A shallow water anchor for a boat

Abstract

The application discloses a shallow water anchor for a ship, which comprises a swing arm frame, a driving assembly, an anchor spike and a controller. The swing arm frame comprises an upper arm, a lower arm, a mounting seat, an anchoring seat and a connecting arm, the two ends of the upper arm and the lower arm are hinged to the mounting seat and the anchoring seat respectively, and the connecting arm is hinged between the upper arm and the lower arm to form a parallelogram linkage. The anchor spike is connected to the anchoring seat. The controller comprises a short-circuit control module, a current sampling module and a compensation control module, the short-circuit control module short-circuits the positive and negative poles of the motor to form an electromagnetic brake when the motor is stopped; the current sampling module samples the induced current generated when the motor is forcibly rotated by external force and judges the polarity; when the polarity corresponds to the direction in which the anchor spike is lifted, the compensation control module starts the motor to drive the anchor spike to descend and compensate. Through the cooperative control of the electromagnetic brake and the active compensation, the automatic anchoring and keeping of the shallow water anchor under the action of waves are realized, the anchoring reliability is high, and the shallow water anchor is suitable for the anchoring operation of the ship in shallow water.

Description

Technical Field

[0001] This invention relates to the field of ship anchoring equipment technology, and specifically to a shallow-water anchor for ships. Background Technology

[0002] When fishing in shallow water, anglers often want to keep their boats stable in a fixed position so they can precisely target a particular spot. Anchoring is a common practice for this purpose.

[0003] Several anchoring devices suitable for shallow water environments are already available in the technology. These devices typically include an anchoring element (such as a strut or pinion) that is lowered from the vessel and inserted into the seabed by an actuator, thereby positioning the vessel. Such designs aim to minimize ecological damage to underwater vegetation while avoiding the problems of silt and debris getting onto the vessel as with traditional anchoring methods.

[0004] However, these existing shallow water anchoring devices face a significant and long-standing problem in practical applications: anchoring failure under wave action.

[0005] Specifically, in shallow waters, especially in open waters or on wind-affected surfaces, wave motion is a continuous and significant environmental factor. Once a shallow-water anchor is set at its anchoring depth and inserted into the seabed, the waves cause the boat to undergo periodic heaves and sags. This motion is transmitted directly to the anchoring element inserted into the seabed through the anchor's mechanical structure, applying a periodic upward pull. When the upward pull of the waves is sufficiently strong, it gradually overcomes the friction and adhesion between the anchoring element and the seabed sediment, forcing the anchoring element to be partially or completely lifted from the seabed. Once the anchoring element is detached from the seabed, the boat loses its anchoring restraint and begins to drift with the current or wind, rendering the angler's carefully chosen fishing spot ineffective. Furthermore, in hard or sandy bottoms, repeated insertion and removal of the anchoring element can disrupt the structural stability of the seabed, further reducing its anchoring strength. Summary of the Invention

[0006] In view of the problems existing in the prior art, the purpose of this invention is to provide a shallow-water anchor for ships that can ensure a reliable anchoring effect in dynamic water environments.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A shallow-water anchor for ships, comprising: The boom arm includes an upper arm, a lower arm, a mounting base, an anchoring base, and a connecting arm. The first ends of the upper arm and the lower arm are respectively hinged to the mounting base, and the second ends of the upper arm and the lower arm are respectively hinged to the anchoring base. One end of the connecting arm is hinged to the upper arm, and the other end of the connecting arm is hinged to the lower arm. The mounting base is used to fix it to the hull. The drive assembly includes a motor, a lead screw, a lead screw nut, and a linkage rod. The motor is fixed to the upper arm. One end of the lead screw is connected to the motor for transmission. The other end of the lead screw extends toward the anchor seat and is rotatably mounted on the upper arm. The lead screw nut is threadedly fitted onto the lead screw. One end of the linkage rod is hinged to the lead screw nut. The other end of the linkage rod, the other end of the connecting arm, and the lower arm are hinged to the same pin. An anchor pin, one end of which is connected to the anchoring seat; The controller includes a motor forward / reverse control module, a short-circuit control module, a current sampling module, and a compensation control module; The motor forward and reverse rotation control module is used to control the motor to rotate forward or reverse, so as to drive the anchor nail to descend or rise. The short-circuit control module is used to short-circuit the positive and negative terminals of the motor when the motor is in a stopped state, so as to form an electromagnetic brake; The current sampling module is used to sample the induced current generated when the motor is forced to rotate by an external force with the positive and negative terminals of the motor short-circuited, and to determine the rotation direction of the motor based on the polarity of the induced current. The compensation control module is used to determine that the anchor has shifted and start the motor when the polarity of the induced current corresponds to the motor being forcibly reversed by an external force, thereby driving the anchor to descend for position compensation; when the motor is forcibly reversed by an external force, the compensation control module does not operate.

[0008] The current sampling module is also used to distinguish between the motor being forced to reverse and rotate forward by an external force; when the anchor is anchored, the motor reversing corresponds to the anchor being lifted, and the motor rotating forward corresponds to the anchor being pressed down.

[0009] During the process of the compensation control module driving the anchor to descend, if the shutdown condition is met, the compensation will stop.

[0010] The shutdown condition is that the motor drive current is greater than a threshold.

[0011] The anchor is connected to the anchoring seat via an elastic buffer assembly, which includes a spring and a pin. The anchoring seat has an installation cavity with one open end, and a fixing hole for the pin to pass through is provided on the side wall of the installation cavity. One end of the anchor connected to the anchoring seat is a fixed end, which is inserted into the installation cavity. The fixed end has an elongated adjustment hole that passes through the anchor radially, and the pin passes through the adjustment hole. One end of the spring abuts against the bottom of the installation cavity, and the other end abuts against the end of the fixed end.

[0012] The elastic buffer assembly also includes an adjusting bolt, which passes through the bottom of the mounting cavity and is threadedly connected to the fixed end of the anchor.

[0013] The inner wall of the mounting cavity is provided with an anti-rotation groove, and the outer periphery of the fixed end of the anchor is provided with an anti-rotation rib arranged along the axial direction. The anti-rotation rib cooperates in the anti-rotation groove to restrict the anchor from rotating relative to the anchor seat.

[0014] The lead screw sleeve is provided with a first flexible protective cover and a second flexible protective cover. The first end of the first flexible protective cover is fixed to the first end of the lead screw, and the second end is fixed to the lead screw nut. The first end of the second flexible protective cover is fixed to the lead screw nut, and the second end is fixed to the second end of the lead screw.

[0015] By adopting the above scheme, this invention achieves coordinated control of electromagnetic braking and active compensation through a controller, ensuring that the shallow-water anchor maintains reliable anchoring performance under wave disturbances. When the motor stops, the short-circuit control module short-circuits the positive and negative poles of the motor, using the induced electromotive force generated when the permanent magnet motor rotor rotates in the magnetic field to form an electromagnetic brake, achieving rapid self-locking after the motor stops, resulting in strong anchoring force. Simultaneously, the current sampling module samples the induced current in real time and determines its polarity under short-circuit conditions, accurately sensing whether the anchor is forcibly moved by external force and the direction of movement, with high compensation accuracy and rapid response. When the anchor is detected to be lifted, the compensation control module automatically starts the motor to drive the anchor to descend again until the stopping conditions are met, completing one compensation cycle. This effectively avoids cumulative positional shifts caused by repeated wave action, ensuring the long-term stability of the hull at the target fishing point.

[0016] Furthermore, this invention incorporates an elastic buffer component, which forms the first layer of mechanical protection, further enhancing the reliability of anchoring. A spring is fitted around the outer periphery of the adjusting bolt and abuts against the bottom of the mounting cavity and the fixed end of the anchor. When the anchor is subjected to wave-induced uplift, the spring is compressed to absorb some of the impact energy. The engagement of the elongated adjusting hole and the pin allows the anchor to float axially within a preset range, thereby reducing the direct impact on the lead screw and motor, lowering the controller's trigger frequency, and extending system life. The elastic buffer component, in conjunction with the controller's compensation operation, achieves a dual-level protection of "passive buffering for small waves and active compensation for large waves," avoiding frequent compensation actions under small wave disturbances and actively restoring the anchoring state under large wave impacts. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the folded state of the present invention; Figure 2 This is a schematic diagram of the unfolding process of the present invention; Figure 3 for Figure 2 A partial cross-sectional view; Figure 4 This is a schematic diagram of the anchoring state of the present invention; Figure 5 This is a schematic block diagram of the controller of the present invention; Figure 6 This is a schematic diagram of the assembly of the anchor bolt and the anchor seat; Figure 7 for Figure 6 A sectional view; Figure 8 This is a schematic diagram of the anchorage structure; Figure 9 This is a schematic diagram of the drive component in the folded state; Figure 10 This is a schematic diagram of the drive component in its folded state (the second flexible protective cover is omitted). Figure 11 This is a schematic diagram of the driving components during the deployment process; Figure 12 This is a schematic diagram of the drive component in the anchored state.

[0018] 10. Swing boom; 11. Upper arm; 12. Lower arm; 13. Mounting base; 14. Anchoring base; 141. Mounting cavity; 142. Anti-rotation groove; 143. Fixing hole; 15. Connecting arm; Drive assembly 20; Motor 21; Lead screw 22; Lead screw nut 23; Linkage rod 24; Anchor nail 30; Fixed end 31; Anti-rotation rib 311; Adjustment hole 312; Controller 40; Short-circuit control module 41; Current sampling module 42; Compensation control module 43; Motor forward and reverse rotation control module 44; 50; elastic buffer assembly; 51; spring; 52; adjusting bolt; First flexible protective cover 61; second flexible protective cover 62. Detailed Implementation

[0019] like Figures 1 to 12 As shown, this invention discloses a shallow-water anchor for ships, including a swing arm 10, a drive assembly 20, an anchor bolt 30, and a controller 40. The swing arm 10 is mounted on the hull, and the drive assembly 20 is disposed on the swing arm 10 for driving the swing arm 10 to swing between a retracted position and an extended position; the anchor bolt 30 is connected to the swing arm 10 and rises and falls with the swing arm 10 to insert into the seabed for anchoring; the controller 40 is associated with the drive assembly 20 for controlling the operating state of the drive assembly 20 and sensing the positional changes of the anchor bolt 30 to achieve automatic compensation anchoring.

[0020] Specifically, the swing arm 10 is the main support structure of the present invention, which includes an upper arm 11, a lower arm 12, a mounting base 13, an anchoring base 14, and a connecting arm 15. The mounting base 13 is used to fix itself to the hull, specifically to the outside of the stern plate of the hull. The first ends of the upper arm 11 and the lower arm 12 are respectively hinged to the mounting base 13, and the second ends of the upper arm 11 and the lower arm 12 are respectively hinged to the anchoring base 14. One end of the connecting arm 15 is hinged to the upper arm 11, and the other end of the connecting arm 15 is hinged to the lower arm 12.

[0021] Through the aforementioned hinged connection, the upper arm 11, lower arm 12, mounting base 13, anchoring base 14, and connecting arm 15 together constitute a four-bar linkage. Specifically, the upper arm 11 and lower arm 12 are arranged in parallel, the mounting base 13 and anchoring base 14 are arranged in parallel, and the connecting arm 15 is inclinedly connected between the upper arm 11 and lower arm 12, thus forming a parallelogram linkage mechanism. The swing arm 10 can swing between a retracted position and an extended position: when the swing arm 10 is in the retracted position, the anchor 30 is above the water surface or close to the hull, facilitating ship navigation; when the swing arm 10 is in the extended position, the anchor 30 extends downward to the bottom of the water, realizing the anchoring function.

[0022] like Figures 9 to 12As shown in this embodiment, the drive assembly 20 includes a motor 21, a lead screw 22, a lead screw nut 23, and a linkage rod 24. The motor 21 is fixed to the upper arm 11. One end of the lead screw 22 is connected to the output shaft of the motor 21, and the other end of the lead screw 22 extends toward the anchor seat 14 and is rotatably mounted on the upper arm 11. The lead screw nut 23 is threadedly fitted onto the lead screw 22. One end of the linkage rod 24 is hinged to the lead screw nut 23, and the other end of the linkage rod 24, the other end of the connecting arm 15, and the lower arm 12 are hinged to the same pin.

[0023] When motor 21 is running, it drives lead screw 22 to rotate, and lead screw nut 23 moves along the axial direction of lead screw 22. The movement of lead screw nut 23 drives linkage rod 24 to move, and linkage rod 24 drives lower arm 12 to swing relative to mounting base 13, thereby realizing the conversion between the retracted position and the extended position of swing arm frame 10. Specifically, when motor 21 rotates forward, lead screw nut 23 moves towards anchor base 14, pushing lower arm 12 to swing downward, and anchor nail 30 descends to the bottom of the water; when motor 21 rotates in reverse, lead screw nut 23 moves away from anchor base 14, pulling lower arm 12 to swing upward, and anchor nail 30 rises and leaves the bottom of the water.

[0024] In this embodiment, the magnet of the motor 21 is a strong neodymium iron boron magnet. One end of the lead screw 22 is fixedly connected to the output shaft of the motor 21 via a coupling, and the other end is rotatably mounted on the upper arm 11 via a bearing seat.

[0025] Anchor 30 is the actuating component that directly contacts the seabed. One end is connected to the anchoring seat 14, and the other end is a pointed tip used to insert into the seabed for anchoring. Anchor 30 is preferably a slender metal rod, and its tip may be provided with barbs or anti-detachment structures to improve anchoring stability.

[0026] like Figures 6 to 8 As shown, in a preferred embodiment of the present invention, to buffer the direct impact of wave impact on the drive assembly 20, the anchor 30 is connected to the anchoring seat 14 via an elastic buffer assembly 50. The elastic buffer assembly 50 includes a spring 51 and a pin 52. Specifically, the anchoring seat 14 has an open mounting cavity 141, and the side wall of the mounting cavity 141 has a fixing hole 143 for the pin 52 to pass through. One end of the anchor 30 connected to the anchoring seat 14 is a fixing end 31, which is inserted into the mounting cavity 141, and the fixing end 31 has an elongated adjusting hole 312 that penetrates the anchor 30 radially, and the pin 52 passes through the adjusting hole 312. One end of the spring 51 abuts against the bottom of the mounting cavity 141, and the other end abuts against the end of the fixing end 31.

[0027] Based on the above structure, when wave impact causes the anchor 30 to be subjected to an upward tensile force, the fixed end 31 of the anchor 30 compresses the spring 51, and the spring 51 absorbs part of the impact energy, thereby reducing the direct impact on the lead screw 22 and the motor 21. At the same time, the elongated adjustment hole 312 allows the anchor 30 to float axially within a certain range relative to the pin 52, thereby providing space for the compression and reset of the spring 51.

[0028] The elastic buffer assembly 50 also includes an adjusting bolt 53. This adjusting bolt 53 passes through the bottom of the mounting cavity 141 and is threadedly connected to the fixed end 31 of the anchor 30. By rotating the adjusting bolt 53, the preload of the spring 51 can be adjusted, thereby adjusting the buffer sensitivity according to different water conditions and the weight of the vessel. The adjusting bolt 53 is inserted inside the spring 51, and the spring 51 is fitted around the outer periphery of the adjusting bolt 53; the two are coaxially arranged and do not interfere with each other.

[0029] Furthermore, the inner wall of the mounting cavity 141 is provided with an anti-rotation groove 142, and the outer periphery of the fixed end 31 of the anchor 30 is provided with an axially arranged anti-rotation rib 311. The anti-rotation rib 311 fits into the anti-rotation groove 142 to restrict the anchor 30 from rotating relative to the anchor seat 14. The fit between the anti-rotation rib 311 and the anti-rotation groove 142 ensures that the anchor 30 will not rotate circumferentially during axial floating, thereby ensuring that the anchor 30 is always inserted into the bottom of the water in the correct direction.

[0030] like Figure 5 As shown, in this embodiment, the controller 40 is the core component for realizing automatic anchoring and active compensation. It includes a motor forward / reverse control module 44, a short-circuit control module 41, a current sampling module 42, and a compensation control module 43. The controller 40 is preferably a microcontroller system integrated on a single circuit board, electrically connected to the motor 21, and used to control the operating state of the motor 21. The short-circuit control module 41, the current sampling module 42, and the compensation control module 43 can be integrated into the same microcontroller chip or composed of discrete electronic components.

[0031] The motor forward / reverse control module 44 is used to control the motor to rotate forward or reverse, thereby driving the anchor pin to descend or rise. The short-circuit control module 41 is used to short-circuit the positive and negative terminals of the motor 21 when the motor 21 is in a stopped state, thereby forming an electromagnetic brake. The response time of the short-circuit control module 41 in shorting the positive and negative terminals of the motor 21 is no more than 30ms, thereby achieving rapid braking.

[0032] The current sampling module 42 is used to sample the induced current generated when the motor 21 is forced to rotate by an external force while its positive and negative terminals are short-circuited, and to determine the rotation direction of the motor 21 based on the polarity of the induced current. The current sampling module 42 is also used to distinguish between the motor 21 being forced to rotate in reverse and forward by an external force. Specifically, when the polarity of the induced current is the first polarity (e.g., positive voltage), it indicates that the motor 21 is forced to rotate forward by an external force; when the polarity of the induced current is the second polarity (e.g., negative voltage), it indicates that the motor 21 is forced to rotate in reverse by an external force. After the anchor 30 is anchored, the reverse rotation of the motor 21 corresponds to the anchor 30 being lifted (i.e., the anchor 30 is subjected to an upward external force), and the forward rotation of the motor 21 corresponds to the anchor 30 being pressed down (i.e., the anchor 30 is subjected to a downward external force).

[0033] The compensation control module 43 is used to determine that the anchor 30 has shifted and start the motor 21 when the polarity of the induced current corresponds to the motor 21 being forcibly reversed by an external force. This drives the anchor 30 to descend for position compensation. Specifically, when the current sampling module 42 detects that the polarity of the induced current corresponds to the motor 21 reversing, the compensation control module 43 determines that the anchor 30 has been lifted upward by an external force (such as wave action). It then controls the motor 21 to rotate forward, driving the swing arm 10 to swing downward through the lead screw nut 23 and the linkage rod 24, causing the anchor 30 to descend back to the bottom of the water and restore its anchored state.

[0034] Conversely, when the polarity of the induced current corresponds to the motor 21 being forced to rotate forward by an external force, the compensation control module 43 does not activate, and the short-circuit control module 41 maintains the positive and negative poles of the motor 21 in a short-circuit state. This is because the forward rotation of the motor 21 corresponds to the anchor 30 being pressed down, at which point the anchor 30 is deeper into the water, and no compensation is needed.

[0035] During the descent of the anchor 30 driven by the compensation control module 43, compensation stops if a shutdown condition is met. In this embodiment, the shutdown condition is that the drive current of the motor 21 exceeds a threshold (22A in this embodiment). Specifically, the compensation control module 43 monitors the drive current of the motor 21 in real time. When the drive current reaches the threshold, it indicates that the anchor 30 has been inserted into the water to a sufficient depth, and the resistance has increased significantly. At this point, the motor 21 stops operating, and compensation is completed. Determining shutdown based on the current threshold eliminates the need for additional position sensors, resulting in a simple structure and high reliability.

[0036] Continue to refer to Figures 9 to 12As shown, to further protect the drive assembly 20 from erosion by silt and impurities in the water, the lead screw 22 is fitted with a first flexible protective cover 61 and a second flexible protective cover 62. Shallow water areas are usually rich in aquatic plants such as aquatic weeds and algae, as well as sediments such as fine sand and silt. These impurities easily adhere to the surface of the lead screw 22 during anchoring operations. In particular, the fibrous structure of aquatic plants and the slippery properties of algae easily become entangled in the thread grooves of the lead screw 22; while fine sand particles have high hardness, and once they enter the mating gap between the lead screw 22 and the lead screw nut 23, they will aggravate the wear of the thread surface, leading to a decrease in transmission efficiency or even jamming. By setting the first flexible protective cover 61 and the second flexible protective cover 62, the exposed part of the lead screw 22 is isolated from the external water, which can effectively prevent the above-mentioned impurities from contacting the surface of the lead screw 22, thereby ensuring smooth transmission between the lead screw 22 and the lead screw nut 23. The first end of the first flexible protective cover 61 is fixed to the first end of the lead screw 22 (the end closer to the motor 21), and the second end of the first flexible protective cover 61 is fixed to the lead screw nut 23; the first end of the second flexible protective cover 62 is fixed to the lead screw nut 23, and the second flexible protective cover 62 is fixed to the second end of the lead screw 22 (the end farther away from the motor 21).

[0037] In this embodiment, both the first flexible protective cover 61 and the second flexible protective cover 62 are retractable corrugated tubular structures made of oil- and water-resistant flexible materials. When the lead screw nut 23 moves along the axial direction of the lead screw 22, the first flexible protective cover 61 and the second flexible protective cover 62 extend and retract accordingly, always covering the exposed part of the lead screw 22, thereby preventing water, mud, and other impurities from adhering to the surface of the lead screw 22, ensuring smooth transmission between the lead screw 22 and the lead screw nut 23, and extending the service life of the drive assembly 20.

[0038] Reference Figure 1 As shown, in the folded state, the upper arm 11 and the lower arm 12 are close together and located above the mounting base 13. The angle between the upper arm 11, the lower arm 12 and the mounting base 13 is about 90°. The anchor 30 is close to the lower arm 12, and the entire swing arm frame 10 and the anchor 30 are in a folded posture.

[0039] Reference Figures 2 to 4As shown, during anchoring operations, the user issues a descent command via controller 40. Motor 21 rotates forward, converting the rotational motion into linear motion via lead screw 22 and lead screw nut 23. Lead screw nut 23 moves along lead screw 22 toward anchoring seat 14, and linkage rod 24 moves synchronously with lead screw nut 23, pushing lower arm 12 to swing downwards around its hinge point with mounting seat 13. The swing of lower arm 12 is transmitted to upper arm 11 via connecting arm 15. One end of connecting arm 15 is hinged to upper arm 11, and the other end is hinged to lower arm 12, enabling upper arm 11 and lower arm 12 to swing synchronously. The distance between them gradually increases as the swing progresses. As upper arm 11 and lower arm 12 gradually open, the angle between mounting seat 13 and upper arm 11, as well as the angle between mounting seat 13 and lower arm 12, gradually increase from approximately 90°. During this process, the anchoring seat 14 moves away from the hull under the action of the upper arm 11 and the lower arm 12. Simultaneously, the anchoring seat 14 maintains a parallel posture relative to the mounting seat 13. This change in the posture of the anchoring seat 14 causes the anchor bolt 30, which is attached to the lower arm 12, to gradually open relative to the lower arm 12, with the tip of the anchor bolt 30 gradually pointing towards the bottom of the water. As the swing arm 10 gradually extends, the anchor bolt 30 gradually descends and inserts into the water along with the movement of the anchoring seat 14, until the tip of the anchor bolt 30 contacts and inserts into the bottom. When the anchor bolt 30 is fully inserted into the bottom, the load on the motor 21 increases, the drive current rises to the threshold, the motor 21 stops operating, and the short-circuit control module 41 short-circuits the positive and negative terminals of the motor 21, forming an electromagnetic brake to hold the anchor bolt 30 in its current position, completing the anchoring process.

[0040] When the hull rises due to wave impact, the anchor bolt 30 is already inserted into the seabed, and its tip forms an anchoring force with the seabed sediment. Therefore, the anchor bolt 30 itself cannot rise synchronously with the hull. The rising motion of the hull is transmitted to the upper arm 11 and lower arm 12 through the mounting base 13, causing the angle between the upper arm 11, lower arm 12 and the mounting base 13 to gradually decrease, that is, the boom 10 retracts in the folding direction. The retraction motion of the boom 10 is transmitted to the anchoring seat 14 through a hinge, and the anchoring seat 14 exerts an upward pulling force on the anchor bolt 30.

[0041] The tensile force first acts on the elastic buffer assembly 50. The fixed end 31 of the anchor 30 compresses the spring 51, and the spring 51 absorbs part of the impact energy, achieving initial buffering. At the same time, the pin 52 moves relative to the elongated adjustment hole 312, allowing the anchor 30 to move axially within a preset floating range, thereby preventing the impact force from being directly transmitted to the drive assembly 20.

[0042] When the wave impact force exceeds the buffering capacity of spring 51, i.e., spring 51 is compressed to its limit position and pin 52 abuts against the end of elongated adjustment hole 312, the remaining impact force is further transmitted to anchor seat 14 through anchor pin 30, and then to linkage rod 24 through the hinge linkage mechanism of swing arm frame 10. Linkage rod 24 pushes lead screw nut 23 to move axially along lead screw 22. Lead screw nut 23 converts linear motion into rotational motion through lead screw 22, forcing motor 21 rotor to rotate. Since swing arm frame 10 is in a retracted state in the folding direction, the direction of this external force corresponds to the reverse direction of motor 21. Under the action of external torque, motor 21 rotor is forced to reverse, forming an induced current in short-circuit circuit.

[0043] The current sampling module 42 detects the induced current and determines that its polarity corresponds to the reverse rotation of the motor 21, indicating that the anchor 30 is being pulled upwards. The compensation control module 43 then releases the short-circuit control module 41, controls the motor 21 to rotate forward, drives the lead screw 22 to rotate, and the lead screw nut 23 moves along the lead screw 22 towards the anchor seat 14, pushing the linkage rod 24 and the lower arm 12 to swing in the unfolding direction, causing the swing arm frame 10 to move again from the folding direction to the unfolding direction. The anchor 30 descends again as the swing arm frame 10 unfolds and inserts into the water. When the driving current of the motor 21 reaches a threshold, indicating that the anchor 30 has re-inserted into the water to a sufficient depth, the motor 21 stops operating, and the short-circuit control module 41 re-shorts the positive and negative terminals of the motor 21, completing one compensation cycle.

[0044] When the wave impact causes the anchor 30 to be pressed downward, the motor 21 is forced to rotate forward by external force. The polarity of the induced current detected by the current sampling module 42 corresponds to the forward rotation, and the compensation control module 43 does not operate, maintaining the current anchoring state.

[0045] In summary, this invention achieves coordinated control of electromagnetic braking and active compensation through controller 40, significantly improving the anchoring reliability of shallow water anchors in dynamic aquatic environments. Specifically, when motor 21 stops, short-circuit control module 41 short-circuit the positive and negative poles of motor 21, using the induced electromotive force generated when the permanent magnet motor rotor rotates in the magnetic field to form electromagnetic braking, achieving rapid self-locking after motor 21 stops, resulting in strong anchoring force. Simultaneously, current sampling module 42 samples the induced current in real time and determines its polarity under short-circuit conditions, accurately sensing whether the anchor 30 is forcibly moved by external force and the direction of movement. When it is detected that the anchor 30 is lifted, compensation control module 43 automatically starts motor 21 to drive the anchor 30 to descend again until the stopping conditions are met, completing one compensation cycle.

[0046] Furthermore, the elastic buffer assembly 50 effectively absorbs wave impact, reducing the direct impact on the lead screw 22 and motor 21. Specifically, the spring 51 is sleeved on the outer periphery of the adjusting bolt 53 and abuts against the bottom of the mounting cavity 141 and the end of the anchor nail 30 fixing end 31. When the anchor nail 30 is subjected to the upward force of the wave, the spring 51 is compressed to absorb part of the impact energy. The cooperation between the elongated adjusting hole 312 and the pin 52 allows the anchor nail 30 to float axially within a preset range, thus forming the first line of protection at the mechanical level. The compensation operation of the elastic buffer assembly 50 and the controller 40 works together to achieve a two-level protection of "passive buffering of small waves and active compensation of large waves".

[0047] The above are merely preferred embodiments of the present invention and are not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A shallow-water anchor for ships, characterized in that, include: The boom arm includes an upper arm, a lower arm, a mounting base, an anchoring base, and a connecting arm. The first ends of the upper arm and the lower arm are respectively hinged to the mounting base, and the second ends of the upper arm and the lower arm are respectively hinged to the anchoring base. One end of the connecting arm is hinged to the upper arm, and the other end of the connecting arm is hinged to the lower arm. The mounting base is used to fix it to the hull. The drive assembly includes a motor, a lead screw, a lead screw nut, and a linkage rod. The motor is fixed to the upper arm. One end of the lead screw is connected to the motor for transmission. The other end of the lead screw extends toward the anchor seat and is rotatably mounted on the upper arm. The lead screw nut is threadedly fitted onto the lead screw. One end of the linkage rod is hinged to the lead screw nut. The other end of the linkage rod, the other end of the connecting arm, and the lower arm are hinged to the same pin. An anchor pin, one end of which is connected to the anchoring seat; The controller includes a motor forward / reverse control module, a short-circuit control module, a current sampling module, and a compensation control module; The motor forward and reverse rotation control module is used to control the motor to rotate forward or reverse, so as to drive the anchor nail to descend or rise. The short-circuit control module is used to short-circuit the positive and negative terminals of the motor when the motor is in a stopped state, so as to form an electromagnetic brake; The current sampling module is used to sample the induced current generated when the motor is forced to rotate by an external force with the positive and negative terminals of the motor short-circuited, and to determine the rotation direction of the motor based on the polarity of the induced current. The compensation control module is used to determine that the anchor has shifted and start the motor when the polarity of the induced current corresponds to the motor being forcibly reversed by an external force, thereby driving the anchor to descend for position compensation; when the motor is forcibly reversed by an external force, the compensation control module does not operate.

2. A shallow-water anchor for ships according to claim 1, characterized in that: The current sampling module is also used to distinguish between the motor being forced to reverse and rotate forward by an external force; when the anchor is anchored, the motor reversing corresponds to the anchor being lifted, and the motor rotating forward corresponds to the anchor being pressed down.

3. A shallow-water anchor for ships according to claim 1, characterized in that, During the process of the compensation control module driving the anchor to descend, if the shutdown condition is met, the compensation will stop.

4. A shallow-water anchor for ships according to claim 3, characterized in that: The shutdown condition is that the motor drive current is greater than a threshold.

5. A shallow-water anchor for ships according to claim 1, characterized in that: The anchor is connected to the anchoring seat via an elastic buffer assembly, which includes a spring and a pin. The anchoring seat has an installation cavity with one open end, and a fixing hole for the pin to pass through is provided on the side wall of the installation cavity. One end of the anchor connected to the anchoring seat is a fixed end, which is inserted into the installation cavity. The fixed end has an elongated adjustment hole that passes through the anchor radially, and the pin passes through the adjustment hole. One end of the spring abuts against the bottom of the installation cavity, and the other end abuts against the end of the fixed end.

6. A shallow-water anchor for ships according to claim 5, characterized in that: The elastic buffer assembly also includes an adjusting bolt, which passes through the bottom of the mounting cavity and is threadedly connected to the fixed end of the anchor.

7. A shallow-water anchor for ships according to claim 5, characterized in that: The inner wall of the mounting cavity is provided with an anti-rotation groove, and the outer periphery of the fixed end of the anchor is provided with an anti-rotation rib arranged along the axial direction. The anti-rotation rib cooperates in the anti-rotation groove to restrict the anchor from rotating relative to the anchor seat.

8. A shallow-water anchor for ships according to claim 1, characterized in that: The lead screw sleeve is provided with a first flexible protective cover and a second flexible protective cover. The first end of the first flexible protective cover is fixed to the first end of the lead screw, and the second end is fixed to the lead screw nut. The first end of the second flexible protective cover is fixed to the lead screw nut, and the second end is fixed to the second end of the lead screw.

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