end of the fender body (1) moves below the water surface and the flow rate Q of the water pump is as follows: ， Wherein, t is the water injection time of the water pump, and D is the inner diameter of the water injection cavity of the fender body (1).

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