Multi-degree-of-freedom self-powered magnetic attraction buffer mooring mechanism for piers

Abstract

To provide a self-powered magnetic mooring mechanism for piers that has its own electrical energy capacity, reduces operating costs, and improves the intelligence level and overall competitiveness of ports. [Solution] The system includes a rotating base, a longitudinal hydraulic system, a control device, a hydraulic assembly, connecting members, a transverse hydraulic system, and a buffer module. The buffer module includes a vertical buffer power generation module, an adjustment assembly, a first transverse buffer guide module, a second transverse buffer guide module, and a longitudinal buffer power generation module. The first transverse buffer guide module is provided with a first rack that meshes with a first gear, a spring, and an air buffer. One end of the second transverse buffer guide module is a boss that engages with a groove, and the other end is a second rack. The longitudinal buffer power generation module includes a second housing, a magnetic attraction device, a buffer airbag, a group of longitudinal transmission gears, and a second power generation unit.

Description

Technical Field

[0001] The present invention relates to the fields of ocean engineering and intelligent control, and particularly to a multi-degree-of-freedom self-powered magnetic attraction buffer mooring mechanism for ports.

Background Art

[0002] Conventional port mooring systems often rely on manual operation, have a low degree of automation, and it is difficult to achieve precise control and real-time adjustment during the ship docking process. In the present invention, through the cooperation of a modular magnetic attraction mechanism and a multi-degree-of-freedom hydraulic adjustment device, full-range intelligent control during the ship docking process is realized. The system can automatically adjust the position and angle of the magnetic attraction mechanism according to the type, size, and weight parameters of the ship, achieve accurate alignment with different types of ships, greatly reduce manual intervention, significantly improve docking efficiency, ensure the stability and safety of the docking process, effectively reduce the risk of ship collision, and provide an intelligent and automated solution for port operation.

[0003] At the moment when the ship docks, due to the lack of an effective buffer device, the conventional port mooring system is likely to generate a large collision and impact force between the ship and the port, causing damage to the ship and the port, and increasing repair costs and operating costs.

[0004] Currently, conventional port equipment mainly depends on commercial power supply, and there are problems such as unstable energy supply and high energy consumption, which limit the realization of functions such as intelligent monitoring and automatic control, and affect the overall efficiency and competitiveness of the port.

[0005] To sum up, the conventional port mooring method can no longer meet the needs of modern port operation. Therefore, in order to realize full-range intelligent control during the ship docking process, improve the docking efficiency of the ship, reduce damage to the ship and the port, and at the same time have self-powered electrical energy, reduce operating costs, and improve the intelligent level and overall competitiveness of the port, a self-powered magnetic attraction mooring mechanism for ports is urgently needed. [Overview of the project] [Problems that the invention aims to solve]

[0006] Objective of the Invention: In response to the shortcomings or deficiencies of the prior art described above, the present invention proposes a multi-degree-of-freedom self-powered magnetic attraction buffer mooring mechanism for piers. By cooperatively controlling the pitch angle and position of the magnetic attraction mechanism via a hydraulic system and combining it with a buffer and power generation structure in six degrees of freedom directions, the present invention solves the problems of conventional pier mooring systems, which suffer from low buffering efficiency, poor buffering effect, insufficient ship berthing stability, and inability to adapt to ship types. It achieves omnidirectional intelligent control of the ship berthing process and reduces damage to ships and piers. Furthermore, when a ship is displaced by waves and wind, it rotates the gears, and the gear transmission mechanism and magnetoelectric converter convert the ship's impact kinetic energy into electrical energy. The system also achieves self-power generation through auxiliary power generation by a solar power generation device. The power generation device provides significant damping, and the coil cuts the magnetic field lines of the magnet, significantly improving the buffering effect, energy utilization rate, and equipment adaptability, making it suitable for intelligent port entrances and large ship berthing scenarios. [Means for solving the problem]

[0007] Technical proposal: The present invention relates to a multi-degree-of-freedom self-powered magnetic attraction buffer mooring mechanism for a pier, comprising a rotating base, the rotating base being provided with a longitudinal hydraulic device, a control device, a hydraulic assembly, a connecting member, and a transverse hydraulic device. A shock absorber module is fixed to the lateral hydraulic system, and the shock absorber module includes a vertical shock absorber generator module, an adjustment assembly, a first lateral shock absorber guide module, a second lateral shock absorber guide module, and a longitudinal shock absorber generator module, and the lateral hydraulic system adjusts the pitch angle of the shock absorber module by hydraulic assembly and connecting members. The vertical buffer power generation module includes a first housing, a vertical transmission gear group, and a first power generation unit, the first power generation unit including a first magnet fixed to the transmission shaft of the vertical transmission gear group, a first electromagnetic coil assembly on the outer circumference of the first magnet, the first electromagnetic coil assembly fixed to the first housing, and the first magnet and the first electromagnetic coil assembly rotate relative to each other. One end of the first lateral buffer guide module has a first rack that meshes with the first gear of the vertical transmission gear group, the other end of the first lateral buffer guide module has a groove, a spring is attached to the inside of the groove, and an air buffer is attached to the bottom of the groove. One end of the second lateral buffer guide module is a boss that locks into a groove, the other end is a second rack, the side of the boss is a rail, there are steel balls in the rail, and the spring and air buffer extend to the boss. The vertical damping power generation module includes a second housing, a magnetic attraction device, a damping airbag, a vertical transmission gear group, and a second power generation unit. The vertical transmission gear group includes a second transmission gear that meshes with a second rack. The second power generation unit includes a second magnet fixed to the transmission shaft of the vertical transmission gear group. A second electromagnetic coil assembly is located on the outer circumference of the second magnet, and the second electromagnetic coil assembly is fixed to the second housing. A vibration damping device is provided between the vertical damping power generation module and the second lateral damping guide module.

[0008] Brackets are provided on both sides of the boss that engage with recessed grooves, and steel balls are placed inside the brackets, which can prevent the steel balls from falling out.

[0009] A solar power generation system will be attached to the lateral hydraulic system.

[0010] The adjustment assembly includes multiple hydraulic units, each hydraulic unit includes a hydraulic assembly and a hinge structure, and the hydraulic assembly is connected to a vertical buffer power generation module and a first lateral buffer guide module via the hinge structure.

[0011] The vertical transmission gear group includes a first gear, a first shaft, and a multi-stage transmission gear group, the first gear being driven by the first shaft to rotate the multi-stage transmission gear group.

[0012] The first electromagnetic coil assembly or the first electromagnetic coil assembly includes a cylindrical housing around which an electromagnetic coil is wound.

[0013] The cylindrical housing is coaxial with the corresponding first magnet.

[0014] Grooves are cut into the side walls of the first and second housings, and the transmission shaft rotates within these grooves.

[0015] The air buffer includes a piston rod that extends to the boss.

[0016] A locking groove is provided inside the second housing of the vertical buffer power generation module, and the magnetic attraction device is fixed within the locking groove.

[0017] Operating Principle: In this invention, when a ship docks, the system adjusts the position and angle of the regulating magnetic attraction mechanism through the cooperation of the control device and hydraulic system, thereby achieving automatic abutment and mooring with the ship and improving docking efficiency. During the docking process, the shock absorber dampens and absorbs the impact force of the ship, reducing damage to the ship and the pier. The transmission mechanism in the shock absorber converts the mechanical energy of the ship's motion into electrical energy, generates electricity by cutting magnetic field lines, and stores the electrical energy in the power supply system, realizing a self-power supply function and providing energy for the continuous operation of the system. The photovoltaic power generation device converts sunlight into electrical energy, further improving the system's self-powered electrical energy capacity and reducing its dependence on external energy. [Effects of the Invention]

[0018] Beneficial effects: Compared to the prior art, the present invention has the following advantages.

[0019] (1) In this invention, the cooperation of a modular magnetic attraction mechanism and a multi-degree-of-freedom hydraulic adjustment device enables omnidirectional intelligent control of the ship berthing process, improving ship berthing efficiency, providing cushioning, and reducing damage to ships and docks. The magnetic attraction cushioning mooring mechanism of this invention automatically adjusts the position and angle of the magnetic attraction mechanism, accurately aligning with different types of ships, reducing manual intervention, and improving docking efficiency. It also monitors the ship's position and speed in real time, dynamically adjusting the hydraulic system to ensure stability and safety during the docking process and reduce the risk of ship collisions.

[0020] (2) The present invention employs a multi-stage shock absorber design, in which the shock absorber spring and air buffer sequentially absorb the impact force at the moment the vessel docks, reducing damage to the vessel and the pier. The boss and bracket structure, combined with steel balls, reduces frictional force and improves the response speed and stability of the shock absorber. This multi-stage shock absorber design protects the vessel and pier facilities, reduces repair costs, and extends their service life.

[0021] (3) In this invention, the mechanical energy of ship motion is converted into electrical energy by the transmission mechanism in the buffer device, electricity is generated by cutting magnetic field lines, and the electrical energy is stored in the power supply system. The photovoltaic power generation device converts sunlight into electrical energy and provides additional energy to the system. Such a self-powered design reduces operating costs, improves the reliability and sustainability of the system, and reduces dependence on external energy.

[0022] (4) The present invention has a compact component layout, high space utilization rate, and strong adaptability, making it widely applicable to various pier and ship berthing scenarios and giving it potential for widespread application. The system can be flexibly adjusted and optimized based on different pier environments and ship types to meet diverse needs.

[0023] (5) Through the design of the transmission gears and shafts in the buffer and power generation device of the present invention, an efficient conversion from mechanical energy to electrical energy is realized. Through the acceleration effect of the multi-stage transmission mechanism, the power generation efficiency is improved, while the mechanical wear is reduced and the service life of the equipment is extended.

[0024] (6) The first control device and the second control device are equipped with multi-mode adaptation capabilities in the overall structure. Based on the real-time position, speed, and impact force information of the ship, the operating states of the hydraulic device and the magnetic attraction mechanism are automatically adjusted to adapt to different docking requirements and environmental conditions.

Brief Description of the Drawings

[0025] [Figure 1] It is a schematic diagram of the overall structure of the present invention. [Figure 2] It is an enlarged schematic diagram of the bottom, central part, and solar power generation structure of the present invention. [Figure 3] It is a schematic diagram of the connection structure of the hydraulic assembly of the present invention. [Figure 4] It is a schematic cross-sectional view of the six-degree-of-freedom buffer structure of the present invention. [Figure 5] It is a schematic diagram of the structure of the vertical buffer power generation module in the vertical degree-of-freedom direction of the present invention. [Figure 6] It is a schematic cross-sectional view of the power generation device inside the vertical buffer power generation module of the present invention. [Figure 7] It is a schematic diagram of the connection structure of the adjustment assembly of the present invention. [Figure 8] It is a schematic internal view of the first lateral buffer guide module in the left-right degree-of-freedom direction of the present invention. [Figure 9] It is a schematic diagram of the structure of the lateral buffer guide module in the left-right degree-of-freedom direction of the present invention. [Figure 10] It is a schematic diagram of the structure of the longitudinal buffer power generation module in the front-back degree-of-freedom direction of the present invention. [Figure 11] It is a schematic cross-sectional view of the power generation device inside the longitudinal buffer power generation module of the present invention.

Embodiments for Carrying Out the Invention

[0026] As shown in Figure 1, the multi-degree-of-freedom self-powered magnetic attraction buffer mooring mechanism for piers of the present invention includes a rotating base, which is equipped with a longitudinal hydraulic system, a second control device 5, a hydraulic assembly, a connecting member 6, and a transverse hydraulic system. The longitudinal hydraulic system includes a first hydraulic system 2 and a second hydraulic system 4. The transverse hydraulic system includes a third hydraulic system 7 and a fourth hydraulic system 9.

[0027] A buffer module is fixed to the lateral hydraulic system, and the buffer module includes a vertical buffer power generation module 11, an adjustment assembly 12, a first lateral buffer guide module 13, a second lateral buffer guide module 14, and a longitudinal buffer power generation module 15. The lateral hydraulic system adjusts the pitch angle of the buffer module by a hydraulic assembly 10 and a connecting member 6.

[0028] The adjustment assembly 12 includes a plurality of hydraulic units, each hydraulic unit including a hydraulic assembly and a hinge structure, and the hydraulic assembly is connected to the vertical buffer power generation module 11 and the first lateral buffer guide module 13 via the hinge structure.

[0029] The first or second electromagnetic coil assembly includes a cylindrical housing around which an electromagnetic coil is wound.

[0030] As shown in Figure 2, the rotating base includes a circular base 1. The circular base 1 fixes the lower disc structure 1-1 of the circular base to the top surface of the pier via bolts 1-2, and the upper rotating disc 1-3 of the circular base enables 360-degree rotation on the lower disc structure 1-1 of the circular base, adjusting the entire magnetic attraction mooring mechanism according to the actual layout of the pier and the docking direction of the vessel.

[0031] The first hydraulic unit 2, the second hydraulic unit 4, the third hydraulic unit 7, the hydraulic assembly 10, and the adjustment assembly 12 are combined to form an integrated hydraulic system used to drive and adjust the position and angle of the magnetic attraction mechanism. The first hydraulic unit 2 adopts a rectangular housing structure and is welded to the surface of the rotating discs 1-3 on top of a circular base, and rotates synchronously with the discs. The first control device 3 is mounted in the bottom space of the first hydraulic unit 2 and integrally controls the cooperation of the first hydraulic units 2, 4, and 10.

[0032] The second hydraulic unit 4 and the first hydraulic unit 2 constitute an integrated hydraulic system. The end of the third hydraulic unit 7 has a bolt assembly 18 with an axial hole structure that provides a coaxial hinge with the axial hole at the top of the connecting member 6, forming an adjustable mechanism that can rotate around the axis to meet the docking angle requirements of different ship types.

[0033] The hydraulic assembly 10 is an important interlocking mechanism that realizes the power coupling between the first hydraulic device 2 and the third hydraulic device 7. The adjustment assembly 12 is also an important interlocking mechanism that realizes the power coupling between the vertical buffer power generation module 11 and the first lateral buffer guide module 13 through the hinge structure at both ends.

[0034] In this embodiment, the connecting member 6 is welded to the top of the second hydraulic unit 4, and the second control device 5 mounted on its bottom is used to control the operation of the third hydraulic unit 7, the fourth hydraulic unit 9, the vertical buffer power generation module 11, the adjustment assembly 12, the first lateral buffer guide module 13, the second lateral buffer guide module 14, the longitudinal buffer power generation module 15, and the vibration damping device 16. The first control device 3 and the second control device 5 achieve cascaded connection control via a bus protocol, giving the overall structure multimode adaptability. The end of the third hydraulic unit 7 has a bolt assembly 18 with a shaft hole structure that provides a coaxial hinge with the shaft hole at the top of the connecting member 6, forming an adjustment mechanism that can rotate around the axis to meet the docking angle requirements of different ship types. The photovoltaic power generation unit 8 is attached to the top of the third hydraulic unit 7 via welded first support rods 8-2 and 8-3, and supplies the electrical energy generated by its photovoltaic power generation assembly to the system.

[0035] As shown in Figure 3, the hydraulic assembly 10 is a crucial interlocking mechanism, achieving power coupling between the first hydraulic unit 2 and the third hydraulic unit 7 through hinge structures at both ends. At the tip of the hydraulic assembly 10, the single shaft hole at the tip 10-1 of the connecting structure and the connecting structure 2-1 of the first hydraulic unit 2, which has a first double shaft hole, form a three-point coaxial hinge via the first bolt 17. At the end, the single shaft hole at the tip 10-2 of the connecting structure and the double shaft hole of the connecting structure 7-1 of the third hydraulic unit 7, which has a second double shaft hole, form an equal-strength hinge via the first bolt 17. This design allows the hydraulic assembly 10 to form dynamic support on the pivot axis of the bolt 18, precisely adjusting the pitch angle of the third hydraulic unit 7 through the extension and retraction motion of the hydraulic cylinder and meeting the docking angle requirements of different ship types.

[0036] The third hydraulic unit 7 and the fourth hydraulic unit 9 constitute an integrated hydraulic system. The fourth hydraulic unit 9 is welded to the vertical shock absorber power generation module 11 and is used to support the rear 6-degree-of-freedom shock absorber.

[0037] As shown in Figures 4 to 11, the main part of the multi-degree-of-freedom self-powered magnetic attraction buffer mooring mechanism for piers of the present invention is the buffer and power generation device structure with 6 degrees of freedom. Figure 4 shows the cross-sectional structure of the structure, and Figures 5 to 11 show the specific detailed components of the structure.

[0038] Figures 4 to 7 show the buffer and self-powering device in the vertical degrees of freedom direction, where the vertical buffer power generation module 11 and the first lateral buffer guide module 13 are connected via six adjustment assemblies 12. The distance between the vertical buffer power generation module 11 and the first lateral buffer guide module 13 is kept constant by adjusting the adjustment assemblies 12 to facilitate the operation of the power generation device. The adjustment assemblies 12 are important interlocking mechanisms, and the hinge structures at both ends realize the power coupling between the vertical buffer power generation module 11 and the first lateral buffer guide module 13. The single-axis hole at the tip 12-1 of the single-axis hole connecting structure at the tip of the adjustment assembly 12 and the double-axis hole at the fourth double-axis hole connecting structure 13-1 of the first lateral buffer guide module 13 form a three-point coaxial hinge via the second bolt 19. The single-axis hole at the end 12-2 of the single-axis hole connecting structure at the end of the adjustment assembly 12 and the double-axis hole at the third double-axis hole connecting structure 11-1 of the vertical buffer power generation module 11 form an equal-strength hinge via the second bolt 19. The six connecting structures adopt the same form, and although the lines on which the three adjustment assemblies 12 on one side are located intersect, they do not intersect at the same point, and thus it does not become a stable structure that satisfies the conditions of an instantaneous structure. However, it controls the length of the hydraulic device, thereby allowing the first lateral buffer guide module 13 to move vertically relative to the vertical buffer power generation module 11, while the distance between them remains constant.

[0039] The vertical buffer power generation module 11 includes a first housing, a vertical transmission gear group, and a first power generation unit, the first power generation unit including a first magnet fixed to the transmission shaft of the vertical transmission gear group, a first electromagnetic coil assembly on the outer circumference of the first magnet, the first electromagnetic coil assembly fixed to the first housing, and the first magnet and the first electromagnetic coil assembly rotate relative to each other.

[0040] The vertical transmission gear group includes a first gear 11-8, a second gear 11-9, a third gear 11-10, a fourth gear 11-11, and a fifth gear 11-12. In this embodiment, the first electromagnetic coil assembly includes a cylindrical coil structure 11-7A and a first magnet 11-7B. The first housing is a rectangular housing 11-2 for the vertical buffer power generation module.

[0041] Connection: The rectangular housing 11-2 of the vertical buffer power generation module is welded to the end of the fourth hydraulic device 9 to form a support frame. The outer circumference of the shaft is fitted into the circular groove 11-6 of the rectangular wall structure, and the inner circumference is fitted with the transmission gear shaft. The first gear 11-8 meshes with the first rack 13-3, and the second gear 11-9, third gear 11-10, fourth gear 11-11, and fifth gear 11-12 form a three-stage speed-increasing gear. The cylindrical coil structure 11-7A is a cylindrical vertical buffer power generation module around which a coil is wound. The first magnet 11-7B is coaxially welded and fixed to the inner circumference of the final stage gear shaft, i.e., the third shaft 11-5, and is also coaxial with the cylindrical coil structure 11-7A, and the first magnet 11-7B cuts magnetic field lines as the gear rotates.

[0042] The two bosses 13-2 are fixed to the first lateral buffer guide module 13, and the first rack 13-3 of the lateral buffer guide module is fixed to the center of the bosses 13-2. The first rack 13-3 meshes with the transmission gear 11-8, thereby rotating the transmission gear 11-8 when the first rack 13-3 moves up and down.

[0043] The rectangular housing 11-2 of the vertical buffer power generation module is fixed to the vertical buffer power generation module 11, and the circular groove 11-6 is fixed to the wall of the rectangular housing 11-2 of the vertical buffer power generation module. Both ends of the first shaft 11-3, the second shaft 11-4, and the third shaft 11-5 are fitted into the respective circular grooves 11-6, and the circular grooves 11-6 are fixed to the rectangular housing 11-2 of the vertical buffer power generation module, and the first shaft, second shaft, and third shaft rotate within the grooves 11-6.

[0044] The first gear 11-8 is fixed in the middle of the first shaft 11-3, and the second gear 11-9 is fixed at one-third of the way along the first shaft 11-3. Figures 5 and 6 are partial views of this configuration. When the first gear 11-8 rotates, it simultaneously rotates the first shaft 11-3, causing the second gear 11-9 to rotate accordingly. The third gear 11-10 is fixed at one-third of the way along the second shaft 11-4. The second gear 11-9 meshes with the third gear 11-10, and when the second gear 11-9 rotates, it simultaneously rotates the third gear 11-10. Because the number of teeth on the second gear 11-9 is greater than the number of teeth on the third gear 11-10, the rotation of the third gear 11-10 is accelerated.

[0045] The fourth gear 11-11 is fixed at a quarter position on the second shaft 11-4, and as the third gear 11-10 rotates, it also rotates the second shaft 11-4, causing the fourth gear 11-11 to rotate accordingly. The fifth gear 11-12 is fixed at a quarter position on the second shaft 11-4, and the fourth gear 11-11 operates in mesh with the fifth gear 11-12, so as the fourth gear 11-11 rotates, it also rotates the fifth gear 11-12, and because the number of teeth on the fourth gear 11-11 is greater than the number of teeth on the fifth gear 11-12, the rotation of the fifth gear 11-12 is accelerated. The fifth gear 11-12 rotates, thereby rotating the third shaft 11-5, which in turn rotates the first magnet 11-7B fixed to the third shaft 11-5. The cylindrical coil structure 11-7A, with a coil wound around its inner wall, and the third shaft 11-5 are coaxially welded to the rectangular housing 11-2 of the vertical buffer power generation module. The first magnet 11-7B rotates, thereby cutting the magnetic field lines generated by the magnet in the cylindrical coil structure 11-7A, and the electricity generated is stored in the power supply system. There are a total of four sets of the same power generation structure, further improving power generation efficiency, and this structure generates a large damping, thereby providing a buffering force.

[0046] The second lateral buffer guide module 14 is provided with a boss 14-3, a bracket 14-4, a steel ball 14-5, and a second rack 14-1 at the top of the second lateral buffer guide module 14. These components work in cooperation with the first lateral buffer guide module 13 to reduce friction and improve the response speed and stability of the buffer device.

[0047] The boss 14-3 is fixed to the center of the second lateral buffer guide module 14, and the brackets 14-4 are fixed to both sides of the boss 14-3 and serve as rails for the steel balls 14-5, preventing the steel balls from falling off. The steel balls 14-5 reduce friction between the second lateral buffer guide module 14 and the first lateral buffer guide module 13, and the brackets 14-4 engage the boss 14-3 in the grooves 13-6 on both sides of the first lateral buffer guide module 13, forming a tight locking structure, further reducing frictional force, improving structural stability and service life, and enhancing the overall performance and reliability of the equipment.

[0048] As shown in Figures 8 and 9, schematic diagrams of the shock absorbers in the left-right direction of freedom, the first lateral shock absorber guide module 13 includes shock absorber springs 13-4, air buffers 13-5, bosses 13-2, a first rack 13-3, and grooves 13-6, and exerts a shock absorber effect in the left-right direction of freedom, absorbing and mitigating the impact force when ships dock, and reducing damage to ships and docks. The four shock absorber springs 13-4 are symmetrically welded to the inside of the first lateral shock absorber guide module 13, with their other ends in contact with the bosses 14-3 of the second lateral shock absorber guide module 14. When a ship generates an impact force in the left-right direction, the bosses 14-3 apply pressure to the first lateral shock absorber guide module 13, and the shock absorber springs 13-4 first elastically deform to absorb the impact energy. The air buffer 13-5 is fixed in the center of the first lateral buffer guide module 13, the piston rod abuts against the boss 14-3 of the second lateral buffer guide module 14, and the buffer spring 13-4 activates damping buffering after compression, further damping the impact kinetic energy by gas compression, improving the overall buffering effect and stability of the buffering device, and improving the stability and safety of the equipment during operation.

[0049] As shown in Figures 4, 10, and 11, these are schematic diagrams of the damping device in the longitudinal direction of freedom. The longitudinal damping power generation module 15 includes a second housing, a magnetic attraction device, a damping airbag 15-2, a longitudinal transmission gear group, and a second power generation unit. The second power generation unit includes a second magnet 15-13 fixed to the transmission shaft of the longitudinal transmission gear group. A second electromagnetic coil assembly is located on the outer circumference of the magnet, and the second electromagnetic coil assembly is fixed to the second housing. A vibration damping device 16 is provided between the longitudinal damping power generation module 15 and the second lateral damping guide module 14. The second electromagnetic coil assembly includes a cylindrical structure 15-12 with a coil wound around its inner wall.

[0050] One end 16-2 of the seismic damping device 16 is fixed to the four corner positions of the second lateral buffer guide module 14, and the other end 16-1 is fixed to the four corner positions of the vertical buffer power generation module 15. The seismic damping device 16 fixes the relative position of the second lateral buffer guide module 14 and the vertical buffer power generation module 15, and provides damping to cushion the vibrations.

[0051] One end of rack 14-1 is fixed to the surface of the second lateral buffer guide module 14 and is welded and reinforced by a reinforcing structure 14-2. The second rack 14-1 meshes with the fifth transmission gear 15-7, and when the second rack 14-1 moves back and forth, it rotates the fifth transmission gear 15-7.

[0052] The square box-shaped wall 15-3 is provided on the surface of the vertical buffer power generation module 15, providing space and a fixed position for the power generation device. The locking grooves 15-14 are each provided on the surface of the square box-shaped wall 15-3, providing support positions for the sixth shaft 15-4, the seventh shaft 15-5, and the eighth shaft 15-6. Both ends of the three shafts are fitted into grooves and rotate relative to the grooves. The fifth transmission gear 15-7 is fixed at an intermediate position on the sixth shaft 15-4, and the sixth transmission gear 15-8 is fixed at one-third of the way along shaft 15-4. When the fifth transmission gear 15-7 rotates, it rotates the sixth shaft 15-4, thereby rotating the sixth transmission gear 15-8. The seventh transmission gear 15-9 is welded at one-third of the way along the seventh shaft 15-5, and its position corresponds to and meshes with the sixth transmission gear 15-8. The sixth transmission gear 15-8 rotates the seventh transmission gear 15-9, and because the number of teeth on the sixth transmission gear 15-8 is greater than that on the seventh transmission gear 15-9, the rotation of the seventh transmission gear 15-9 is accelerated. The eighth transmission gear 15-10 is welded at a quarter position on the seventh shaft 15-5, and when the seventh transmission gear 15-9 rotates the seventh shaft 15-5, it rotates the eighth transmission gear 15-10. The ninth transmission gear 15-11 is welded at a quarter position on the eighth shaft 15-6, and its position corresponds to and meshes with the eighth transmission gear 15-10. The eighth transmission gear 15-10 rotates the ninth transmission gear 15-11, and because the number of teeth on the eighth transmission gear 15-10 is greater than the number of teeth on the ninth transmission gear 15-11, the rotation of the ninth transmission gear 15-11 is accelerated. The ninth transmission gear 15-11 rotates the eighth shaft 15-6, and the cylindrical structure 15-12 with a coil wound on its inner wall and the eighth shaft 15-6 are coaxially welded and fixed to the surface of the square box-shaped wall 15-3, ensuring that the cylindrical structure 15-12 with a coil wound on its inner wall does not rotate simultaneously with the rotation of the eighth shaft 15-6, thereby allowing the two to rotate relative to each other.The second magnet 15-13 is fixed around the eighth axis 15-6, coaxially with the eighth axis 15-6, so that the second magnet 15-13 and the cylindrical structure 15-12 with a coil wound on its inner wall are coaxial. When the eighth axis 15-6 rotates, it rotates the second magnet 15-13, causing the coil inside the cylindrical structure 15-12 to rotate, cutting the magnetic field lines generated by the second magnet 15-13, thereby storing the generated electricity in the power supply system. There are a total of four sets of the same power generation structure, further improving power generation efficiency, and this structure generates a large damping, thereby providing a buffering force.

[0053] Referring to Figures 1 and 4, the cushioning airbag 15-2 is fixed to the periphery of the magnetic attraction device 15 by adhesive, making it easy to replace the airbag. The cushioning airbag 15-2 provides cushioning when the hull is attracted, preventing the suction force from being too fast and damaging the hull. Locking grooves 15-14 are uniformly cut inside the magnetic attraction device 15, which fit with the outer shape of the magnetic block, and the magnetic block 15-1 is locked inside the locking grooves 15-14 and used to stably attract the hull.

[0054] The operation method of the multi-degree-of-freedom self-powered magnetic attraction buffer mooring mechanism for piers according to the present invention is as follows.

[0055] (1) When the ships dock, the first control device 3 and the second control device 5 control the ships to acquire ship position and speed information in real time, precisely control the extension and rotation of the first hydraulic system 2, the second hydraulic system 4, the third hydraulic system 7, the hydraulic assembly 10, and the adjustment assembly 12, drive the longitudinal buffer power generation module to move and adjust the angle, thereby achieving automatic abutment and mooring with the ships and improving docking efficiency.

[0056] (2) At the moment the vessel makes contact with the pier, the shock absorber spring 13-4 and the air buffer 13-5 act in sequence to absorb and mitigate the impact force, reducing damage to the vessel and the pier. The boss 14-3 and the bracket 14-4, in combination with the steel ball 14-5, reduce frictional force and improve the response speed and stability of the shock absorber.

[0057] (3) Damping device: The second rack 14-1 in the vertical damping power generation module 11, the second lateral damping guide module 14, and the vertical damping power generation module 15 meshes with the fifth transmission gear 15-7, and during ship motion, the rack structure rotates the transmission gear. The fifth transmission gear 15-7, via the sixth shaft 15-4, the seventh shaft 15-5, and the eighth shaft 15-6, drives a coil in a cylindrical structure 15-12, which has a coil wound around its inner wall, to cut the magnetic field lines generated by the second magnet 15-13, thereby converting mechanical energy into electrical energy and storing it in the power supply system. The cylindrical structure 15-12 with a coil wound around its inner wall is also a cylindrical vertical damping power generation module.

[0058] (4) The photovoltaic power generation device 8 is attached to the top of the third hydraulic device 7 via the first support rod 8-2 and the second support rod 8-3, and its photovoltaic power generation assembly converts sunlight into electrical energy, providing additional energy to the system, further improving the system's self-sufficient electrical energy capacity and reducing its dependence on external energy.

[0059] (5) The first control device 3 and the second control device 5 dynamically adjust the operating state of the hydraulic system and magnetic attraction device 15 based on the ship type, docking requirements, and environmental conditions. When the ship's docking angle changes, the first control device 3 transmits a command to the hydraulic assembly 10, which drives its piston end to extend and retract, causing the third hydraulic system 7 to swing around the bolt assembly 18 and adjust the pitch angle of the vertical buffer power generation module. At the same time, the adjustment assembly 12 synchronously fine-tunes to maintain a constant distance between the vertical buffer power generation module 11 and the first lateral buffer guide module 13, ensuring continuous engagement between the first rack 13-3 and the first gear 11-8, thereby ensuring safety, high efficiency, and stability during the ship's docking process, as well as optimizing energy recovery and utilization efficiency. [Explanation of Symbols]

[0060] 1. Circular base 2. First hydraulic system 3. First control device 4. Second Hydraulic System 5. Second control device 6. Connecting Members 7. Third Hydraulic System 8. Solar power generation equipment 9. Fourth hydraulic system 10 Hydraulic Assembly 11. Vertical buffer power generation module 12 Adjustment Assembly 13. First lateral buffer guide module 14. Second lateral buffer guide module 15. Vertical buffer power generation module 16. Seismic damping device 1-1 Disc structure at the bottom of the circular base 1-2 bolts 1-3 Rotating disc on top of the circular base 2-1 Connection structure with first double shaft hole 7-1 Connection structure with second double shaft hole 8-2 First support rod 8-3 Second support rod 10-1 Tip of the connecting structure 10-2 End of connection structure 11-1 Connection structure with third double shaft hole 11-2 Vertical Buffer Power Generation Module Rectangular Enclosure 11-3 1st axis 11-4 2nd axis 11-5 3rd axis 11-6 Recessed groove 11-7A Cylindrical coil structure 11-7B 1st magnet 11-8 First Gear 11-9 Second gear 11-10 Third gear 11-11 Fourth gear 11-12 Fifth gear 12-1 Tip of connecting structure with single shaft hole 12-2 End of connecting structure with single shaft hole 13-1 Connection structure with fourth double shaft hole 13-2 Boss 13-3 Rack 1 13-4 Spring 13-5 Air Buffer 13-6 Recessed groove 14-1 Second rack at the top of the lateral buffer guide module 14-2 Reinforcement Structure 14-3 Boss 14-4 Upper bracket of the lateral buffer guide module 14-5 Steel Ball 15-1 Magnetic Block 15-2 Shock-absorbing airbag 15-3 Square box wall 15-4 6th axis 15-5 7th axis 15-6 8th axis 15-7 Fifth transmission gear 15-8 Sixth transmission gear 15-9 Seventh drive gear 15-10 No. 8 transmission gear 15-11 9th drive gear 15-12 Cylindrical structure with coils wound around the inner wall 15-13 Second Magnet 15-14 Locking groove 17 Bolt 1 18 Bolt Assembly 19. Second bolt

Claims

1. A multi-degree-of-freedom self-powered magnetic attraction buffer mooring mechanism for docks, comprising a rotating base, the rotating base being provided with a longitudinal hydraulic system, a control device, a hydraulic assembly, connecting members, and a transverse hydraulic system. A buffer module is fixed to the lateral hydraulic system, and the buffer module includes a vertical buffer power generation module (11), an adjustment assembly (12), a first lateral buffer guide module (13), a second lateral buffer guide module (14), and a vertical buffer power generation module (15), and the lateral hydraulic system adjusts the pitch angle of the buffer module by a hydraulic assembly and connecting members. The vertical damper power generation module includes a first housing, a vertical transmission gear group, and a first power generation unit, the first power generation unit includes a first magnet fixed to the transmission shaft of the vertical transmission gear group, a first electromagnetic coil assembly is provided on the outer circumference of the first magnet, the first electromagnetic coil assembly is fixed to the first housing, and the first magnet and the first electromagnetic coil assembly rotate relative to each other. One end of the first lateral buffer guide module has a first rack (13-3) that meshes with the first gear of the vertical transmission gear group, and the other end of the first lateral buffer guide module has a groove (13-6) with a spring attached to the inside of the groove and an air buffer attached to the bottom of the groove. One end of the second lateral buffer guide module is a boss (14-3) that is locked in the groove (13-6), and the other end is a second rack (14-1), the side surface of the boss is a rail, there is a steel ball in the rail, and the spring and air buffer extend to the boss. The vertical damping power generation module includes a second housing, a magnetic attraction device, a damping airbag, a group of vertical transmission gears, and a second power generation unit, the group of vertical transmission gears includes a second transmission gear that meshes with a second rack (14-1), the second power generation unit includes a second magnet fixed to the transmission shaft of the group of vertical transmission gears, a second electromagnetic coil assembly is provided on the outer circumference of the second magnet, the second electromagnetic coil assembly is fixed to the second housing, and a vibration damping device is provided between the vertical damping power generation module and the second lateral damping guide module, characterized in that a multi-degree-of-freedom self-powered magnetic attraction damping mooring mechanism for piers.

2. The multi-degree-of-freedom self-powered magnetic attraction buffer mooring mechanism for piers according to claim 1, characterized in that brackets that engage with the grooves (13-6) are provided on both sides of the boss (14-3), and steel balls are arranged inside the brackets.

3. The multi-degree-of-freedom self-powered magnetic attraction buffer mooring mechanism for piers according to claim 1, characterized in that a solar power generation device is attached to the lateral hydraulic device.

4. The multi-degree-of-freedom self-powered magnetic attraction mooring mechanism for a pier according to claim 1, wherein the adjustment assembly (12) includes a plurality of hydraulic units, each hydraulic unit includes a hydraulic assembly and a hinge structure, and the hydraulic assembly is connected to a vertical buffer power generation module (11) and a first lateral buffer guide module (13) via the hinge structure.

5. The vertical transmission gear group includes a first gear (11-8), a first shaft (11-3), and a multi-stage transmission gear group, and the first gear (11-8) is driven by the first shaft (11-3) to rotate the multi-stage transmission gear group, characterized in that the multi-degree-of-freedom self-powered magnetic attraction buffer mooring mechanism for a pier according to claim 1.

6. The multi-degree-of-freedom self-powered magnetic attraction buffer mooring mechanism for a pier according to claim 1, characterized in that the first electromagnetic coil assembly or the second electromagnetic coil assembly includes a cylindrical housing in which an electromagnetic coil is wound.

7. The multi-degree-of-freedom self-powered magnetic attraction buffer mooring mechanism for a pier according to claim 6, characterized in that the cylindrical housing is coaxial with the corresponding magnet.

8. The multi-degree-of-freedom self-powered magnetic attraction buffer mooring mechanism for a pier according to claim 1, characterized in that grooves are provided in the side walls of the first and second housings, and the transmission shaft rotates within the grooves.

9. The multi-degree-of-freedom self-powered magnetic attraction buffer mooring mechanism for a pier according to claim 1, characterized in that the air buffer (13-5) includes a piston rod extending to the boss.

10. The multi-degree-of-freedom self-powered magnetic attraction mooring mechanism for a pier according to claim 1, characterized in that a locking groove (15-14) is provided inside the second housing of the vertical buffer power generation module, and the magnetic attraction device is fixed inside the locking groove (15-14).

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