An automatic berthing electromagnetic suction cup device

Abstract

The utility model relates to the technical field of ship berthing, disclose a kind of automatic berthing electromagnetic chuck device, including base, be located in berth operation place;Supporting sliding seat, be located in base;Supporting arm, be located in supporting sliding seat, suction plate component, be located in one end of supporting arm, wherein, supporting sliding seat is located on base by sliding assembly, supporting arm is located on supporting sliding seat by shaft, transverse buffer component is equipped between base and supporting sliding seat, longitudinal buffer component is equipped in supporting arm, universal part is equipped between supporting arm and suction plate component, using above technical scheme, rely on the overall matching structure of base, sliding assembly, supporting sliding seat, supporting arm, universal part, suction plate component, effectively solve the technical defects that traditional ship berthing equipment rigid coupling connection has no buffer, no self-adapting adjustment, poor adaptability, impact force concentration easy failure.

Description

Technical Field

[0001] This utility model relates to the field of ship berthing technology, specifically to an automatic berthing electromagnetic chuck device. Background Technology

[0002] Electromagnetic chucks for automated berthing are cableless mooring devices in automated terminals. Based on the method of generating magnetic force, they can be divided into three categories: pure electromagnetic, electrically controlled permanent magnet, and electromagnetic-vacuum composite. Pure electromagnetic chucks require continuous power to maintain magnetic force, resulting in lower costs, but they are prone to detaching from the vessel during power outages and are mostly used in inland river terminals. Electrically controlled permanent magnet chucks are briefly energized and then de-energized to maintain magnetism, resulting in low energy consumption and minimal electromagnetic interference, making them suitable for various types of seaport vessels. Electromagnetic-vacuum composite chucks combine magnetic force and negative pressure, providing strong anti-slip performance and making them suitable for open terminals with large waves. During berthing operations, all of these chucks typically apply tension to the vessel's outer plating through a rigid connection to a shore-side base to limit the vessel's drift. The rigid coupling connection between the equipment and the hull has two main drawbacks. First, the structure lacks a buffer and energy absorption mechanism, which cannot effectively reduce the impact of wave disturbances and cargo loading and unloading. Long-term alternating impacts can easily damage the suction cups, robotic arms, and hull plates, posing a safety hazard of detachment. Second, the entire rigid connection structure lacks multi-dimensional displacement compensation capabilities, making it impossible to freely adjust the docking position according to changes in hull draft, tidal range, and ship offset. It is also difficult to adapt to different ship types and hull berthing deviations. Both of these factors contribute to the problem of insufficient rigid coupling adaptability, which significantly reduces the equipment's mooring stability and operating condition adaptability, shortens the equipment's service life, and restricts the stable operation capability of automated terminals in complex sea conditions.

[0003] Therefore, providing an automatic mooring electromagnetic chuck device that avoids insufficient rigid coupling adaptation, significantly reduces equipment mooring stability and operating condition adaptability, and extends equipment service life has become an urgent problem to be solved in this field. Utility Model Content

[0004] The purpose of this invention is to solve the problem that the existing automatic mooring electromagnetic chuck device has insufficient rigid coupling adaptation, which greatly reduces the mooring stability and working condition adaptability of the equipment and shortens the service life of the equipment.

[0005] To solve the above problems, this utility model discloses an automatic parking electromagnetic chuck device, comprising: The base is located at the berth operation area; A support slide is provided on the base; A support arm is mounted on the support slide. The inner cylinder is located inside the support arm; The suction plate assembly is located at one end of the support arm, wherein... The support slide is mounted on the base via a sliding assembly, the support arm is mounted on the support slide via a shaft, a transverse buffer assembly is provided between the base and the support slide, a longitudinal buffer assembly is provided inside the support arm, and a universal joint is provided between the support arm and the suction plate assembly. During the docking process between the suction plate assembly and the ship, the universal joint component can adjust the impact force between the suction plate assembly and the support arm, the longitudinal buffer assembly can buffer the longitudinal impact force borne by the support arm, and the lateral buffer assembly can buffer the lateral impact force transmitted from the support arm to the support slide.

[0006] According to another specific embodiment of the present invention, the sliding assembly includes a guide rail and a connecting seat. The connecting seat is disposed on the base, and the guide rail is convexly disposed on the connecting seat. The guide rail and the supporting slide are adapted to each other and are used for the guide rail to bear the radial load of the supporting slide.

[0007] According to another specific embodiment of the present invention, the transverse buffer assembly includes a mounting base, a connecting rod, and a first spring. The mounting base is disposed between the connecting base and the base, the first spring is disposed on the side of the mounting base, and the connecting rod is disposed between the ends of the support slide, for the support slide to press the first spring along the outer wall of the connecting rod.

[0008] According to another specific embodiment of the present invention, the support arm includes an outer cylinder and a friction frame; the longitudinal buffer assembly includes a third spring, an adjusting seat, and a second spring; the friction frame is arranged in an array along the outer wall of the outer cylinder; a second hydraulic cylinder is arranged inside the outer cylinder; one end of the second hydraulic cylinder is connected to a cylinder rod; a connecting plate is provided on the cylinder rod; the connecting plate is connected to the inner cylinder; the third spring and the adjusting seat are both sleeved on the end of the cylinder rod, and are used for the third spring to fit against the connecting plate to form a thrust to drive the inner cylinder to extend and retract.

[0009] According to another specific embodiment of the present invention, both the third spring and the second spring are disposed at the end of the connecting plate to weaken the incoming impact force.

[0010] According to another specific embodiment of the present invention, the friction frame includes a connecting block, an oil injection hole, and a friction plate. The friction plate is detachably mounted on the friction frame via the connecting block. Both the connecting block and the friction plate are provided with through-aligned oil injection holes.

[0011] According to another specific embodiment of the present invention, a protruding sliding block is provided on the outer wall of the inner cylinder. The sliding block and the friction plate are adapted to be connected. The friction plate injects lubricating medium into the sliding block through the oil injection hole to reduce the friction between the sliding block and the friction plate.

[0012] According to another specific embodiment of the present invention, the universal joint includes a ball head, a shaft head cover, a round flange, and a positioning frame. The ball head is located at the end of the inner cylinder away from the support arm. The ball head is connected to the round flange through the shaft head cover. The round flange is connected to the end of the suction plate assembly. The positioning frame is located on the side of the ball head. The end of the positioning frame away from the suction plate assembly is connected to the inner cylinder, and is used for angular deflection compensation of the suction plate assembly through the ball head.

[0013] According to another specific embodiment of the present invention, the suction plate assembly is provided with an electromagnetic chuck in a grid shape on the side away from the support arm, for magnetic connection with the ship.

[0014] According to another specific embodiment of the present invention, the base, the support slide and the support arm are all provided with multi-source sensing components. The multi-source sensing components include a lidar, a vision sensor, a pressure sensor and an angle sensor. The multi-source sensing components are respectively provided on the top surface of the base, the side of the support slide and the outer wall of the support arm.

[0015] Due to the adoption of the above technical solution, this application has the following beneficial effects compared with the prior art: relying on the overall cooperative structure of the base, sliding component, support slide, support arm, universal component, and suction plate component, it effectively solves the technical defects of traditional ship berthing equipment with rigid coupling connection without buffering, no adaptive adjustment, poor adaptability, and concentrated impact force that is prone to failure. Through the transverse buffer components set at both ends of the support slide and the longitudinal buffer components set inside the support arm, a two-way buffer energy absorption structure is formed. The impact force generated by ship berthing, wave disturbance, and cargo loading and unloading can be transmitted sequentially through the suction plate component, universal component, and support arm, and finally introduced into the transverse buffer component and the longitudinal buffer component for dispersion, buffering, and energy absorption. This effectively solves the problem that traditional rigid structures cannot unload force and that alternating impact force is prone to damage to equipment and ship outer plate. Attached Figure Description

[0016] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments: Figure 1 This is a three-dimensional structural diagram of an automatic mooring electromagnetic chuck device provided by this utility model; Figure 2 This is a schematic diagram of the overall structure of the universal joint component of an automatic mooring electromagnetic chuck device provided by this utility model; Figure 3 This utility model provides an automatic parking electromagnetic chuck device. Figure 1 Enlarged schematic diagram of the overall structure at point A; Figure 4This utility model provides an automatic parking electromagnetic chuck device. Figure 2 A magnified schematic diagram of the overall structure at point B; Figure 5 This is a two-dimensional schematic diagram of the cross-sectional structure of the support arm of an automatic mooring electromagnetic chuck device provided by this utility model.

[0017] Figure label: 1. Base; 2. Sliding assembly; 3. Support arm; 4. First hydraulic cylinder; 5. Universal joint; 6. Suction plate assembly; 7. Inner cylinder; 8. Support slide; 81. Mounting seat; 82. Connecting rod; 83. First spring; 21. Guide rail; 22. Connecting seat; 31. Outer cylinder; 32. Friction frame; 33. Connecting block; 34. Oil injection hole; 35. Second hydraulic cylinder; 36. Inner rod; 37. Cylinder rod; 38. Third spring; 39. Connecting plate; 391. Second spring; 392. Adjusting seat; 393. Nut; 71. Sliding block; 51. Ball head; 52. Shaft head cover; 53. Round flange; 54. Positioning frame; 61. Electromagnetic chuck. Detailed Implementation

[0018] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. Although the description of this utility model will be presented in conjunction with preferred embodiments, this does not mean that the features of this utility model are limited to this embodiment. On the contrary, the purpose of describing the utility model in conjunction with the embodiments is to cover other options or modifications that may be derived based on the claims of this utility model. To provide a deep understanding of this utility model, many specific details will be included in the following description. This utility model may also be implemented without using these details. Furthermore, to avoid confusion or obscuring the focus of this utility model, some specific details will be omitted in the description. It should be noted that, without conflict, the embodiments and features in the embodiments of this utility model can be combined with each other.

[0019] In the description of this embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the utility model product is usually placed in during use. They are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the utility model.

[0020] The terms “first”, “second”, etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0021] In the description of this embodiment, it should also be noted that, unless otherwise explicitly specified and limited, the terms "provided with," "set up," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this embodiment based on the specific circumstances.

[0022] like Figures 1-5 As shown, this utility model discloses an automatic parking electromagnetic chuck device, comprising: a base 1 for installation at the parking position; a sliding assembly 2 on the top of the base 1; a support slide 8 at the end of the sliding assembly 2 away from the base 1; a support arm 3 movably connected to the top of the support slide 8 away from the base 1 via a shaft; transverse buffer assemblies at the bottom of the support slide 8 and both ends of the top of the base 1; and an inner cylinder 7 movably fitted inside the support arm 3 for adaptive adjustment of the linear spatial dimensions of the support arm 3. The inner part of the support arm 3 and one end of the inner cylinder 7 are connected via... The longitudinal buffer assembly is connected, and the end of the inner cylinder 7 away from the support arm 3 is connected to the suction plate assembly 6 through the universal joint 5. The support slide 8 and the support arm 3 are equipped with a first hydraulic cylinder 4, which is used to adjust the angular attitude of the support arm 3. The support arm 3 adjusts the spatial linear dimension of the suction plate assembly 6 through the inner cylinder 7. The support arm 3 can adjust the angular attitude of the suction plate assembly 6 through the extension and retraction direction of the first hydraulic cylinder 4 via the inner cylinder 7. When the suction plate assembly 6 is in contact with the ship, the force transmission angle is changed through the universal joint 5, which is used to transmit the impact force to the interior of the longitudinal buffer assembly and the transverse buffer assembly for dispersion, buffering and absorption.

[0023] In other words, a sliding component 2 is fixedly installed on the top of the base 1. The top of the sliding component 2 is slidably connected to the sliders set at the bottom of both sides of the support slide 8. The middle position of the bottom of the support slide 8 is elastically connected to the transverse buffer component. At the same time, the middle section of the top of the support slide 8 is movably connected to the outer walls of the top two sides of the support arm 3 through a movable pin. The support slide 8 is provided with a diagonal brace near the rear end of the support arm 3. The diagonal brace and the connecting node are hinged with a single bolt. The front end of the support slide 8 away from the diagonal brace is connected to the front end of the support arm 3 through the first hydraulic cylinder 4. The inside of the support arm 3 is slidably connected to the inner cylinder 7 through the longitudinal buffer component. The end of the inner cylinder 7 away from the diagonal brace is universally connected to the suction plate component 6 through the universal component 5.

[0024] The base 1 is installed at the ship's docking location, and then the components connected to the top of the base 1 are assembled in sequence. After the ship docks, the support arm 3, inner cylinder 7, and suction plate assembly 6 are pre-adjusted to a suitable angle using the first hydraulic cylinder 4. Then, the inner cylinder 7, located inside the support arm 3, extends to adjust the distance between the suction plate assembly 6 and the ship. During the process of the suction plate assembly 6 adhering to the ship's side wall, the alignment angle can be finely adjusted using the universal joint 5. The maximum allowable deflection angle of the universal joint 5 is 0° to 5°. When the suction plate assembly 6 is aligned and adhering to the ship's side wall... The universal joint 5 can achieve adaptive fine-tuning of the angle within the maximum allowable deflection angle range of 0° to 5°. Because the universal joint 5 only has a small deflection range, the impact force generated by the ship will not have obvious off-center loading and transmission loss. The impact force can be stably transmitted to the longitudinal and transverse components. This structure limits the maximum deflection angle of the universal joint 5 to 0° to 5°, which can not only compensate for the assembly alignment tolerance of the ship's sidewall, but also ensure the continuous transmission of impact force under tensile heavy load conditions. At the same time, it achieves the dual effect of assembly fault tolerance and overall structural load-bearing reliability.

[0025] The lateral impact force generated by the ship's sidewall is first transmitted to the universal joint component 5 via the suction plate assembly 6. The universal joint component 5 adaptively adjusts the load transmission direction within the allowable deflection range of 0° to 5° using its own universal connection structure, so that the lateral force of the hull is redistributed along the contact surface of the ball head 51, forming a component force that is adapted to the longitudinal and lateral directions of the whole machine and transmitted to the rear buffer structure. The converted impact force is then transmitted to the longitudinal buffer component and the lateral buffer component along the inner cylinder 7, support arm 3, and support slide 8, respectively. The combined use of the longitudinal buffer component and the lateral buffer component can absorb and buffer the impact, enhancing the stability of the overall device.

[0026] For details, see Figure 1 As shown, in this embodiment, the sliding assembly 2 includes a guide rail 21 and a connecting seat 22. Two connecting seats 22 arranged in a mirror symmetrical manner are fixedly installed at both ends of the top of the base 1. The top of the connecting seat 22 is fixedly provided with an annular protruding guide rail 21. The end of the connecting seat 22 near the guide rail 21 is a trapezoidal segment. Grooves are provided on both sides of the trapezoidal segment. The groove on the outer side of the guide rail 21 is adapted to fit and assemble with the sliders fixedly connected to both sides of the bottom of the support slide 8. The sliders provided at the bottom of the support slide 8 can slide axially along the grooves opened on the outer wall of the guide rail 21, and the guide rail 21 can bear the radial load borne by the support slide 8.

[0027] See Figure 3As shown, the transverse buffer assembly includes a mounting base 81, a connecting rod 82, and a first spring 83. Four sets of oppositely arranged mounting bases 81 are provided between two sets of mirror-arranged connecting bases 22. The bottom of the mounting base 81 is fixedly connected to the top of the base 1. The side of the mounting base 81 is movably fitted with the first spring 83 through the connecting rod 82. Four sets of oppositely arranged socket blocks (not shown) are provided between the sliders at both ends of the bottom of the support slide 8. The socket blocks are movably fitted with the end of the connecting rod 82 away from the mounting base 81. The first spring seat (not shown) is fixedly fitted inside the socket block. The inside of the first spring seat is movably fitted with the end of the connecting rod 82 away from the first spring 83. When the impact drives the support slide 8 to generate axial displacement in the groove through the sliders fixed at both ends of its bottom, the socket blocks fixed at the bottom of the support slide 8 will axially compress the first spring 83 along the connecting rod 82, thereby achieving impact buffering and reduction. The first spring seat and the first spring 83 are in close contact with each other.

[0028] The lateral force generated by the ship's sidewall is transmitted via the suction plate assembly 6 to the universal joint 5 at the end of the inner cylinder 7 away from the diagonal brace. The universal joint 5 adaptively adjusts the direction of force transmission within the maximum allowable deflection range of 0° to 5°, converting the lateral force of the ship into a component force along the lateral direction of the entire machine and transmitting it to the inside of the support slide 8. After the lateral component force acts on the support slide 8, it drives the sliders mounted on both sides of the bottom of the support slide 8 to slide left and right along the grooves opened on the outer wall of the guide rail 21. The sleeve block fixed at the bottom of the support slide 8 also undergoes axial displacement synchronously with the support slide 8. The sleeve block will synchronously squeeze along the outer wall of the connecting rod 82. Four sets of opposing first springs 83 are symmetrically arranged between the two sets of mirror-arranged connecting seats 22. When the sleeve block moves axially to the left or right with the support slide 8, it can correspondingly compress the first spring 83 on the same side. With the help of the symmetrical elastic buffer structure of the four sets of first springs 83, no matter whether the support slide 8 is subjected to lateral impact to the left or right, it can complete the buffering and absorption of the impact force through the compression deformation of the corresponding first spring 83, offset the lateral impact generated during the docking of the ship, reduce the instantaneous impact on the whole structure, and improve the overall load-bearing stability of the equipment.

[0029] By adopting the above technical solution and equipping it with independent horizontal and vertical buffer components, it can achieve graded elastic energy absorption and force dissipation of horizontal surge impact and longitudinal ship traction force, disperse alternating impact force, protect equipment and hull structure, and eliminate berthing safety hazards. At the same time, traditional rigid structures cannot adjust their attitude according to the ship's draft, tidal difference, and ship berthing deviation, making it difficult to adapt to various ship types. This device can adaptively adjust the docking distance through a telescopic structure, and with 0°~5° precise omnidirectional micro-deflection to compensate for alignment tolerance, it can still ensure continuous and stable transmission of impact force under heavy load conditions. The assembly fault tolerance and working condition adaptability are greatly improved. In addition, the equipment is equipped with multi-source sensing components, which can monitor the ship's position and attitude, equipment force and magnetic attraction status in real time, dynamically and adaptively adjust the docking attitude, eliminate the problem of stress concentration in rigid connections, significantly improve the ship's mooring stability and operational accuracy in complex sea conditions, effectively extend the service life of the equipment, and fully meet the all-weather stable operation requirements of automated terminals.

[0030] For details, see Figure 1 As shown, the support arm 3 includes an outer cylinder 31 and a friction frame 32. The longitudinal buffer assembly includes a third spring 38 and an adjusting seat 392, a second spring 391. The outer wall of the outer cylinder 31 is arrayed with several friction frames 32. The outer cylinder 31 is equipped with a second hydraulic cylinder 35. One end of the second hydraulic cylinder 35 is threadedly connected to a cylinder rod 37 through an inner rod 36. A connecting plate 39 is movably sleeved on the middle of the cylinder rod 37. The outer wall of the connecting plate 39 is fixedly connected to the interior of the inner cylinder 7. The third spring 38 and the second spring 391 are both sleeved on both ends of the cylinder rod 37. The second hydraulic cylinder 35 pushes the cylinder rod 37 to extend. The third spring 38 sleeved on one end of the cylinder rod 37 fits against the connecting plate 39 to form a thrust, which drives the inner cylinder 7 to extend and retract.

[0031] See Figure 5 As shown, two symmetrically arranged adjusting seats 392 are provided at both ends of the cylinder rod 37. The adjusting seats 392 and the second spring 391 are attached to the outer wall of the third spring 38. The adjusting seats 392 are connected to the outer wall of the third spring 38 away from the second spring 391 with nuts 393. The inside of the nuts 393 is threaded to both ends of the cylinder rod 37. The third spring 38 and the adjusting seats 392 are both located at both ends of the connecting plate 39. When the suction plate assembly 6 is subjected to impact force, the inner cylinder 7 drives the connecting plate 39 to move axially along the outer wall of the third spring 38, squeezing the connecting plate 39 and the second spring 391 to buffer and absorb the impact force.

[0032] When it is necessary to extend the extension length of the suction plate assembly 6 during operation, the second hydraulic cylinder 35 can be activated. The second hydraulic cylinder 35 drives the inner rod 36, which is movably sleeved inside, to extend outward. During the extension of the inner rod 36, the cylinder rod 37 connected inside it is simultaneously moved forward. When the cylinder rod 37 moves forward, the third spring 38, which is movably sleeved on its outer wall, and the connecting plate 39 come into contact with each other and form a propulsive force, thereby driving the inner cylinder 7, which is fixedly connected to the outer wall of the connecting plate 39, to extend out from inside the outer cylinder 31, thus completing the adjustment of the overall extension length of the suction plate assembly 6.

[0033] When the suction plate assembly 6 is subjected to the traction force of the ship, the inner cylinder 7 moves synchronously with the force and drives the connecting plate 39 fixedly connected inside to slide along the outer wall of the cylinder rod 37, squeezing the second spring 391 movably sleeved at the front end. The elastic deformation of the second spring 391 absorbs and reduces the traction force of the ship, realizing longitudinal tension buffering. When the force is transmitted inward, the inner cylinder 7 drives the connecting plate 39 to slide in the opposite direction along the outer wall of the cylinder rod 37 and squeeze the third spring 38. The buffering performance of the third spring 38 further reduces the longitudinal force, realizing bidirectional longitudinal force buffering protection.

[0034] In addition, the preload adjustment of the third spring 38 and the second spring 391 can be completed by rotating the nut 393. When rotating the nut 393, the nut 393 can push the adjusting seat 392 forward and squeeze the second spring 391, so that the second spring 391 and the third spring 38 will undergo compression deformation, thereby forming different levels of preload force, so that the structure can adapt to different working conditions and complex working environments, and improve the structural stress stability and adaptability.

[0035] like Figure 2 and Figure 4 As shown, the friction frame 32 includes a connecting block 33, an oil injection hole 34, and a friction plate. The friction plate is detachably installed inside the friction frame 32 via the connecting block 33. Both the friction plate and the connecting block 33 have aligned threaded openings inside, and the two are connected by bolts to form a detachable connection. Both the connecting block 33 and the friction plate have through aligned oil injection holes 34 inside, and an oil injection nozzle can be inserted into the oil injection hole 34. The outer wall of the inner cylinder 7 is provided with a protruding sliding block 71. The outer wall of the sliding block 71 is in frictional connection with the outer wall of the friction plate. The friction plate injects lubricating medium into the outer wall of the sliding block 71 through the oil injection hole 34 to reduce the friction between the sliding block 71 and the friction plate.

[0036] During the extension and retraction of the inner cylinder 7, the sliding blocks 71 located at the four corners of the outer wall of the inner cylinder 7, such as Figure 4As shown, a friction connection can be formed with the friction plate detachably installed inside the friction frame 32. The friction plate is made of nylon and its number is not limited, as long as it can fit against the raised sliding block 71. After the entire equipment is installed, lubricating medium can be injected through the preset oil injection nozzle. The lubricating medium will be delivered to the contact surface between the friction plate and the sliding block 71 through the oil injection hole 34 connected to the oil injection nozzle. With this structure, the inner cylinder 7 can slide back and forth on the surface of the friction plate through the sliding block 71 during the extension and contraction process. At the same time, the friction loss is effectively reduced with the help of the lubricating medium. When the friction plate has been working for a long time and the wear is large, the bolts installed inside the connecting block 33 can be rotated and removed to release the fixing effect of the bolts on the friction plate. The friction plate connected to the connecting block 33 by the bolts can then be removed from the inside of the friction frame 32. If a new friction plate needs to be replaced during the operation of the equipment, the above disassembly operation is reversed to complete the installation and replacement of the friction plate.

[0037] Among them, the above-mentioned lubricating medium is low viscosity rust-preventive lubricant, mechanical hydraulic lubricant, water-soluble lubricant. Various types of liquid lubricating medium can be used, without specific type limitation. All liquid lubricating media with lubrication, wear resistance and cooling properties are applicable. It has good lubricity, adhesion and anti-oxidation properties, can be adapted to the reciprocating sliding working conditions of the structure, can adhere to the friction contact surface for a long time and is not easy to be lost or deteriorated.

[0038] like Figure 2 As shown, the universal joint 5 includes a ball head 51, a shaft head cover 52, a round flange 53, and a positioning frame 54. The ball head 51 is fixedly connected to the end of the inner cylinder 7 away from the support arm 3. The ball head 51 is movably connected to the shaft head cover 52 and the round flange 53. The round flange 53 is fixedly connected to the end of the suction plate assembly 6 near the support arm 3. The positioning frame 54 is provided on the side of the ball head 51. The end of the positioning frame 54 away from the suction plate assembly 6 is fixedly connected to the inner cylinder 7. The suction plate assembly 6 compensates for angular deflection through the ball head 51 for the smooth transmission of multi-directional impact force. An electromagnetic chuck 61 is provided in a grid shape on the side of the suction plate assembly 6 away from the support arm 3 for magnetic connection with the ship.

[0039] In other words, a round flange 53 is fixedly installed on the side of the suction plate assembly 6. The inside of the round flange 53 is movably connected to the outer wall of the ball head 51. The side of the ball head 51 away from the round flange 53 is fixedly connected to the end of the inner cylinder 7 near the suction plate assembly 6 through a connecting arm. The ball head 51 and the round flange 53 are connected to each other through a shaft head cover 52. After the connection, the shaft head cover 52 and the round flange 53 are fixed together with bolts. This allows the ball head 51 to be movably installed on the side of the suction plate assembly 6 away from the electromagnetic chuck 61. At the same time, a positioning frame 54 is provided at the bottom of the ball head 51, and the end of the positioning frame 54 away from the suction plate assembly 6 is fixedly installed on the surface of the inner cylinder 7.

[0040] When the equipment is working, the electromagnetic chuck 61, which is fixedly connected to the side of the suction plate assembly 6, can be precisely attached to the outer wall of the ship. By energizing the electromagnetic chuck 61, a stable magnetic attraction force is generated, which makes the electromagnetic chuck 61 tightly adsorbed and fixed to the outer wall of the ship, thereby realizing the magnetic attraction and fastening connection between the equipment and the outer wall of the ship. During the operation of the ship, the ship body will continuously generate floating displacement of up and down and left and right swaying due to the influence of external environment such as water waves, water flow impact, and water level fluctuation. The working conditions are dynamically changing and the forces are complex.

[0041] The ball head 51 of this equipment can achieve flexible floating adjustment from 0° to 5°, which can drive the suction plate assembly 6 to adjust the angle synchronously with the floating posture of the hull. It is fully adapted to the dynamic floating conditions during ship operation. Compared with the traditional rigid connection method, this flexible adjustment structure has great application advantages. The traditional rigid connection is a fixed hard connection structure. The angle and position between the suction plate assembly 6 and the inner cylinder 7 are completely locked, with no adjustment margin. When the hull is affected by the water surface and floats up and down or left and right, the rigid structure cannot adjust with the hull posture. The swaying stress and impact force generated by the hull will be concentrated at the connection point, forming a hard pulling, squeezing and shearing force. Under long-term repeated force, not only will the electromagnetic chuck 61 become loose and the magnetic attraction fail, but it will also cause wear, deformation and cracking of the connection structure, which will greatly reduce the service life of the equipment. In severe cases, it may also cause safety failures such as equipment connection detachment and displacement.

[0042] Through the flexible adjustment function of the ball head 51, the docking angle of the suction plate assembly 6 can be adjusted in real time according to the floating range of the hull from 0° to 5°, completely eliminating the stress concentration problem caused by hard connection. At the same time, the ball head 51 can evenly transmit the longitudinal and lateral bidirectional forces generated by the floating of the hull to the interior of the inner cylinder 7, realizing segmented buffering, stress relief and energy absorption, effectively dissipating the impact force brought by water flow and waves, and greatly improving the stability and reliability of the overall connection. In addition, the bottom of the ball head 51 is equipped with a positioning frame 54, which can play a limiting protection role, effectively limiting the structural adjustment range, preventing the ball head 51 from exceeding the effective working range of 0° to 5° when rotating and adjusting, preventing structural misalignment and abnormal stress caused by excessive adjustment range, and further ensuring the operational safety and stability of the entire connection structure.

[0043] It should also be noted that the outer wall of the electromagnetic chuck 61 is fitted with a silicone sleeve. The silicone sleeve can protect the electromagnetic chuck 61 from friction wear over a long period of time, thereby improving its service life.

[0044] like Figures 1-5 As shown, the base 1, the support slide 8, and the support arm 3 are all equipped with multi-source sensing components. The multi-source sensing components are used to collect target ship data in real time and calculate the ship's spatial pose and motion rate information.

[0045] This equipment is equipped with multi-source sensing components, consisting of multiple sensing devices such as lidar, vision sensors, pressure sensors, and angle sensors working together to build a comprehensive and high-precision integrated sensing and monitoring system. Each type of sensor performs its own function and complements each other to achieve real-time monitoring of the equipment's operating status, the ship's floating condition, and the stress state of the connecting structure. Among them, lidar can accurately detect the distance to the surrounding environment, the amount of floating displacement of the ship, and the spatial position parameters of the equipment. It has the characteristics of high ranging accuracy and strong resistance to environmental interference, and can adapt to complex lighting and water mist conditions on water. The vision sensor can collect images of the equipment docking status and the ship's attitude in real time, complete image recognition and visual monitoring of the working condition, and accurately capture working condition problems that are difficult to be detected by the naked eye, such as slight deviations and abnormal fitting.

[0046] The pressure sensor can monitor the contact pressure and structural impact force of the magnetic connection part of the electromagnetic chuck 61 in real time, and dynamically provide feedback on the magnetic fastening status and impact force changes, avoiding abnormal pressure that could lead to loosening of the connection or overload damage. The angle sensor can accurately collect the real-time adjustment angle and floating offset data of the ball head 51. The entire multi-source sensing component can collect multi-dimensional working condition data such as the sway amplitude, offset angle, displacement distance, and structural force changes caused by the impact of waves and water currents on the ship in real time. Through multi-source data fusion analysis, it can accurately determine the real-time floating attitude and force state of the hull and output control signals to drive the equipment to adjust in linkage. According to the dynamic changes in working conditions caused by wave disturbance, the installation length and docking angle of the suction plate assembly 6 can be automatically adapted and precisely adjusted to achieve dynamic adaptive adjustment. When the ship is affected by the waves and moves up and down or left and right, the sensing component captures the changes in working conditions in real time and provides synchronous feedback and adjustment, so that the length and angle of the suction plate assembly 6 always match the floating attitude of the ship and always maintain the tight magnetic adhesion between the electromagnetic chuck 61 and the outer wall of the ship. This effectively avoids problems such as stress concentration, loosening of the fit, and misalignment caused by wave swaying. Combined with the flexible adjustment structure, it further improves the adaptability, stability and anti-wave disturbance capability of the entire connection structure.

[0047] Although the present invention has been illustrated and described with reference to certain preferred embodiments, those skilled in the art should understand that the above description is a further detailed explanation of the present invention in conjunction with specific embodiments, and should not be construed as limiting the specific implementation of the present invention to these descriptions. Those skilled in the art can make various changes in form and detail, including some simple deductions or substitutions, without departing from the spirit and scope of the present invention.

Claims

1. An automatic parking electromagnetic chuck device, characterized in that, include: The base is located at the berth operation area; A support slide is provided on the base; A support arm is mounted on the support slide. The inner cylinder is located inside the support arm; The suction plate assembly is located at one end of the support arm, wherein... The support slide is mounted on the base via a sliding assembly, the support arm is mounted on the support slide via a shaft, a transverse buffer assembly is provided between the base and the support slide, a longitudinal buffer assembly is provided inside the support arm, and a universal joint is provided between the support arm and the suction plate assembly. During the docking process between the suction plate assembly and the ship, the universal joint component can adjust the impact force between the suction plate assembly and the support arm, the longitudinal buffer assembly can buffer the longitudinal impact force borne by the support arm, and the lateral buffer assembly can buffer the lateral impact force transmitted from the support arm to the support slide.

2. The automatic mooring electromagnetic chuck device according to claim 1, characterized in that, The sliding assembly includes a guide rail and a connecting seat. The connecting seat is disposed on the base, and the guide rail is protruding on the connecting seat. The guide rail and the support slide are adapted to each other and are used for the guide rail to bear the radial load of the support slide.

3. The automatic mooring electromagnetic chuck device according to claim 2, characterized in that, The lateral buffer assembly includes a mounting base, a connecting rod, and a first spring. The mounting base is located between the connecting base and the base. The first spring is located on the side of the mounting base. The connecting rod is located between the ends of the support slide and is used for the support slide to press the first spring along the outer wall of the connecting rod.

4. The automatic mooring electromagnetic chuck device according to claim 1, characterized in that, The support arm includes an outer cylinder and a friction frame; the longitudinal buffer assembly includes a third spring, an adjusting seat, and a second spring. The friction frame is arranged in an array along the outer wall of the outer cylinder. A second hydraulic cylinder is provided inside the outer cylinder. One end of the second hydraulic cylinder is connected to a cylinder rod. A connecting plate is provided on the cylinder rod. The connecting plate is connected to the inner cylinder. The third spring and the adjusting seat are both sleeved on the end of the cylinder rod, and the third spring and the connecting plate are used to form a thrust to drive the inner cylinder to extend and retract.

5. The automatic mooring electromagnetic chuck device according to claim 4, characterized in that, Both the third spring and the second spring are located at the ends of the connecting plate to weaken the incoming impact force.

6. The automatic mooring electromagnetic chuck device according to claim 4, characterized in that, The friction frame includes a connecting block, an oil injection hole, and a friction plate. The friction plate is detachably mounted on the friction frame via the connecting block. Both the connecting block and the friction plate are provided with through-aligned oil injection holes.

7. The automatic mooring electromagnetic chuck device according to claim 6, characterized in that, The inner cylinder has a raised sliding block on its outer wall. The sliding block and the friction plate are adapted to each other. The friction plate injects lubricating medium into the sliding block through the oil injection hole to reduce the friction between the sliding block and the friction plate.

8. The automatic mooring electromagnetic chuck device according to claim 1, characterized in that, The universal joint includes a ball head, a shaft head cover, a round flange, and a positioning bracket. The ball head is located at the end of the inner cylinder away from the support arm. The ball head is connected to the round flange through the shaft head cover. The round flange is connected to the end of the suction plate assembly. The positioning bracket is located on the side of the ball head. The end of the positioning bracket away from the suction plate assembly is connected to the inner cylinder and is used for angular deflection compensation of the suction plate assembly through the ball head.

9. The automatic mooring electromagnetic chuck device according to claim 8, characterized in that, The suction plate assembly has an electromagnetic chuck arranged in a grid pattern on the side away from the support arm, which is used for magnetic connection with the ship.

10. The automatic parking electromagnetic chuck device according to claim 8, characterized in that, The base, the support slide, and the support arm are all equipped with multi-source sensing components, which include lidar, vision sensors, pressure sensors, and angle sensors. The multi-source sensing components are respectively located on the top surface of the base, the side of the support slide, and the outer wall of the support arm.

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