Ship berthing device based on six-degree-of-freedom motion platform

Abstract

The utility model provides a ship berthing device based on a six-degree-of-freedom motion platform, which comprises a supporting mechanism and a six-degree-of-freedom moving platform, the supporting mechanism is fixedly arranged on a wharf, the six-degree-of-freedom moving platform is arranged on the supporting mechanism, and the six-degree-of-freedom moving platform comprises an upper platform, a lower platform and six telescopic connecting pieces, the telescopic connecting piece is arranged between the upper platform and the lower platform, the lower platform is fixedly connected with the supporting mechanism, the lower platform is vertically distributed, and the upper platform can be detachably and fixedly connected with a ship through the fixing mechanism; and a positioning mark is arranged on the upper platform of the supporting mechanism and / or the six-degree-of-freedom moving platform. Accurate butt joint and posture adjustment between a ship and a wharf can be achieved, stable berthing of the ship is ensured, the requirement for various posture changes in the berthing process of the ship can be effectively met, berthing efficiency and safety are improved, the structure is simple, and the application range is wide.

Description

TECHNICAL FIELD

[0001] The utility model belongs to ship berthing technical field, concretely relates to a ship berthing device based on six degree of freedom motion platform. BACKGROUND

[0002] Ship berthing is an important and complex link in port operation, especially in large ships and bad sea conditions, safe and stable berthing operation becomes particularly critical. The ship is easily affected by various unstable factors during berthing, such as wind, wave, tidal current and other environmental factors, which will cause large disturbance to the ship, resulting in the position and attitude of the ship deviating, so that the difficulty of berthing operation increases significantly.

[0003] The traditional ship berthing method mainly relies on manual control or simple mechanical auxiliary device, although these methods have certain operation flexibility, but the experience and technical level of the operator is required to be higher, the operator needs to constantly adjust the position and attitude of the ship according to the actual situation, to ensure that the ship body can accurately approach the wharf. However, manual berthing has obvious limitations: not only easily affected by external environmental changes, but also prone to human error in the operation process, resulting in collision, damage and other safety hazards, especially in the case of strong wind and wave, the safety and reliability of the traditional berthing method is reduced.

[0004] Therefore, the utility model provides a ship berthing device based on six degree of freedom motion platform to solve the above problems. UTILITY MODEL CONTENTS

[0005] The utility model aims at the shortage of prior art, provides a ship berthing device based on six degree of freedom motion platform, which is helpful for the safe berthing of the ship.

[0006] In order to realize the above technical purpose, the utility model adopts the following technical scheme:

[0007] The utility model provides a ship berthing device based on six degree of freedom motion platform, including support mechanism and six degree of freedom mobile platform, the support mechanism is fixedly arranged on the wharf, and the six degree of freedom mobile platform is installed on the support mechanism, the six degree of freedom mobile platform includes upper platform, lower platform and six telescopic connecting pieces, the telescopic connecting piece is arranged between the upper platform and the lower platform, the lower platform is fixedly connected with the support mechanism, and the lower platform is vertically distributed, the upper platform can be detachably fixedly connected with the ship.

[0008] As further optimization of the utility model, still have such characteristics: the support mechanism includes bottom plate and support component, support component fixed mounting on bottom plate, including vertical fixed on bottom plate first longitudinal beam, second longitudinal beam, third longitudinal beam and fourth longitudinal beam, first longitudinal beam, second longitudinal beam, third longitudinal beam and fourth longitudinal beam constitute the frame structure with rectangular section, the lower platform of six degree of freedom mobile platform is fixedly connected with the side wall of first longitudinal beam, second longitudinal beam.

[0009] As further optimization of the utility model, still have such characteristics: the first longitudinal beam and second longitudinal beam length is same, third longitudinal beam and fourth longitudinal beam length is same, and the length of first longitudinal beam, second longitudinal beam is greater than the length of third longitudinal beam, fourth longitudinal beam, first longitudinal beam and third longitudinal beam between the first inclined beam and first crossbeam are provided, one end of first inclined beam is fixedly connected with the top of first longitudinal beam, and the other end is fixedly connected with the top of third longitudinal beam, first crossbeam is horizontally arranged, one end is fixedly connected with the middle of first longitudinal beam, and the other end is fixedly connected with the upper portion of third longitudinal beam, second longitudinal beam and fourth longitudinal beam between the second inclined beam and second crossbeam are provided, one end of second inclined beam is fixedly connected with the top of second longitudinal beam, and the other end is fixedly connected with the top of fourth longitudinal beam, second crossbeam is horizontally arranged, one end is fixedly connected with the middle of second longitudinal beam, and the other end is fixedly connected with the upper portion of fourth longitudinal beam.

[0010] As further optimization of the utility model, still have such characteristics: the first longitudinal beam and second longitudinal beam between the first connecting beam, first connecting beam horizontal arrangement, the two ends of first connecting beam are fixedly connected with the top end of first longitudinal beam and second longitudinal beam respectively, third longitudinal beam and fourth longitudinal beam between the second connecting beam, second connecting beam horizontal arrangement, the two ends of second connecting beam are fixedly connected with the top end of third longitudinal beam and fourth longitudinal beam respectively.

[0011] As further optimization of the utility model, still have such characteristics: the upper platform of six degree of freedom mobile platform is provided with fixing mechanism, and the upper platform is detachably fixedly connected with the ship through the fixing mechanism.

[0012] As further optimization of the utility model, still have such characteristics: the fixing mechanism is magnetic block, and the magnetic block is fixed on the upper platform, and the coverage area of the magnetic block is not greater than the area of the upper platform.

[0013] As further optimization of the utility model, still have such characteristics: the support mechanism and / or the upper platform of six degree of freedom mobile platform are provided with positioning marks, and the visual module arranged on the ship to be docked can identify the positioning marks.

[0014] As further optimization of the utility model, further have such characteristics: six telescopic connectors are staggered in two groups, and the upper and lower ends of the telescopic connectors are hinged to the upper platform and the lower platform through Hooke's joints.

[0015] As further optimization of the utility model, further have such characteristics: four grooves are arranged on the bottom plate, and the lower ends of the first longitudinal beam, the second longitudinal beam, the third longitudinal beam and the fourth longitudinal beam are fixed in the four grooves.

[0016] As further optimization of the utility model, further have such characteristics: the six-degree-of-freedom mobile platform is detachably fixedly connected with the supporting mechanism.

[0017] The utility model has the advantages of:

[0018] (1) The utility model can flexibly adjust the berthing angle of the ship through the six-degree-of-freedom mobile platform, adjust the attitude in multiple dimensions and directions, realize accurate butt joint and attitude adjustment between the ship and the wharf, ensure the stable berthing of the ship, effectively adapt to various attitude change requirements in the berthing process of the ship, and improve the berthing efficiency and safety.

[0019] (2) In the utility model, the supporting mechanism is stable in structure, can stably support and fix the six-degree-of-freedom mobile platform, has strong safety performance, is helpful for the stable berthing of the ship, and has simple structure and wide application range. BRIEF DESCRIPTION OF DRAWINGS

[0020] Fig. 1 It is the ship berthing system structure diagram of the six-degree-of-freedom motion platform of the utility model.

[0021] Fig. 2 It is the left view structure diagram of the ship berthing system of the six-degree-of-freedom motion platform of the utility model.

[0022] Fig. 3 It is the overhead structure diagram of the ship berthing system of the six-degree-of-freedom motion platform of the utility model.

[0023] Fig. 4 It is the six-degree-of-freedom mobile platform structure diagram of the utility model.

[0024] The marks in the drawings are:

[0025] 1, supporting mechanism; 101, bottom plate; 102, first longitudinal beam; 103, second longitudinal beam; 104, third longitudinal beam; 105, fourth longitudinal beam; 106, first inclined beam; 107, second inclined beam; 108, first connecting beam; 109, second connecting beam; 110, first cross beam; 111, second cross beam; 2, six-degree-of-freedom mobile platform; 3, upper platform; 4, lower platform; 5, telescopic connector. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in combination with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0027] Embodiment 1

[0028] As Figs. 1-4 shown, the utility model embodiments provide a kind of ship berthing device based on six degrees of freedom motion platform, including support mechanism 1 and six degrees of freedom mobile platform 2.

[0029] In the embodiment, the support mechanism 1 is fixedly arranged on the wharf, and the six degrees of freedom mobile platform 2 is detachably fixedly installed on the support mechanism 1. The six degrees of freedom mobile platform 2 includes an upper platform 3, a lower platform 4 and six telescopic connecting pieces 5, the telescopic connecting piece 5 is arranged between the upper platform 3 and the lower platform 4, and the six telescopic connecting pieces 5 are staggered in groups of two, and the upper and lower ends of the telescopic connecting piece 5 are hinged to the upper platform 3 and the lower platform 4 through hooke joints. The telescopic cylinder of six degrees of freedom mobile platform can realize the translation of upper platform 3 along X, Y, Z and the rotation movement around X, Y, Z axis, can flexibly cope with various complex dynamic adjustment requirements, and the precision and stability are high.

[0030] In the embodiment, the lower platform 4 of the six degrees of freedom mobile platform 2 is fixedly connected with the support mechanism 1, and the lower platform 4 is vertically distributed, and the upper platform 3 can be detachably fixedly connected with the ship.

[0031] In the embodiment, the upper platform 3 of the six degrees of freedom mobile platform 2 is provided with a fixing mechanism, and the upper platform 3 is detachably fixedly connected with the ship through the fixing mechanism. Specifically, the fixing mechanism is a magnetic block, the magnetic block is fixed on the upper platform 3, and the coverage area of the magnetic block is not greater than the area of the upper platform 3, and the magnetic block generates magnetic adsorption capacity after being electrified. In other embodiments of the utility model, other forms of fixing mechanisms can also be selected, which are not limited.

[0032] In the embodiment, the support mechanism 1 and / or the upper platform 3 of the six degrees of freedom mobile platform 2 are provided with positioning marks, and the visual module arranged on the ship to be docked can identify the positioning marks.

[0033] When applied, multiple ship berthing devices can be arranged on the wharf, and different ships correspond to different berthing devices at different positioning mark positions. When the ship is berthing, the positioning mark on the berthing device is recognized by the visual module to determine the distance and orientation of the ship relative to the positioning mark, and the ship is moved to the berthing device according to the distance and orientation, the upper platform 3 of the six-degree-of-freedom moving platform 2 is fixedly connected with the docking position of the ship, and the motors of the six telescopic connecting pieces 5 are started to adjust the berthing angle of the ship. The safety and stability of the berthing process are effectively improved, and the work efficiency is improved.

[0034] Embodiment 2

[0035] The main body structure of this embodiment is the same as that of Embodiment 1, and the difference lies in that the specific structure of the support mechanism 1 is further described in this embodiment.

[0036] Specifically, as shown in Figs. 1-3 the support mechanism 1 includes a bottom plate 101 and a support assembly, the support assembly is fixedly installed on the bottom plate 101, and includes a first longitudinal beam 102, a second longitudinal beam 103, a third longitudinal beam 104 and a fourth longitudinal beam 105 which are vertically fixed on the bottom plate 101. Four recesses are arranged on the bottom plate 101, and the lower ends of the first longitudinal beam 102, the second longitudinal beam 103, the third longitudinal beam 104 and the fourth longitudinal beam 105 are fixed in the four recesses respectively. The first longitudinal beam 102, the second longitudinal beam 103, the third longitudinal beam 104 and the fourth longitudinal beam 105 form a frame structure with a rectangular cross section. The lower platform 4 of the six-degree-of-freedom moving platform 2 is fixedly connected with the side walls of the first longitudinal beam 102 and the second longitudinal beam 103.

[0037] In this embodiment, the first longitudinal beam 102 and the second longitudinal beam 103 have the same length, the third longitudinal beam 104 and the fourth longitudinal beam 105 have the same length, and the lengths of the first longitudinal beam 102 and the second longitudinal beam 103 are greater than the lengths of the third longitudinal beam 104 and the fourth longitudinal beam 105.

[0038] A first inclined beam 106 and a first cross beam 110 are arranged between the first longitudinal beam 102 and the third longitudinal beam 104, one end of the first inclined beam 106 is fixedly connected with the top of the first longitudinal beam 102, and the other end is fixedly connected with the top of the third longitudinal beam 104. The first cross beam 110 is arranged horizontally, one end of which is fixedly connected with the middle of the first longitudinal beam 102, and the other end is fixedly connected with the upper part of the third longitudinal beam 104.

[0039] A second inclined beam 107 and a second cross beam 111 are arranged between the second longitudinal beam 103 and the fourth longitudinal beam 105, one end of the second inclined beam 107 is fixedly connected with the top of the second longitudinal beam 103, and the other end is fixedly connected with the top of the fourth longitudinal beam 105. The second cross beam 111 is arranged horizontally, one end of which is fixedly connected with the middle of the second longitudinal beam 103, and the other end is fixedly connected with the upper part of the fourth longitudinal beam 105.

[0040] The first connecting beam 108 is arranged between the first longitudinal beam 102 and the second longitudinal beam 103, and the second connecting beam 109 is arranged between the third longitudinal beam 104 and the fourth longitudinal beam 105.

[0041] The support mechanism has the advantages of stable structure, stable support and fixation of the six-degree-of-freedom mobile platform, flexible adjustment of the berthing angle of the ship through the six-degree-of-freedom mobile platform, multi-dimensional and multi-directional attitude adjustment, accurate butt joint and attitude adjustment between the ship and the wharf, stable berthing of the ship, improved berthing efficiency and safety, simple structure, and wide application range.

[0042] The preferred embodiments of the utility model are described above, and the protection scope of the utility model is not limited to the above-mentioned embodiments, and any technical solution falling within the concept of the utility model belongs to the protection scope of the utility model. It should be pointed out that, for ordinary skilled persons in the technical field, some improvements and decorations without departing from the principle of the utility model are regarded as the protection scope of the utility model.

Claims

1. A ship parking device based on a six-degree-of-freedom motion platform, characterized in that, it comprises a support mechanism (1) and a six-degree-of-freedom moving platform (2); the support mechanism (1) is fixedly arranged on a wharf, and the six-degree-of-freedom moving platform (2) is installed on the support mechanism (1); the six-degree-of-freedom moving platform (2) comprises an upper platform (3), a lower platform (4) and six telescopic connecting pieces (5), the telescopic connecting pieces (5) are arranged between the upper platform (3) and the lower platform (4), the lower platform (4) is fixedly connected with the support mechanism (1), the lower platform (4) is vertically distributed, and the upper platform (3) can be detachably fixedly connected with a ship.

2. The ship parking device based on a six-degree-of-freedom motion platform according to claim 1, characterized in that, the support mechanism (1) comprises a bottom plate (101) and a support assembly; the support assembly is fixedly installed on the bottom plate (101) and comprises a first longitudinal beam (102), a second longitudinal beam (103), a third longitudinal beam (104) and a fourth longitudinal beam (105) which are vertically fixed on the bottom plate (101); the first longitudinal beam (102), the second longitudinal beam (103), the third longitudinal beam (104) and the fourth longitudinal beam (105) form a frame structure with a rectangular cross section; the lower platform (4) of the six-degree-of-freedom moving platform (2) is fixedly connected with the side walls of the first longitudinal beam (102) and the second longitudinal beam (103).

3. The ship parking device based on a six-degree-of-freedom motion platform according to claim 2, characterized in that, the first longitudinal beam (102) and the second longitudinal beam (103) have the same length, the third longitudinal beam (104) and the fourth longitudinal beam (105) have the same length, and the lengths of the first longitudinal beam (102) and the second longitudinal beam (103) are greater than the lengths of the third longitudinal beam (104) and the fourth longitudinal beam (105); a first inclined beam (106) and a first cross beam (110) are arranged between the first longitudinal beam (102) and the third longitudinal beam (104); one end of the first inclined beam (106) is fixedly connected with the top of the first longitudinal beam (102), and the other end is fixedly connected with the top of the third longitudinal beam (104); the first cross beam (110) is horizontally arranged, one end of the first cross beam (110) is fixedly connected with the middle of the first longitudinal beam (102), and the other end is fixedly connected with the upper part of the third longitudinal beam (104); a second inclined beam (107) and a second cross beam (111) are arranged between the second longitudinal beam (103) and the fourth longitudinal beam (105); one end of the second inclined beam (107) is fixedly connected with the top of the second longitudinal beam (103), and the other end is fixedly connected with the top of the fourth longitudinal beam (105); the second cross beam (111) is horizontally arranged, one end of the second cross beam (111) is fixedly connected with the middle of the second longitudinal beam (103), and the other end is fixedly connected with the upper part of the fourth longitudinal beam (105).

4. The six-degree-of-freedom motion platform based vessel docking apparatus according to claim 3, characterized in that, a first connecting beam (108) is arranged between the first longitudinal beam (102) and the second longitudinal beam (103), the first connecting beam (108) is horizontally arranged, and the two ends of the first connecting beam (108) are fixedly connected with the top ends of the first longitudinal beam (102) and the second longitudinal beam (103), respectively. The second connecting beam (109) is horizontally arranged, and two ends of the second connecting beam (109) are fixedly connected with top ends of the third longitudinal beam (104) and the fourth longitudinal beam (105) respectively.

5. The six-degree-of-freedom motion platform based vessel docking apparatus according to claim 1, wherein, The upper platform (3) of the six-degree-of-freedom moving platform (2) is provided with a fixing mechanism, and the upper platform (3) is detachably fixedly connected with the ship through the fixing mechanism.

6. The six-degree-of-freedom motion platform based vessel docking apparatus according to claim 5, wherein, The fixing mechanism is a magnetic block, the magnetic block is fixed on the upper platform (3), and the coverage area of the magnetic block is not greater than the area of the upper platform (3).

7. The six-degree-of-freedom motion platform based vessel docking apparatus according to claim 1, wherein, The support mechanism (1) and / or the upper platform (3) of the six-degree-of-freedom moving platform (2) is provided with a positioning mark, and a visual module arranged on the ship to be docked can identify the positioning mark.

8. The ship docking device based on the six-degree-of-freedom moving platform according to claim 1, characterized in that, The six telescopic connecting pieces (5) are staggered in two groups; The upper and lower ends of the telescopic connecting piece (5) are hingedly connected with the upper platform (3) and the lower platform (4) through Hooke hinges respectively.

9. The six-degree-of-freedom motion platform based vessel docking apparatus according to claim 2, wherein, The bottom plate (101) is provided with four recesses, and the lower ends of the first longitudinal beam (102), the second longitudinal beam (103), the third longitudinal beam (104) and the fourth longitudinal beam (105) are fixed in the four recesses respectively.

10. The ship docking device based on the six-degree-of-freedom moving platform according to claim 1, characterized in that, The six-degree-of-freedom moving platform (2) is detachably fixedly connected with the support mechanism (1).

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