Ship mooring auxiliary structure and harbor tug

Abstract

The utility model relates to a ship mooring auxiliary structure and a harbor tug. The ship mooring auxiliary structure comprises a magnetic suction cup and a mechanical arm. The magnetic suction cup comprises a plurality of magnetic suction blocks, the multiple magnetic suction blocks are sequentially arranged into magnetic suction row sets in the first direction, the multiple magnetic suction row sets are sequentially arranged in the second direction, in the first direction, every two adjacent magnetic suction blocks are hinged to each other, and in the second direction, every two adjacent magnetic suction blocks are hinged to each other. One end of the mechanical arm is connected with the magnetic sucker, and the other end of the mechanical arm is connected with a tugboat; the mechanical arm comprises a plurality of arm sections hinged in sequence, and a telescopic driving piece is arranged between every two adjacent arm sections and used for changing the included angle between every two adjacent arm sections. Compared with the prior art, the connecting position of the magnetic suction cup and the ship can be controlled according to the berthing condition, the shape of the magnetic suction cup is adjusted according to a curved surface shell of the ship, ship berthing can be assisted by tugboat conveniently, and ship berthing stability can be improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of ship mooring technical field, especially a kind of ship mooring auxiliary structure and port operation tug. BACKGROUND

[0002] Ship is connected with wharf by mooring cable, mooring pile, winch car and other mooring equipment, so that it can keep stable during the process of berthing at wharf, facilitating the loading and unloading of goods and the boarding and alighting of personnel. When the berthing area of the ship encounters strong wind, swell and long-period wave and other adverse conditions, the ship moves a lot, and it is difficult to ensure the stability of the ship during the loading and unloading operation only by relying on the constraint of the mooring cable, and the mooring cable is prone to breakage due to excessive force.

[0003] Port operation tug is a tugboat that performs towing operation within the scope of the port, and is mainly used for assisting large ships to enter and exit the port, enter and exit the dock, approach and leave the wharf, turn around, move the berth, and tow the barge. In adverse environmental conditions, the port operation tug is generally used to push the berthing ship from the sea side to suppress the movement of the berthing ship. This way of assisting mooring stability has a certain positive effect on ensuring the stability and safety of the berthing ship during mooring in adverse environmental conditions. However, the existing port operation tug still has many defects in the way of assisting ship mooring:

[0004] (1) The point of action between the port operation tug and the berthing ship is fixed near the water surface line, and this position cannot be adjusted, so it is impossible to optimize the effect of ensuring the stability of the berthing ship during mooring;

[0005] (2) The port operation tug and the berthing ship rely on rubber products such as fender for anti-collision buffer, but there is a lot of friction between the rubber products and the ship, which is prone to damage and failure during work, and then causes direct collision between the port operation tug and the berthing ship;

[0006] (3) The port operation tug needs to return to the working ship wharf for energy supply after working for a period of time, which may cause interruption of the assisting mooring operation, and then affect the mooring stability of the berthing ship.

[0007] Therefore, in view of the problems existing in the operation of the port operation tug for ensuring the mooring stability of the berthing ship, a device and method for assisting mooring are designed, which can adjust the action position, maintain good connection with the berthing ship during work, and recover energy during work, which has important practical significance. UTILITY MODEL CONTENTS

[0008] The utility model aims to overcome the defects of the existing technology and provide a ship mooring auxiliary structure and port operation tug.

[0009] The purpose of the utility model can be achieved by the following technical solutions:

[0010] A ship mooring auxiliary structure, comprising:

[0011] A magnetic suction plate, comprising a plurality of magnetic suction blocks, the plurality of magnetic suction blocks are arranged in a magnetic suction row group in a first direction, a plurality of the magnetic suction row groups are arranged in a second direction, in the first direction, two adjacent magnetic suction blocks are hinged to each other, in the second direction, two adjacent magnetic suction blocks are hinged to each other;

[0012] A mechanical arm, one end of the mechanical arm is connected with the magnetic suction plate, the other end of the mechanical arm is used for connecting with a tugboat; the mechanical arm comprises a plurality of arm segments which are hinged in sequence, a telescopic driving member is arranged between two adjacent arm segments, for changing the included angle between two adjacent arm segments.

[0013] In one embodiment, the auxiliary structure further comprises a connecting support, the connecting support is hinged to one end of the mechanical arm, the magnetic suction blocks on the corners of the magnetic suction plate are corner magnetic suction blocks, the connecting support is connected with the corner magnetic suction blocks respectively;

[0014] The connecting support has a first telescopic rod and a second telescopic rod, the first telescopic rod can be telescoped in the first direction, and the second telescopic rod can be telescoped in the second direction.

[0015] In one embodiment, a transition piece is arranged between the connecting support and the corner magnetic suction block, one end of the transition piece is connected with the connecting support, and the other end of the transition piece is connected with the corner magnetic suction block.

[0016] In one embodiment, the connecting support further comprises a first folding rod and a second folding rod, one end of the first folding rod is hinged to one end of the first telescopic rod, and one end of the second folding rod is hinged to one end of the second telescopic rod.

[0017] In one embodiment, the connecting support comprises four L-shaped supports, the L-shaped support comprises the first telescopic rod and the second telescopic rod which are connected with each other, two ends of the first folding rod are connected with the first telescopic rod and the corner magnetic suction block respectively, two ends of the second folding rod are connected with the second telescopic rod and the mechanical arm respectively, and the four L-shaped supports form a H-shaped support.

[0018] In one embodiment, the magnetic suction plate comprises a center control plate, the magnetic suction blocks are electromagnetic suction blocks, the center control plate is electrically connected with the magnetic suction blocks, for controlling the magnetic force of the magnetic suction blocks;

[0019] The center control plate is located at the center of the magnetic suction disc, a plurality of the magnetic suction blocks are arranged along a first direction and a second direction around the center control plate, and a plurality of the magnetic suction blocks adjacent to the center control plate are hinged with the center control plate.

[0020] In one of the embodiments, the auxiliary structure comprises an energy storage device, the telescopic driving member is provided with a permanent magnet and an electromagnetic coil sleeved on the permanent magnet, and the energy storage device is connected with the electromagnetic coil and the telescopic driving member respectively, for storing the electric energy generated by the electromagnetic coil and supplying the stored electric energy to the telescopic driving member.

[0021] In one of the embodiments, the magnetic suction block is provided with a pressure sensor, the auxiliary structure comprises a controller connected with the pressure sensor and the magnetic suction disc respectively, for controlling the opening and closing of the magnetic suction disc according to the detection value of the pressure sensor.

[0022] In one of the embodiments, the mechanical arm is provided with a protective cover, the protective cover comprises hard shells sleeved on different arm segments, protective cloths connecting a plurality of adjacent hard shells, and a telescopic bellows sleeved on the telescopic driving member.

[0023] A harbor tug comprises a tugboat and the ship mooring auxiliary structure, the mechanical arm of the ship mooring auxiliary structure is connected with the tugboat, and the magnetic suction disc of the ship mooring auxiliary structure is used for being connected with a ship magnetically.

[0024] Compared with the prior art, the utility model has the following advantages:

[0025] 1、The ship mooring auxiliary structure sets the mechanical arm connected with the magnetic suction disc and the tugboat respectively, sets the magnetic suction disc connected with the ship, realizes the connection between the tugboat and the ship, adopts the magnetic suction disc to connect the ship, can change the tightness of the connection between the tugboat and the ship by adjusting the magnetic force of the magnetic suction disc, can control the connection or disconnection with the ship by controlling the opening and closing of the magnetic suction disc, the mechanical arm comprises a plurality of arm segments hinged in sequence, the telescopic driving member is arranged between the arm segments, a plurality of telescopic driving members can control the length and height of the mechanical arm by telescoping different lengths, thereby controlling the connection position of the magnetic suction disc and the ship, the telescopic driving member can telescope along with the swinging amplitude when the ship swings along the water surface, the magnetic suction disc comprises a plurality of magnetic suction blocks hinged with each other, forms a flexible magnetic suction disc with variable shape, adapts to the curved surface shell of the ship, and makes the connection between the magnetic suction disc and the ship more reliable, therefore, the ship mooring auxiliary structure can control the connection position of the magnetic suction disc and the ship according to the mooring condition, adjust the shape of the magnetic suction disc according to the curved surface shell of the ship, is convenient for the tugboat to assist the ship mooring, and is favorable for improving the mooring stability of the ship.

[0026] 2. The auxiliary structure is provided with a connecting support between the mechanical arm and the magnetic chuck, the connecting support is provided with a first telescopic rod and a second telescopic rod, the first telescopic rod can be telescoped along the first direction, and is combined with a plurality of magnetic blocks hinged along the first direction, so that the magnetic blocks hinged along the first direction are rotated, thereby changing the curvature of the magnetic chuck in the first direction, and the second telescopic rod can be telescoped along the second direction, and is combined with a plurality of magnetic blocks hinged along the second direction, so that the magnetic blocks hinged along the second direction are rotated, thereby changing the curvature of the magnetic chuck in the second direction, and further changing the shape of the magnetic surface of the magnetic chuck, so as to adapt to the curved hull of the ship and improve the connection tightness of the magnetic chuck.

[0027] 3. The connecting support is provided with a transition piece between the connecting support and the corner magnetic block, so as to realize double spherical connection, and when the curvature of the magnetic chuck in the first direction and the second direction is changed, the connection angle between the transition piece and the corner magnetic block can be changed, and the connection angle between the transition piece and the connecting support can be changed, so as to improve the flexibility of the curvature change of the magnetic chuck in the first direction and the second direction, and adapt to the large-angle curved surface of the ship.

[0028] 4. The connecting support is hinged with a first folding rod at one end of the first telescopic rod, and is hinged with a second folding rod at one end of the second telescopic rod, so that when the curvature of the magnetic chuck in the first direction and the second direction is changed, the first folding rod can be folded relative to the first telescopic rod, and the second folding rod and the second telescopic rod can be folded, thereby further improving the space for changing the curvature of the magnetic chuck in the first direction and the second direction.

[0029] 5. After the center control board is connected with the mechanical arm, the connection angle between the center control board and the mechanical arm can be changed, that is, the angle between the magnetic chuck and the hull of the ship can be changed, thereby further improving the adhesion between the magnetic chuck and the hull of the ship.

[0030] 6. Since the telescopic driving piece is provided with a permanent magnet and an electromagnetic coil, when the ship shakes back and forth along the water surface, the telescopic driving piece telescopes with the shaking amplitude, at this time, the electromagnetic coil cuts the magnetic induction lines generated by the permanent magnet, thereby generating electric energy to be delivered to the energy storage device, and the energy storage device stores the electric energy for driving the telescopic driving piece, thereby realizing energy recycling and reuse, and saving the energy consumption of the auxiliary structure.

[0031] 7. The hard shell covers the outside of the mechanical arm to protect the main bodies of the arm segments; the telescopic corrugated pipe is wrapped outside each telescopic driving piece and can be telescoped accordingly with the telescopic driving piece; and the protective cloth is arranged at the connecting positions of different arm segments of the mechanical arm to protect the connecting mechanism and can be deformed with the relative rotation between the arm segments. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1The utility model discloses a ship mooring auxiliary structure and the structure schematic drawing of tugboat.

[0033] Figure 2 The utility model discloses a ship mooring auxiliary structure and the structure schematic drawing of tugboat, ship.

[0034] Figure 3 The utility model discloses a ship mooring auxiliary structure and the structure schematic drawing of first.

[0035] Figure 4 The utility model discloses a ship mooring auxiliary structure and the structure schematic drawing of second.

[0036] Figure 5 The utility model discloses a ship mooring auxiliary structure and the structure schematic drawing of mechanical arm and magnetic suction disc.

[0037] Figure 6 The utility model discloses a ship mooring auxiliary structure and the structure schematic drawing of mechanical arm and connecting support.

[0038] Figure 7 The utility model discloses a ship mooring auxiliary structure and the structure schematic drawing of magnetic suction disc.

[0039] Figure 8 The utility model discloses a ship mooring auxiliary structure and the structure schematic drawing of telescopic drive part.

[0040] Figure 9 The utility model discloses a ship mooring auxiliary structure and the structure schematic drawing of controller and energy storage device.

[0041] Figure 10 The utility model discloses a ship mooring auxiliary structure control method and the flow schematic drawing of process.

[0042] Fig. 100, ship mooring auxiliary structure;10, magnetic suction disc;11, magnetic suction block;12, corner magnetic suction block;13, center control board;20, mechanical arm;21, arm section;22, telescopic drive part;221, permanent magnet;222, electromagnetic coil;23, protective cover;231, hard shell;232, protective cloth;233, telescopic bellows;30, connecting support;31, first telescopic rod;32, second telescopic rod;33, transition piece;34, first folding rod;35, second folding rod;36, L type support;40, controller;41, energy storage device;50, tugboat;60, ship. DETAILED DESCRIPTION

[0043] The utility model discloses a ship mooring auxiliary structure and the structure schematic drawing of tugboat, ship.

[0044] As Figures 1 to 5As shown, in an embodiment, a ship mooring auxiliary structure 100 is provided, comprising a magnetic suction disc 10 and a mechanical arm 20;

[0045] The magnetic suction disc 10 comprises a plurality of magnetic suction blocks 11, which are arranged in a plurality of magnetic suction row groups along a first direction in sequence, and the plurality of magnetic suction row groups are arranged along a second direction in sequence. In the first direction, the adjacent two magnetic suction blocks 11 are hinged to each other, and in the second direction, the adjacent two magnetic suction blocks 11 are hinged to each other.

[0046] The other end of the mechanical arm 20 is used to be connected with the tugboat 50. The mechanical arm 20 comprises a plurality of arm segments 21 hinged in sequence, and a telescopic driving element 22 is arranged between the adjacent two arm segments 21, which is used to change the included angle between the adjacent two arm segments 21.

[0047] The ship mooring auxiliary structure 100 described above is provided with the mechanical arm 20 connected with the magnetic suction disc 10 and the tugboat 50 respectively, and the magnetic suction disc 10 is connected with the ship 60, so as to realize the connection between the tugboat 50 and the ship 60. Since the magnetic suction disc 10 is used to connect the ship 60, the tightness of the connection between the tugboat 50 and the ship 60 can be changed by adjusting the magnetic force of the magnetic suction disc 10, and the connection with the ship 60 can be controlled by controlling the switch of the magnetic suction disc 10. In addition, the mechanical arm 20 comprises a plurality of arm segments 21 hinged in sequence, and the telescopic driving element 22 is arranged between the arm segments 21, so that the length and height of the mechanical arm 20 can be controlled by the telescopic driving element 22 with different lengths, thereby controlling the connection position of the magnetic suction disc 10 with the ship 60, and the telescopic driving element 22 can also be telescoped according to the shaking amplitude when the ship 60 shakes back and forth along the water surface. Meanwhile, the magnetic suction disc 10 comprises a plurality of magnetic suction blocks 11, which are hinged to each other, forming a flexible magnetic suction disc 10 with variable shape, which is suitable for the curved shell of the ship 60, so that the connection between the magnetic suction disc 10 and the ship 60 is more reliable. Therefore, the ship mooring auxiliary structure 100 can control the connection position of the magnetic suction disc 10 with the ship 60 according to the mooring condition, adjust the shape of the magnetic suction disc 10 according to the curved shell of the ship 60, facilitate the tugboat 50 to assist the mooring of the ship 60, and is conducive to improving the mooring stability of the ship 60.

[0048] Specifically, in an embodiment, the second direction is perpendicular to the first direction, the adjacent two magnetic suction blocks 11 are hinged to each other in the first direction, so that they can rotate around the axis of the second direction, and the adjacent two magnetic suction blocks 11 are hinged to each other in the second direction, so that they can rotate around the axis of the first direction.

[0049] In this specific embodiment, the first direction is the horizontal direction, and the second direction is the vertical direction. The adjacent two magnetic suction blocks 11 can rotate around the vertical axis in the horizontal direction, and the adjacent two magnetic suction blocks 11 can rotate around the horizontal axis in the vertical direction.

[0050] Specifically, as shown in Figure 5 and Figure 6 In an embodiment, the ship mooring auxiliary structure 100 further comprises a connecting bracket 30, the connecting bracket 30 is hinged to one end of the mechanical arm 20, the magnetic blocks 11 on the corners of the magnetic disc 10 are corner magnetic blocks 12, and the connecting bracket 30 is connected with the corner magnetic blocks 12 respectively.

[0051] The connecting bracket 30 has a first telescopic rod 31 and a second telescopic rod 32, the first telescopic rod 31 can be telescoped in a first direction, and the second telescopic rod 32 can be telescoped in a second direction.

[0052] The ship mooring auxiliary structure 100 is provided with the connecting bracket 30 between the mechanical arm 20 and the magnetic disc 10, the connecting bracket 30 is provided with the first telescopic rod 31 and the second telescopic rod 32, the first telescopic rod 31 can be telescoped in the first direction, and the magnetic blocks 11 hinged to each other in the first direction are combined with each other, so that the magnetic blocks 11 hinged to each other in the first direction are rotated to change the curvature of the magnetic disc 10 in the first direction, and at the same time, the second telescopic rod 32 can be telescoped in the second direction, and the magnetic blocks 11 hinged to each other in the second direction are combined with each other, so that the magnetic blocks 11 hinged to each other in the second direction are rotated to change the curvature of the magnetic disc 10 in the second direction, thereby changing the shape of the magnetic surface of the magnetic disc 10, for adapting to the curved shell of the ship 60, and improving the connection tightness of the magnetic disc 10.

[0053] Further, as shown in Figure 5 In an embodiment, the connecting bracket 30 is provided with a transition piece 33 between the connecting bracket 30 and the corner magnetic block 12, one end of the transition piece 33 is connected with the connecting bracket 30 in a ball shape, and the other end of the transition piece 33 is connected with the corner magnetic block 12 in a ball shape.

[0054] The transition piece 33 is provided between the connecting bracket 30 and the corner magnetic block 12, realizing double ball-shaped connection, when the curvatures of the magnetic disc 10 in the first direction and the second direction are changed, the connection angle between the transition piece 33 and the corner magnetic block 12 can be changed, and the connection angle between the transition piece 33 and the connecting bracket 30 can be changed, which is conducive to improving the flexibility of the curvature change of the magnetic disc 10 in the first direction and the second direction, and can adapt to the large-angle curved surface of the ship 60.

[0055] Further, as shown in Figure 6 In an embodiment, the connecting bracket 30 further comprises a first folding rod 34 and a second folding rod 35, one end of the first folding rod 34 is hinged to one end of the first telescopic rod 31, and one end of the second folding rod 35 is hinged to one end of the second telescopic rod 32.

[0056] The connecting bracket 30 has a first folding rod 34 hinged to one end of the first telescopic rod 31 and a second folding rod 35 hinged to one end of the second telescopic rod 32. Therefore, when the curvature of the magnetic chuck 10 in the first and second directions is changed, the first folding rod 34 can be rotated and folded relative to the first telescopic rod 31, and the second folding rod 35 and the second telescopic rod 32 can be rotated and folded, further increasing the space for changing the curvature of the magnetic chuck 10 in the first and second directions.

[0057] Furthermore, such as Figure 6 As shown, in one embodiment, the connecting bracket 30 includes four L-shaped brackets 36. Each L-shaped bracket 36 includes a first telescopic rod 31 and a second telescopic rod 32 that are connected to each other. The two ends of the first folding rod 34 are respectively connected to the first telescopic rod 31 and the corner magnetic block 12. The two ends of the second folding rod 35 are respectively connected to the second telescopic rod 32 and the robotic arm 20. The four L-shaped brackets 36 form an I-shaped bracket.

[0058] Specifically, such as Figure 7 As shown, in one embodiment, the magnetic chuck 10 includes a central control board 13, and the magnetic block 11 is an electromagnetic chuck. The central control board 13 is electrically connected to the magnetic block 11 and is used to control the magnetic force of the magnetic block 11.

[0059] The central control board 13 is located at the center of the magnetic chuck 10. Multiple magnetic blocks 11 are arranged around the central control board 13 along the first and second directions. Multiple magnetic blocks 11 adjacent to the central control board 13 are hinged to the central control board 13. The central control board 13 is ball-connected to the robotic arm 20.

[0060] The size of the central control plate 13 can be the same as or slightly larger than that of the magnetic block 11. The central control plate 13 also serves as the center for changing the curved shape of the magnetic chuck 10. After the central control plate 13 is connected to the robotic arm 20, the connection angle between the central control plate 13 and the robotic arm 20 can be changed, that is, the angle between the magnetic chuck 10 and the hull of the ship 60 can be changed, further improving the fit between the magnetic chuck 10 and the hull of the ship 60.

[0061] Optionally, in one embodiment, the magnetic block 11 located at the center of the magnetic chuck 10 is a central magnetic block 11, and one end of the robotic arm 20 is ball-connected to the magnetic block 11 located at the center of the magnetic chuck 10.

[0062] Specifically, such as Figure 8 and Figure 9As shown, in one embodiment, the ship mooring auxiliary structure 100 includes an energy storage device 41, a permanent magnet 221 and an electromagnetic coil 222 sleeved on the permanent magnet 221 on the telescopic drive member 22, the energy storage device 41 is connected to the electromagnetic coil 222 and the telescopic drive member 22 respectively, and is used to store the electrical energy generated by the electromagnetic coil 222 and supply the stored electrical energy to the telescopic drive member 22.

[0063] Since the telescopic drive component 22 is equipped with a permanent magnet 221 and an electromagnetic coil 222, when the ship 60 sways back and forth along the water, the telescopic drive component 22 extends and retracts with the amplitude of the sway. At this time, the electromagnetic coil 222 cuts the magnetic field lines generated by the permanent magnet 221, thereby generating electrical energy which is transmitted to the energy storage device 41. The energy storage device 41 then uses the stored electrical energy to drive the telescopic drive component 22, realizing the recovery and reuse of energy and saving energy consumption of the ship's mooring auxiliary structure 100.

[0064] In this specific embodiment, the controller 40 is electrically connected to the energy storage device 41 and the telescopic drive component 22, and is used to control the charging and discharging of the energy storage device, while controlling the driving force of the telescopic drive component.

[0065] Specifically, such as Figure 9 As shown, in one embodiment, the magnetic chuck 11 is provided with a pressure sensor, and the ship mooring auxiliary structure 100 includes a controller 40, which is connected to the pressure sensor and the magnetic chuck 10 respectively, and is used to control the opening and closing of the magnetic chuck 10 according to the detection value of the pressure sensor.

[0066] In this specific embodiment, the controller 40 is electrically connected to the central control board 13.

[0067] Specifically, such as Figure 4 As shown, in one embodiment, the robotic arm 20 is provided with a protective cover 23, which includes a rigid shell 231 fitted on different arm segments 21, a protective cloth 232 connecting multiple adjacent rigid shells 231, and a retractable corrugated tube 233 fitted on the telescopic drive member 22.

[0068] A rigid shell 231 covers the outside of the robotic arm 20 to protect the main body of each arm segment 21; a telescopic corrugated tube 233 wraps around the outside of each telescopic drive component 22 and can extend and retract accordingly with the extension and retraction of the telescopic drive component 22; a protective cloth 232 is set at the connection part of different arm segments 21 of the robotic arm 20 to protect the connection mechanism and can deform with the relative rotation between each arm segment 21.

[0069] like Figure 1 and Figure 2As shown in the figure, in an embodiment, a harbor tug 50 is provided, which includes a tugboat 50 and a ship mooring auxiliary structure 100, the mechanical arm 20 of the ship mooring auxiliary structure 100 is connected with the tugboat 50, and the magnetic suction disc 10 of the ship mooring auxiliary structure 100 is used for magnetic suction connection with the berthed ship 60.

[0070] The harbor tug 50 described above connects the magnetic suction disc 10 and the tugboat 50 through the mechanical arm 20 of the ship mooring auxiliary structure 100, and connects the magnetic suction disc 10 with the ship 60, thereby realizing the connection between the tugboat 50 and the ship 60; since the magnetic suction disc 10 is used to connect the ship 60, the tightness of the connection between the tugboat 50 and the ship 60 can be changed by adjusting the magnetic force of the magnetic suction disc 10, and the connection with the ship 60 can be controlled by controlling the switch of the magnetic suction disc 10; and the mechanical arm 20 includes a plurality of arm segments 21 that are hingedly connected in sequence, and a telescopic driving member 22 is arranged between the arm segments 21, so that the plurality of telescopic driving members 22 can control the length and height of the mechanical arm 20 by telescoping to different lengths, thereby controlling the connection position of the magnetic suction disc 10 with the ship 60, and the telescopic driving member 22 can also be telescoped according to the shaking amplitude when the ship 60 shakes back and forth along the water surface; meanwhile, the magnetic suction disc 10 includes a plurality of magnetic suction blocks 11 that are hingedly connected with each other, forming a flexible magnetic suction disc 10 with variable shape, which is suitable for the curved shell of the ship 60, so that the connection between the magnetic suction disc 10 and the ship 60 is more reliable; therefore, the ship mooring auxiliary structure 100 can control the connection position of the magnetic suction disc 10 with the ship 60 according to the berthing situation, adjust the shape of the magnetic suction disc 10 according to the curved shell of the ship 60, and facilitate the tugboat 50 to assist the berthing of the ship 60, which is conducive to improving the berthing stability of the ship 60.

[0071] As shown in the figure, Figure 10 In an embodiment, a control method of a ship mooring auxiliary structure 100 is provided, which includes a tugboat 50, a mechanical arm 20 and a magnetic suction disc 10 that are connected in sequence, the mechanical arm 20 includes a plurality of arm segments 21 that are hingedly connected in sequence, a telescopic driving member 22 is arranged between adjacent two arm segments 21, a controller is electrically connected with the tugboat 50, the telescopic driving member 22 and the magnetic suction disc 10, and the control method of the controller 40 includes the following specific steps:

[0072] S10: acquiring the designed breaking force of the ship 60 mooring cable and the ship size;

[0073] S20: setting the auxiliary thrust, the auxiliary number of the tugboat 50, and the auxiliary connection position of the magnetic suction disc 10 with the ship 60,

[0074] S30: starting the tugboat 50 with the auxiliary thrust and the auxiliary number, and connecting the magnetic suction disc 10 with the ship 60 according to the auxiliary connection position;

[0075] S40: calculating the maximum tension of the mooring line after assistance according to the ship size, the assistance thrust, the assistance number and the assistance connection position;

[0076] S50: judging whether the ship 60 is safe to berth according to the designed breaking force of the mooring line and the maximum tension of the mooring line after assistance;

[0077] S60: if the ship 60 is not safe to berth, adjusting the assistance thrust and the assistance connection position, and repeating steps S20 to S50 until the ship 60 is safe to berth.

[0078] The control method of the ship berthing assistance structure 100 can obtain the maximum tension of the mooring line after assistance according to the ship size, the assistance thrust, the assistance number and the assistance connection position, judge whether the ship 60 is safe to berth by comparing the designed breaking force of the mooring line and the maximum tension of the mooring line after assistance, and realize the positive feedback of the ship berthing assistance structure 100 by continuously adjusting the assistance thrust and the assistance connection position until the ship 60 is safe to berth, which is conducive to adapting to different wind load, wave load and current load when the ship 60 is berthing.

[0079] Specifically, in an embodiment, in step S40, the assistance number of the tugboat 50 is set according to the port environmental load conditions, the ship model, the draft, the load and other conditions. The port environmental load conditions mainly include wind load, wave load and current load.

[0080] Specifically, in an embodiment, in step S60, the following steps are further included:

[0081] The assistance connection position is adjusted by controlling the telescopic drive 22. That is, the length of the telescopic drive 22 between different arm segments 21 is controlled to adjust the relative distance, horizontal position and height position of the magnetic suction disc 10 and the ship 60.

[0082] Specifically, in an embodiment, between steps S10 and S20, the following steps are further included:

[0083] Step S11: obtaining the maximum tension of the mooring line before assistance when the ship 60 is berthing;

[0084] Step S12: judging whether the ship 60 is safe to berth according to the designed breaking force of the mooring line and the maximum tension of the mooring line before assistance;

[0085] Step S13: if the ship 60 is safe to berth, judging that no stability assistance structure is needed, otherwise judging that a stability assistance structure is needed, and executing steps S20 to S60.

[0086] Before using the ship mooring auxiliary structure 100, the safety of the ship 60 mooring can be determined by the design breaking force of the mooring cable and the auxiliary maximum tension, if it is safe, the ship mooring auxiliary structure 100 is not needed to assist the mooring, which is beneficial to save auxiliary energy consumption, if it is not safe, the auxiliary structure is started, the judgment standard is clear, which is beneficial to control the ship mooring auxiliary structure 100.

[0087] Specifically, in an embodiment, in step S12, the following steps are included:

[0088] When the auxiliary maximum tension satisfies the following relationship: F1≤βF s , wherein F s is the design breaking force of the mooring cable, F1 is the auxiliary maximum tension of the mooring cable, β is the safety factor, and satisfies 45%≤β≤75%.

[0089] β is the safety factor, which is related to the material of the mooring cable and the requirements of the user. Different users have different requirements, for example, the MEG4 published by OCIMF requires 55% for steel cable, 50% for synthetic fiber cable, and 45% for high molecular cable. The user can select the value of the safety factor β according to his own needs.

[0090] Specifically, in an embodiment, before step S20, the following specific steps are further included:

[0091] The tugboat model is obtained, and the auxiliary thrust of the tugboat 50 is obtained according to the tugboat model.

[0092] The tugboat model determines the maximum auxiliary thrust and the minimum auxiliary thrust that the tugboat 50 itself can have, so when setting the auxiliary thrust of the tugboat 50, a suitable auxiliary thrust can be selected within the range of the maximum auxiliary thrust and the minimum auxiliary thrust.

[0093] Specifically, in an embodiment, in step S20, the auxiliary connection position of the magnetic suction disc 10 and the ship 60 includes the horizontal distance and the vertical distance between the center point of the magnetic suction disc 10 and the center of gravity point of the ship 60, and the distance between the center points of the adjacent two tugboats 50.

[0094] Specifically, in an embodiment, in step S20, the ship size includes the ship length and the ship depth.

[0095] Further, in an embodiment, in step S50, when the number of tugboats 50 is 1, the auxiliary maximum tension of the mooring cable satisfies the following relationship:

[0096]

[0097] F2 is the auxiliary maximum tension of the mooring line, x is the horizontal distance between the center point of the magnetic suction disc 10 and the center of gravity of the ship 60, y is the vertical distance between the center point of the magnetic suction disc 10 and the center of gravity of the ship 60, L is the length of the ship, D is the depth of the ship, and f is the auxiliary thrust of the tugboat 50.

[0098] Further, in an embodiment, in step S40, when the number of tugboats 50 is greater than 1, the auxiliary maximum tension of the mooring line satisfies the following relationship:

[0099]

[0100] F2 is the auxiliary maximum tension of the mooring line, x n is the horizontal distance between the center point of the magnetic suction disc 10 of the nth tugboat 50 from left to right and the center of gravity of the ship 60, y n is the horizontal distance between the center point of the magnetic suction disc 10 of the nth tugboat 50 from left to right and the center of gravity of the ship 60, l n is the distance between the center point of the nth ship and the adjacent tugboat 50 on the right, L is the length of the ship 60, D is the depth of the ship 60, and f is the auxiliary thrust of the tugboat 50.

[0101] Specifically, in an embodiment, in step S50, the following steps are included:

[0102] When the auxiliary maximum tension satisfies the following relationship: F2≤βF s , wherein F s is the designed breaking force of the mooring line, F2 is the auxiliary maximum tension of the mooring line, β is the safety factor, and satisfies 45%≤β≤75%.

[0103] β is the safety factor, which is related to the material of the mooring line and the requirements of the user. Different users have different requirements, for example, the OCIMF issued MEG4 requires steel cable to be 55%, synthetic fiber cable to be 50%, and high polymer cable to be 45%. The user can choose the value of the safety factor β according to his own needs.

[0104] Further, in an embodiment, after step S30, the following steps are further included:

[0105] Obtaining the motion amplitude of the ship 60;

[0106] Controlling the damping force of the telescopic drive 22 according to the motion amplitude of the ship 60.

[0107] Wherein, the motion amplitude of the ship 60 can include the maximum distance of the front and rear, left and right swing of the ship 60. The greater the motion amplitude, the smaller the damping force of the telescopic drive 22.

[0108] The telescopic drive 22 can be a pneumatic telescopic cylinder or a hydraulic telescopic cylinder. In this embodiment, the hydraulic telescopic cylinder is selected, which has stronger telescopic driving force. Therefore, different damping forces can be obtained by controlling the hydraulic pressure of the telescopic drive 22, so as to realize the swinging following the movement amplitude of the ship 60.

[0109] Further, in an embodiment, the magnetic suction disc 10 comprises an electromagnetic suction disc 10 and a pressure sensor. In step S30, the auxiliary connection position of connecting the magnetic suction disc 10 with the ship 60 comprises the following steps:

[0110] The mechanical arm 20 moves the magnetic suction disc 10 to the auxiliary connection position;

[0111] The detection value of the pressure sensor is obtained;

[0112] When the detection value of the pressure sensor tends to be stable, that is, it is determined that the magnetic suction disc 10 has contacted the ship 60, the magnetic suction disc 10 is turned on, and the magnetic suction disc 10 is connected with the ship 60 by suction.

[0113] In this specific embodiment, the magnetic suction disc 10 is an electromagnetic suction disc, and a central control plate is arranged at the center position. The magnetic force of the magnetic suction disc 10 is controlled by the central control plate to be turned on, turned off and adjusted in size.

[0114] In an embodiment, the mooring cable working condition is a high polymer mooring cable with a designed breaking force (F s ) of 1600kN. The berthed ship 60 is a 15KTEU outfit container ship with a type length (L) of 367m and a type depth (D) of 29.9m. At this time, the maximum tension F1 of the mooring cable before auxiliary connection is as high as 1393.29kN, which exceeds 75% of the breaking force, that is, 1200kN. There is a risk of breaking cable accident, and the ship 60 is not safe in berthing. In order to ensure the safety of the berthed ship 60, if three harbor tugs 1 are dispatched to participate in the auxiliary berthing of the ship 60, the distance (l n ) between each harbor tug should be l1=l2=10m. The horizontal distance (x n ) from the left to the right of the midpoint of the line of the magnetic suction disc 10 on each harbor tug to the center of gravity of the berthed ship 60 should be x1=20m, x2=0m and x3=20m respectively. The vertical distance (y n ) should be y1=y2=y3=4m. The auxiliary thrust of the tugboat 50 acting on the berthed ship 60 is f=600kN. At this time, the maximum tension (F2) of the mooring cable after auxiliary connection is calculated to be 1046.16kN, which is far lower than 75% of the breaking force. The ship 60 is safe in berthing.

[0115] In the description of the utility model, it is understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like is the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model.

[0116] In addition, the terms "first" and "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include at least one of the features. In the description of the utility model, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0117] In the utility model, unless otherwise specifically defined and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrated; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, it can be the communication or interaction relationship between two elements, unless otherwise specifically limited. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0118] In the utility model, unless otherwise specifically defined and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0119] It is to be understood that when an element such as a layer, region or substrate is referred to as being "on" or "connected to" another element, it can be directly on or connected to the other element or intervening elements can be present. In contrast, when an element is referred to as being "directly on" or "directly connected to" another element, there are no intervening elements present. It will be understood that, when a member is referred to as being "on" another member, it can be directly on the other member or intervening members can also be present. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0120] The preferred embodiments of the present application have been described in detail above. It should be understood that modifications and variations can be made by those skilled in the art in light of the teachings above. It is therefore contemplated that the application can encompass other variations than those specifically described herein. It is intended that the claims cover all such modifications and variations of this application.

Claims

1. A mooring aid for a vessel, characterised in that, The utility model relates to a ship mooring auxiliary structure, which comprises: a magnetic suction disc (10) comprising a plurality of magnetic suction blocks (11), the plurality of magnetic suction blocks (11) are arranged in a magnetic suction row group in sequence along a first direction, and a plurality of magnetic suction row groups are arranged in sequence along a second direction, in the first direction, two adjacent magnetic suction blocks (11) are hingedly connected to each other, and in the second direction, two adjacent magnetic suction blocks (11) are hingedly connected to each other; a mechanical arm (20) connected to one end of the magnetic suction disc (10) and used for being connected to a tugboat (50), the mechanical arm (20) comprising a plurality of arm segments (21) hingedly connected in sequence, and a telescopic driving member (22) arranged between two adjacent arm segments (21) and used for changing the included angle between the two adjacent arm segments (21).

2. A vessel mooring assist structure according to claim 1, characterised in that, The ship mooring auxiliary structure further comprises a connecting support (30) hingedly connected to one end of the mechanical arm (20), and a magnetic suction block (11) located at a corner of the magnetic suction disc (10) is a corner magnetic suction block (12), the connecting support (30) is connected to the corner magnetic suction block (12) respectively. The connecting support (30) has a first telescopic rod (31) and a second telescopic rod (32), the first telescopic rod (31) is capable of telescoping along the first direction, and the second telescopic rod (32) is capable of telescoping along the second direction.

3. A vessel mooring assist structure according to claim 2, characterised in that, A transition piece (33) is arranged between the connecting support (30) and the corner magnetic suction block (12), one end of the transition piece (33) is ball-connected to the connecting support (30), and the other end of the transition piece (33) is ball-connected to the corner magnetic suction block (12).

4. A vessel mooring assist structure according to claim 2, characterised in that, The connecting support (30) further comprises a first folding rod (34) and a second folding rod (35), one end of the first folding rod (34) is hingedly connected to one end of the first telescopic rod (31), and one end of the second folding rod (35) is hingedly connected to one end of the second telescopic rod (32).

5. A vessel mooring assist structure according to claim 4, characterised in that, The connecting support (30) comprises four L-shaped supports (36), each L-shaped support (36) comprising the first telescopic rod (31) and the second telescopic rod (32) connected to each other, two ends of the first folding rod (34) being connected to the first telescopic rod (31) and the corner magnetic suction block (12) respectively, two ends of the second folding rod (35) being connected to the second telescopic rod (32) and the mechanical arm (20) respectively, and the four L-shaped supports (36) forming an I-shaped support.

6. A vessel mooring assist structure according to claim 1, characterised in that, The magnetic suction disc (10) comprises a center control plate (13), the magnetic suction blocks (11) are electromagnetic suction blocks, the center control plate (13) is electrically connected to the magnetic suction blocks (11) and used for controlling the magnetic force of the magnetic suction blocks (11). The center control plate (13) is located at the center of the magnetic suction disc (10), a plurality of the magnetic suction blocks (11) are arranged around the center control plate (13) along the first direction and the second direction, the plurality of the magnetic suction blocks (11) adjacent to the center control plate (13) are hinged with the center control plate (13), and the center control plate (13) is connected with the mechanical arm (20) in a ball shape.

7. A vessel mooring assist structure according to claim 1, characterised in that, The ship mooring auxiliary structure includes an energy storage device (41), the telescopic driving element (22) is provided with a permanent magnet (221) and a magnetic coil (222) sleeved on the permanent magnet (221), and the energy storage device (41) is connected with the magnetic coil (222) and the telescopic driving element (22) respectively, used for storing the electric energy generated by the magnetic coil (222) and supplying the stored electric energy to the telescopic driving element (22).

8. A vessel mooring assist structure according to claim 1, characterised in that, The magnetic suction block (11) is provided with a pressure sensor, and the ship mooring auxiliary structure includes a controller (40), the controller (40) is connected with the pressure sensor and the magnetic suction disc (10) respectively, used for controlling the opening and closing of the magnetic suction disc (10) according to the detection value of the pressure sensor.

9. A vessel mooring assist structure according to claim 1, characterised in that, The mechanical arm (20) is provided with a protective cover (23), the protective cover (23) includes a hard shell (231) sleeved on different arm segments (21), a protective cloth (232) connected with a plurality of adjacent hard shells (231), and a telescopic bellows (233) sleeved on the telescopic driving element (22).

10. A harbor tug characterized by The ship mooring auxiliary structure includes a tugboat (50) and the ship mooring auxiliary structure according to any one of claims 1-9, the mechanical arm (20) of the ship mooring auxiliary structure is connected with the tugboat (50), and the magnetic suction disc (10) of the ship mooring auxiliary structure is used for being connected with the ship (60) in a magnetic manner.

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