Ship mooring stability auxiliary structure and harbor tugboat having structure

Abstract

A ship mooring stability auxiliary structure and a harbor tugboat having the structure. The ship mooring stability auxiliary structure comprises a magnetic chuck (10) and a robotic arm (20), wherein the magnetic chuck (10) comprises a plurality of magnetic attraction blocks (11) sequentially arranged in magnetic attraction row groups in a first direction, the plurality of magnetic attraction row groups being sequentially arranged in a second direction, two adjacent magnetic attraction blocks (11) being articulated to each other in the first direction, and two adjacent magnetic attraction blocks (11) being articulated to each other in the second direction; one end of the robotic arm (20) is connected to the magnetic chuck (10), and the other end of the robotic arm (20) is configured to be connected to a tugboat (50); and the robotic arm (20) comprises a plurality of arm sections (21) articulated in sequence, and a telescopic driving member (22) is provided between two adjacent arm sections (21) for changing an included angle between the two adjacent arm sections (21). The ship mooring stability auxiliary structure can control the connection position of the magnetic chuck on a ship based on a mooring situation, and can adjust the shape of the magnetic chuck based on the curved shell of the ship, thereby improving the mooring stability of the ship.

Description

A ship mooring stability auxiliary structure and a harbor tugboat having the structure Technical Field

[0001] This invention relates to the field of ship mooring technology, and in particular to a ship mooring stability auxiliary structure and a harbor tugboat having the structure. Background Technology

[0002] Ships are connected to the dock via mooring equipment such as mooring lines, bollards, and winches, which ensures their stability while berthed and facilitates cargo loading and unloading, as well as personnel embarking and disembarking. However, when the berthing area encounters adverse conditions such as strong winds, swells, or long-period waves, the ship's movement is significant. Relying solely on the restraint of mooring lines is insufficient to guarantee the ship's stability during loading and unloading operations, and can easily lead to excessive stress on the mooring lines, potentially causing them to break.

[0003] Harbor tugboats are tugboats that perform towing operations within port areas, primarily assisting large vessels in entering and leaving ports, docks, berthing and unberthing, turning, shifting berths, and towing barges. In harsh environmental conditions, harbor tugboats typically push against the moored vessel on its seaward side to suppress its movement. This method of assisting mooring stability plays a positive role in ensuring the stability and safety of moored vessels under adverse conditions. However, existing harbor tugboat methods for assisting vessel mooring still have many shortcomings:

[0004] (1) The point of action between the harbor tugboat and the moored vessel is fixed near the waterline. This position cannot be adjusted, so it is impossible to optimize the mooring stability of the moored vessel.

[0005] (2) Harbor tugboats rely on rubber products such as fenders for collision protection and buffering between themselves and moored vessels. However, there is a lot of friction between the rubber products and the vessels, and they are easily damaged and fail during operation, which can lead to direct collision between the tugboats and moored vessels.

[0006] (3) After working for a period of time, the tugboats in the harbor need to return to the workboat dock for energy replenishment. This may lead to the interruption of the mooring assistance operation, which in turn affects the mooring stability of the moored vessels.

[0007] Therefore, in order to address the problems existing in the operation of tugboats in ensuring the mooring stability of berthed vessels, it is of great practical significance to design a device and method for assisting mooring that can adjust the operating position, maintain a good connection with the berthed vessel during operation, and recover energy during operation. Summary of the Invention

[0008] The purpose of this invention is to overcome the defects of the prior art by providing a ship mooring stability auxiliary structure and a harbor tugboat having the structure.

[0009] The objective of this invention can be achieved through the following technical solutions:

[0010] A ship mooring stability auxiliary structure, comprising:

[0011] A magnetic chuck, comprising a plurality of magnetic blocks, wherein the plurality of magnetic blocks are arranged sequentially in a first direction to form a magnetic row group, and the plurality of magnetic row groups are arranged sequentially in a second direction, wherein in the first direction, two adjacent magnetic blocks are hinged to each other, and in the second direction, two adjacent magnetic blocks are hinged to each other.

[0012] The robotic arm has one end connected to the magnetic chuck and the other end connected to the tugboat. The robotic arm includes multiple arm segments that are hinged in sequence, and a telescopic drive is provided between two adjacent arm segments to change the included angle between the two adjacent arm segments.

[0013] In one embodiment, the auxiliary structure further includes a connecting bracket, which is hinged to one end of the robotic arm. The magnetic blocks located at the corners of the magnetic chuck are corner magnetic blocks, and the connecting bracket is connected to the corner magnetic blocks respectively.

[0014] The connecting bracket has a first telescopic rod and a second telescopic rod, the first telescopic rod being able to extend and retract along the first direction, and the second telescopic rod being able to extend and retract along the second direction.

[0015] In one embodiment, a transition member is provided between the connecting bracket and the corner magnetic block, one end of the transition member is connected to the ball of the connecting bracket, and the other end of the transition member is connected to the ball of the corner magnetic block.

[0016] In one embodiment, the connecting bracket further includes a first folding rod and a second folding rod, one end of the first folding rod being hinged to one end of the first telescopic rod, and one end of the second folding rod being hinged to one end of the second telescopic rod.

[0017] In one embodiment, the connecting bracket includes four L-shaped brackets, each L-shaped bracket including a first telescopic rod and a second telescopic rod connected to each other. The two ends of the first folding rod are respectively connected to the first telescopic rod and the corner magnetic block, and the two ends of the second folding rod are respectively connected to the second telescopic rod and the robotic arm. The four L-shaped brackets form an I-shaped bracket.

[0018] In one embodiment, the magnetic chuck includes a central control board, the magnetic block is an electromagnetic chuck, and the central control board is electrically connected to the magnetic block for controlling the magnetic force of the magnetic block;

[0019] The central control board is located at the center of the magnetic chuck, and a plurality of magnetic blocks are arranged around the central control board along a first direction and a second direction. A plurality of magnetic blocks adjacent to the central control board are hinged to the central control board, and the central control board is connected to the robotic arm ball.

[0020] In one embodiment, the auxiliary structure includes an energy storage device, the telescopic drive member is provided with a permanent magnet and an electromagnetic coil sleeved on the permanent magnet, the energy storage device is connected to the electromagnetic coil and the telescopic drive member respectively, and is used to store the electrical energy generated by the electromagnetic coil and supply the stored electrical energy to the telescopic drive member.

[0021] In one embodiment, the magnetic block is provided with a pressure sensor, and the auxiliary structure includes a controller, which is connected to both the pressure sensor and the magnetic chuck, and is used to control the opening and closing of the magnetic chuck according to the detection value of the pressure sensor.

[0022] In one embodiment, the robotic arm is provided with a protective cover, which includes a rigid shell fitted on different arm segments, a protective cloth connecting multiple adjacent rigid shells, and a retractable corrugated tube fitted on the telescopic drive component.

[0023] A harbor tugboat includes a tugboat and a ship mooring stability auxiliary structure, wherein the robotic arm of the ship mooring stability auxiliary structure is connected to the tugboat, and the magnetic chuck of the ship mooring stability auxiliary structure is used for magnetic connection with the ship.

[0024] Compared with the prior art, the present invention has the following advantages:

[0025] 1. The aforementioned ship mooring stability auxiliary structure includes a robotic arm that connects to a magnetic chuck and a tugboat. The magnetic chuck connects to the ship, thus establishing a connection between the tugboat and the vessel. Because a magnetic chuck is used, the tightness of the connection between the tugboat and the ship can be adjusted by changing the magnetic force of the chuck. The connection can also be controlled by switching the magnetic chuck on and off. Furthermore, the robotic arm comprises multiple sequentially hinged arm segments, with telescopic drive components between the segments. These multiple drive components can extend and retract to different lengths to control the length and height of the robotic arm, thereby controlling the connection between the magnetic chuck and the ship. The connection position of the ship can also be adjusted so that the telescopic drive component extends and retracts with the amplitude of the swaying when the ship moves back and forth along the water. At the same time, the magnetic chuck includes multiple magnetic blocks that are hinged to each other to form a flexible magnetic chuck with a variable shape, which can adapt to the curved shell of the ship and make the connection between the magnetic chuck and the ship more reliable. Therefore, this ship mooring stability auxiliary structure can control the connection position between the magnetic chuck and the ship according to the mooring situation and adjust the shape of the magnetic chuck according to the curved shell of the ship, which facilitates tugboat assistance in mooring the ship and helps to improve the ship's mooring stability.

[0026] 2. The auxiliary structure has a connecting bracket between the robotic arm and the magnetic chuck. The connecting bracket has a first telescopic rod and a second telescopic rod. The first telescopic rod can extend and retract along the first direction and interact with multiple magnetic blocks that are hinged to each other along the first direction, so that the magnetic blocks hinged to each other along the first direction can rotate relative to each other, thereby changing the curvature of the magnetic chuck in the first direction. At the same time, the second telescopic rod can extend and retract along the second direction and interact with multiple magnetic blocks that are hinged to each other along the second direction, so that the magnetic blocks hinged to each other along the second direction can rotate relative to each other, changing the curvature of the magnetic chuck in the second direction, thereby changing the shape of the magnetic suction surface of the magnetic chuck to adapt to the curved hull of the ship and improve the tightness of the magnetic chuck connection.

[0027] 3. A transition piece is provided between the connecting bracket and the corner magnetic block, realizing a double spherical connection. When the curvature of the magnetic chuck in the first and second directions is changed, the connection angle between the transition piece and the corner magnetic block can be changed, and the connection angle between the transition piece and the connecting bracket can be changed. This is beneficial to improving the flexibility of the magnetic chuck in changing the curvature in the first and second directions, and can adapt to the large-angle curved surface of the ship's mooring.

[0028] 4. The connecting bracket has a first folding rod hinged to one end of the first telescopic rod and a second folding rod hinged to one end of the second telescopic rod. Therefore, when the curvature of the magnetic chuck in the first and second directions is changed, the first folding rod can be rotated and folded relative to the first telescopic rod, and the second folding rod and the second telescopic rod can be rotated and folded, further increasing the space for changing the curvature of the magnetic chuck in the first and second directions.

[0029] 5. After the central control board is connected to the robotic arm ball, the connection angle between the central control board and the robotic arm can be changed, that is, the angle between the magnetic chuck and the ship hull can be changed, further improving the fit between the magnetic chuck and the ship hull.

[0030] 6. Since the telescopic drive component is equipped with a permanent magnet and an electromagnetic coil, when the ship sways back and forth along the water, the telescopic drive component extends and retracts with the amplitude of the sway. At this time, the electromagnetic coil cuts the magnetic field lines generated by the permanent magnet, thereby generating electrical energy and sending it to the energy storage device. The energy storage device then uses the stored electrical energy to drive the telescopic drive component, realizing energy recovery and reuse, and saving energy consumption of auxiliary structures.

[0031] 7. A rigid shell covers the outside of the robotic arm to protect the main body of each arm segment; a telescopic corrugated tube is wrapped around the outside of each telescopic drive component, which can extend and retract accordingly with the extension and retraction of the telescopic drive component; a protective cloth is set at the connection parts of different arm segments of the robotic arm to protect the connection mechanism, and can deform with the relative rotation between each arm segment. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0033] Figure 1 is a schematic diagram of the ship mooring stability auxiliary structure and the tugboat in this invention.

[0034] Figure 2 is a schematic diagram of the connection structure between the ship mooring stability auxiliary structure and the tugboat and ship in this invention.

[0035] Figure 3 is a schematic diagram of the first structure of the auxiliary structure for ship mooring stability in this invention.

[0036] Figure 4 is a schematic diagram of the second structure of the auxiliary structure for ship mooring stability in this invention.

[0037] Figure 5 is a schematic diagram of the connection structure between the robotic arm and the magnetic chuck in this invention.

[0038] Figure 6 is a schematic diagram of the structure of the robotic arm and the connecting bracket in this invention.

[0039] Figure 7 is a schematic diagram of the magnetic chuck in this invention.

[0040] Figure 8 is a schematic diagram of the telescopic drive component in this invention.

[0041] Figure 9 is a schematic diagram of the controller and energy storage device in this invention.

[0042] Figure 10 is a flowchart illustrating the auxiliary structure control method for ship mooring stability in this invention.

[0043] Reference numerals: 100, Ship mooring stability auxiliary structure; 10, Magnetic chuck; 11, Magnetic block; 12, Corner magnetic block; 13, Central control panel; 20, Robotic arm; 21, Arm segment; 22, Telescopic drive component; 221, Permanent magnet; 222, Electromagnetic coil; 23, Protective cover; 231, Rigid shell; 232, Protective cloth; 233, Telescopic corrugated pipe; 30, Connecting bracket; 31, First telescopic rod; 32, Second telescopic rod; 33, Transition component; 34, First folding rod; 35, Second folding rod; 36, L-shaped bracket; 40, Controller; 41, Energy storage device; 50, Tugboat; 60, Ship. Detailed Implementation

[0044] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. These embodiments are based on the technical solution of the present invention and provide detailed implementation methods and specific operating procedures. However, the scope of protection of the present invention is not limited to the following embodiments.

[0045] As shown in Figures 1 to 5, in one embodiment, a ship mooring stability auxiliary structure 100 is provided, including a magnetic chuck 10 and a robotic arm 20.

[0046] The magnetic chuck 10 includes a plurality of magnetic blocks 11, which are arranged in a magnetic row group along a first direction. The magnetic row group is arranged in a second direction. In the first direction, two adjacent magnetic blocks 11 are hinged to each other, and in the second direction, two adjacent magnetic blocks 11 are hinged to each other.

[0047] Furthermore, one end of the robotic arm 20 is connected to the magnetic chuck 10, and the other end of the robotic arm 20 is used to connect to the tugboat 50; the robotic arm 20 includes a plurality of arm segments 21 that are hinged in sequence, and a telescopic drive member 22 is provided between two adjacent arm segments 21 to change the included angle between two adjacent arm segments 21.

[0048] The aforementioned ship mooring stability auxiliary structure 100 includes a robotic arm 20 connected to a magnetic chuck 10 and a tugboat 50. The magnetic chuck 10 is also connected to the ship 60, thus establishing a connection between the tugboat 50 and the ship 60. Because the magnetic chuck 10 connects to the ship 60, the tightness of the connection between the tugboat 50 and the ship 60 can be adjusted by changing the magnetic force of the magnetic chuck 10. The connection can also be controlled by switching the magnetic chuck 10 on and off. Furthermore, the robotic arm 20 includes multiple sequentially hinged arm segments 21, with telescopic drive members 22 between the arm segments 21. Therefore, the multiple telescopic drive members 22 can control the length and height of the robotic arm 20 by extending and retracting at different lengths, thereby controlling the magnetic chuck 10. The connection position between the 0 and the vessel 60 can also be adjusted so that the telescopic drive component 22 extends and retracts with the amplitude of the swaying when the vessel 60 moves back and forth along the water. At the same time, the magnetic chuck 10 includes multiple magnetic blocks 11, which are hinged to each other to form a flexible magnetic chuck 10 with a variable shape, which can adapt to the curved shell of the vessel 60 and make the connection between the magnetic chuck 10 and the vessel 60 more reliable. Therefore, the vessel mooring stability auxiliary structure 100 can control the connection position between the magnetic chuck 10 and the vessel 60 according to the mooring situation, and adjust the shape of the magnetic chuck 10 according to the curved shell of the vessel 60, so as to facilitate the tugboat 50 to assist the vessel 60 in mooring and improve the mooring stability of the vessel 60.

[0049] Specifically, in one embodiment, the second direction is perpendicular to the first direction. In the first direction, two adjacent magnetic blocks 11 are hinged to each other so that they can rotate about the axis of the second direction. In the second direction, two adjacent magnetic blocks 11 are hinged to each other so that they can rotate about the axis of the first direction.

[0050] In this specific embodiment, the first direction is the horizontal direction and the second direction is the vertical direction. Two adjacent magnetic blocks 11 in the horizontal direction can rotate around the vertical axis, and two adjacent magnetic blocks 11 in the vertical direction can rotate around the horizontal axis.

[0051] Specifically, as shown in Figures 5 and 6, in one embodiment, the ship mooring stability auxiliary structure 100 further includes a connecting bracket 30, which is hinged to one end of the robotic arm 20. The magnetic block 11 located at the corner of the magnetic chuck 10 is a corner magnetic block 12, and the connecting bracket 30 is connected to the corner magnetic block 12 respectively.

[0052] The connecting bracket 30 has a first telescopic rod 31 and a second telescopic rod 32. The first telescopic rod 31 can extend and retract in a first direction, and the second telescopic rod 32 can extend and retract in a second direction.

[0053] The ship mooring stability auxiliary structure 100 has a connecting bracket 30 between the robotic arm 20 and the magnetic chuck 10. The connecting bracket 30 has a first telescopic rod 31 and a second telescopic rod 32. The first telescopic rod 31 can extend and retract in a first direction and interact with a plurality of magnetic blocks 11 that are hinged to each other in the first direction, so that the magnetic blocks 11 hinged to each other in the first direction can rotate relative to each other, thereby changing the curvature of the magnetic chuck 10 in the first direction. At the same time, the second telescopic rod 32 can extend and retract in a second direction and interact with a plurality of magnetic blocks 11 that are hinged to each other in the second direction, so that the magnetic blocks 11 hinged to each other in the second direction can rotate relative to each other, changing the curvature of the magnetic chuck 10 in the second direction, thereby changing the shape of the magnetic suction surface of the magnetic chuck 10 to adapt to the curved hull of the ship 60 and improve the connection tightness of the magnetic chuck 10.

[0054] Furthermore, as shown in FIG5, in one embodiment, a transition member 33 is provided between the connecting bracket 30 and the corner magnetic block 12. One end of the transition member 33 is ball-connected to the connecting bracket 30, and the other end of the transition member 33 is ball-connected to the corner magnetic block 12.

[0055] A transition piece 33 is provided between the connecting bracket 30 and the corner magnetic block 12, realizing a double spherical connection. When the curvature of the magnetic chuck 10 in the first and second directions is changed, the connection angle between the transition piece 33 and the corner magnetic block 12 can be changed, and the connection angle between the transition piece 33 and the connecting bracket 30 can be changed. This is beneficial to improving the flexibility of the curvature change of the magnetic chuck 10 in the first and second directions, and can adapt to the large-angle curved surface of the ship 60 when it is moored.

[0056] Furthermore, as shown in FIG6, in one embodiment, the connecting bracket 30 further includes a first folding rod 34 and a second folding rod 35, one end of the first folding rod 34 being hinged to one end of the first telescopic rod 31, and one end of the second folding rod 35 being hinged to one end of the second telescopic rod 32.

[0057] The connecting bracket 30 has a first folding rod 34 hinged to one end of the first telescopic rod 31 and a second folding rod 35 hinged to one end of the second telescopic rod 32. Therefore, when the curvature of the magnetic chuck 10 in the first and second directions is changed, the first folding rod 34 can be rotated and folded relative to the first telescopic rod 31, and the second folding rod 35 and the second telescopic rod 32 can be rotated and folded, further increasing the space for changing the curvature of the magnetic chuck 10 in the first and second directions.

[0058] Further, as shown in Figure 6, in one embodiment, the connecting bracket 30 includes four L-shaped brackets 36. Each L-shaped bracket 36 includes a first telescopic rod 31 and a second telescopic rod 32 that are connected to each other. The two ends of the first folding rod 34 are respectively connected to the first telescopic rod 31 and the corner magnetic block 12. The two ends of the second folding rod 35 are respectively connected to the second telescopic rod 32 and the robotic arm 20. The four L-shaped brackets 36 form an I-shaped bracket.

[0059] Specifically, as shown in FIG7, in one embodiment, the magnetic chuck 10 includes a central control board 13, the magnetic block 11 is an electromagnetic chuck, and the central control board 13 is electrically connected to the magnetic block 11 to control the magnetic force of the magnetic block 11.

[0060] The central control board 13 is located at the center of the magnetic chuck 10. Multiple magnetic blocks 11 are arranged around the central control board 13 along the first and second directions. Multiple magnetic blocks 11 adjacent to the central control board 13 are hinged to the central control board 13. The central control board 13 is ball-connected to the robotic arm 20.

[0061] The size of the central control plate 13 can be the same as or slightly larger than that of the magnetic block 11. The central control plate 13 also serves as the center for changing the curved shape of the magnetic chuck 10. After the central control plate 13 is connected to the robotic arm 20, the connection angle between the central control plate 13 and the robotic arm 20 can be changed, that is, the angle between the magnetic chuck 10 and the hull of the ship 60 can be changed, further improving the fit between the magnetic chuck 10 and the hull of the ship 60.

[0062] Optionally, in one embodiment, the magnetic block 11 located at the center of the magnetic chuck 10 is a central magnetic block 11, and one end of the robotic arm 20 is ball-connected to the magnetic block 11 located at the center of the magnetic chuck 10.

[0063] Specifically, as shown in Figures 8 and 9, in one embodiment, the ship mooring stability auxiliary structure 100 includes an energy storage device 41, a permanent magnet 221 and an electromagnetic coil 222 sleeved on the permanent magnet 221 on the telescopic drive member 22, the energy storage device 41 is connected to the electromagnetic coil 222 and the telescopic drive member 22 respectively, and is used to store the electrical energy generated by the electromagnetic coil 222 and supply the stored electrical energy to the telescopic drive member 22.

[0064] Since the telescopic drive component 22 is equipped with a permanent magnet 221 and an electromagnetic coil 222, when the ship 60 sways back and forth along the water, the telescopic drive component 22 extends and retracts with the amplitude of the sway. At this time, the electromagnetic coil 222 cuts the magnetic field lines generated by the permanent magnet 221, thereby generating electrical energy which is transmitted to the energy storage device 41. The energy storage device 41 then uses the stored electrical energy to drive the telescopic drive component 22, realizing energy recovery and reuse, and saving energy consumption of the ship mooring stability auxiliary structure 100.

[0065] In this specific embodiment, the controller 40 is electrically connected to the energy storage device 41 and the telescopic drive component 22, and is used to control the charging and discharging of the energy storage device, while controlling the driving force of the telescopic drive component.

[0066] Specifically, as shown in Figure 9, in one embodiment, the magnetic chuck 11 is provided with a pressure sensor, and the ship mooring stability auxiliary structure 100 includes a controller 40, which is connected to the pressure sensor and the magnetic chuck 10 respectively, and is used to control the opening and closing of the magnetic chuck 10 according to the detection value of the pressure sensor.

[0067] In this specific embodiment, the controller 40 is electrically connected to the central control board 13.

[0068] Specifically, as shown in Figure 4, in one embodiment, the robotic arm 20 is provided with a protective cover 23. The protective cover 23 includes a rigid shell 231 sleeved on different arm segments 21, a protective cloth 232 connecting multiple adjacent rigid shells 231, and a retractable corrugated tube 233 sleeved on the telescopic drive member 22.

[0069] A rigid shell 231 covers the outside of the robotic arm 20 to protect the main body of each arm segment 21; a telescopic corrugated tube 233 wraps around the outside of each telescopic drive component 22 and can extend and retract accordingly with the extension and retraction of the telescopic drive component 22; a protective cloth 232 is set at the connection part of different arm segments 21 of the robotic arm 20 to protect the connection mechanism and can deform with the relative rotation between each arm segment 21.

[0070] As shown in Figures 1 and 2, in one embodiment, a harbor tugboat 50 is provided, including a tugboat 50 and a ship mooring stability auxiliary structure 100. The robotic arm 20 of the ship mooring stability auxiliary structure 100 is connected to the tugboat 50, and the magnetic chuck 10 of the ship mooring stability auxiliary structure 100 is used for magnetic connection with the moored ship 60.

[0071] The aforementioned harbor tugboat 50, via a ship mooring stability auxiliary structure 100, is equipped with a robotic arm 20 that connects to both the magnetic chuck 10 and the tugboat 50. The magnetic chuck 10 is also connected to the ship 60, thus establishing a connection between the tugboat 50 and the ship 60. Because the magnetic chuck 10 connects to the ship 60, the tightness of the connection between the tugboat 50 and the ship 60 can be adjusted by changing the magnetic force of the magnetic chuck 10. The connection can also be controlled by switching the magnetic chuck 10 on and off. Furthermore, the robotic arm 20 comprises multiple sequentially hinged arm segments 21, with telescopic drive components 22 between the arm segments 21. Therefore, the multiple telescopic drive components 22 can control the length and height of the robotic arm 20 by extending and retracting at different lengths, thereby controlling... The connection position between the magnetic chuck 10 and the vessel 60 can also be adjusted so that the telescopic drive component 22 extends and retracts with the amplitude of the swaying when the vessel 60 moves back and forth along the water. At the same time, the magnetic chuck 10 includes multiple magnetic blocks 11, which are hinged to each other to form a flexible magnetic chuck 10 with a variable shape, which can adapt to the curved shell of the vessel 60 and make the connection between the magnetic chuck 10 and the vessel 60 more reliable. Therefore, the vessel mooring stability auxiliary structure 100 can control the connection position between the magnetic chuck 10 and the vessel 60 according to the mooring situation and adjust the shape of the magnetic chuck 10 according to the curved shell of the vessel 60, which facilitates the tugboat 50 to assist the vessel 60 in mooring and helps to improve the mooring stability of the vessel 60.

[0072] As shown in Figure 10, in one embodiment, a control method for a ship mooring stability auxiliary structure 100 is provided. The ship mooring stability auxiliary structure 100 includes a tugboat 50, a robotic arm 20, and a magnetic chuck 10 connected in sequence. The robotic arm 20 includes multiple arm segments 21 that are hinged in sequence. A telescopic drive member 22 is provided between two adjacent arm segments 21. The controller is electrically connected to the tugboat 50, the telescopic drive member 22, and the magnetic chuck 10. The control method of the controller 40 includes the following specific steps:

[0073] S10: Obtain the design breaking force of the ship's 60 mooring cable and the ship's dimensions;

[0074] S20: Set the auxiliary thrust, number of auxiliary thrusters, and auxiliary connection position between the magnetic chuck 10 and the vessel 60 for the tugboat 50.

[0075] S30: Activate the auxiliary thrust and auxiliary quantity of the tugboat 50, and connect the magnetic chuck 10 to the vessel 60 according to the auxiliary connection position;

[0076] S40: Calculate the maximum tension of the mooring cable after auxiliary thrust based on the ship's dimensions, auxiliary thrust, number of auxiliary vessels, and auxiliary connection locations;

[0077] S50: Determine whether it is safe for the vessel to be moored at 60 degrees based on the design breaking force and maximum tension after assistance of the mooring cable;

[0078] S60: If it is not safe for vessel 60 to be moored, adjust the auxiliary thrust and auxiliary connection position, and repeat steps S20 to S50 until it is determined that vessel 60 is moored safely.

[0079] The aforementioned control method for the ship mooring stability auxiliary structure 100 can obtain the maximum tension of the mooring cable after assistance by considering the ship size, auxiliary thrust, auxiliary quantity, and auxiliary connection position. By comparing the design breaking force of the mooring cable with the maximum tension after assistance, it can be determined whether the ship 60 is safe to moor. By continuously adjusting the auxiliary thrust and auxiliary connection position, positive feedback of the ship mooring stability auxiliary structure 100 can be achieved until the ship 60 is safely moored. This method is beneficial for adapting to different wind loads, wave loads, and water flow loads when the ship 60 is moored.

[0080] Specifically, in one embodiment, in step S40, the number of auxiliary tugboats 50 is set according to port environmental load conditions, ship type, draft, load, and other conditions. The port environmental load conditions mainly include wind load, wave load, and current load.

[0081] Specifically, in one embodiment, step S60 further includes the following step:

[0082] The auxiliary connection position is adjusted by controlling the telescopic drive component 22. That is, the relative distance, horizontal position, and height position of the magnetic chuck 10 and the vessel 60 are adjusted by controlling the length of the telescopic drive component 22 between different boom sections 21.

[0083] Specifically, in one embodiment, the following step is further included between step S10 and step S20:

[0084] Step S11: Obtain the maximum auxiliary pre-tension of the mooring cable when the vessel is berthed at 60°.

[0085] Step S12: Determine whether it is safe for the vessel to be moored at 60 degrees based on the design breaking force of the mooring cable and the maximum tension before the auxiliary mooring.

[0086] Step S13: If the vessel is safely moored at 60, it is determined that no stability auxiliary structure is needed; otherwise, it is determined that a stability auxiliary structure is needed, and steps S20 to S60 are executed.

[0087] Before using the ship mooring stability auxiliary structure 100, the design breaking force of the mooring cable and the maximum tension before assistance can be used to determine whether the ship is safe to moor. If it is safe, the ship mooring stability auxiliary structure 100 is not needed to assist mooring, which helps to save auxiliary energy consumption. If it is not safe, the auxiliary structure will be activated. The judgment criteria are clear, which helps to control the ship mooring stability auxiliary structure 100.

[0088] Specifically, in one embodiment, step S12 includes the following steps:

[0089] The maximum tension before assistance satisfies the following relationship: F1≤βF s , where F s F1 is the design breaking force of the mooring cable, F1 is the maximum tension of the mooring cable before auxiliary operation, and β is the safety factor, which satisfies 45%≤β≤75%.

[0090] β is the safety factor, which is related to the material of the mooring cable and the user's requirements. Different users have different requirements. For example, OCIMF's MEG4 requires 55% for steel cables, 50% for synthetic fiber cables, and 45% for polymer cables. Users can choose the value of the safety factor β according to their own needs.

[0091] Specifically, in one embodiment, before step S20, the following specific steps are further included:

[0092] Obtain the tugboat model and calculate the auxiliary thrust of tugboat 50 based on the tugboat model.

[0093] The tugboat model determines the maximum and minimum auxiliary thrust that the tugboat 50 can have. Therefore, when setting the auxiliary thrust of the tugboat 50, a suitable auxiliary thrust can be selected within the range of the maximum and minimum auxiliary thrust.

[0094] Specifically, in one embodiment, in step S20, the auxiliary connection position between the magnetic chuck 10 and the vessel 60 includes the horizontal and vertical distance between the center point of the magnetic chuck 10 and the center of gravity of the vessel 60, as well as the distance between the center points of two adjacent tugboats 50.

[0095] Specifically, in one embodiment, in step S20, the ship dimensions include the ship's length and the ship's depth.

[0096] Furthermore, in one embodiment, in step S50, when the number of tugboats 50 is 1, the maximum tension of the mooring cable after assistance satisfies the following relationship:

[0097] Wherein, F2 is the maximum tension after the mooring cable is assisted, x is the horizontal distance between the center point of the magnetic chuck 10 and the center of gravity of the ship 60, y is the vertical distance between the center point of the magnetic chuck 10 and the center of gravity of the ship 60, L is the ship's length, D is the ship's depth, and f is the auxiliary thrust of the tugboat 50.

[0098] Furthermore, in one embodiment, in step S40, when the number of tugboats 50 is greater than 1, the maximum tension of the mooring cable after assistance satisfies the following relationship:

[0099] F2 is the maximum tension of the mooring cable after assistance, x nLet y be the horizontal distance between the center point of the magnetic chuck 10 of the nth tugboat 50 from left to right and the center of gravity of the ship 60. n Let l be the horizontal distance between the center point of the magnetic chuck 10 of the nth tugboat 50 from left to right and the center of gravity of the ship 60. n L is the distance between the center point of the nth ship and the adjacent tugboat 50 on the right, D is the length of the ship (type 60), f is the depth of the ship (type 60), and f is the auxiliary thrust of the tugboat 50.

[0100] Specifically, in one embodiment, step S50 includes the following steps:

[0101] The maximum tension after assistance satisfies the following relationship: F2≤βF s , where F s F1 is the design breaking force of the mooring cable, F2 is the maximum tension of the mooring cable after auxiliary treatment, and β is the safety factor, which satisfies 45%≤β≤75%.

[0102] β is the safety factor, which is related to the material of the mooring cable and the user's requirements. Different users have different requirements. For example, OCIMF's MEG4 requires 55% for steel cables, 50% for synthetic fiber cables, and 45% for polymer cables. Users can choose the value of the safety factor β according to their own needs.

[0103] Furthermore, in one embodiment, after step S30, the following step is also included:

[0104] Obtain the ship's 60° range of motion;

[0105] The damping force of the telescopic drive component 22 is controlled according to the motion range of the ship 60.

[0106] The range of motion of the vessel 60 can include the maximum distance of its forward and backward, and left and right swaying. The greater the range of motion, the smaller the damping force of the telescopic drive component 22.

[0107] The telescopic drive component 22 can be a pneumatic telescopic cylinder or a hydraulic telescopic cylinder. This paper chooses a hydraulic telescopic cylinder, which has a stronger telescopic driving force. Therefore, different damping forces can be obtained by controlling the hydraulic pressure of the telescopic drive component 22, thereby achieving the swaying motion that follows the movement amplitude of the ship 60.

[0108] Furthermore, in one embodiment, the magnetic chuck 10 includes an electromagnetic chuck 10 and a pressure sensor. In step S30, connecting the magnetic chuck 10 to the vessel 60 at the auxiliary connection position includes the following steps:

[0109] The robotic arm 20 moves the magnetic chuck 10 to the auxiliary connection position;

[0110] Obtain the detection value from the pressure sensor;

[0111] When the pressure sensor readings stabilize, it is determined that the magnetic chuck 10 has made contact with the vessel 60. The magnetic chuck 10 is then activated, allowing it to adhere to and connect with the vessel 60.

[0112] In this specific embodiment, the magnetic chuck 10 is an electromagnetic chuck, with a central control board at the center position. The central control board controls the opening and closing of the magnetic force of the magnetic chuck 10 and the adjustment of the magnetic force.

[0113] In one embodiment, the mooring condition is the design breaking force (F). s Taking a 15KTEU outfitting container ship (L) with a length (L) of 367m and a depth (D) of 29.9m as an example, with a 1600kN polymer mooring cable, the maximum tension F1 of the mooring cable before assistance reaches 1393.29kN, exceeding 75% of the breaking force (1200kN), posing a risk of cable breakage and making the mooring of ship 60 unsafe. To ensure the safety of ship 60, if three harbor tugboats are dispatched to assist in the mooring of ship 60, and the spacing between each harbor tugboat is set (l... n The distance should be l1 = l2 = 10m, which is the horizontal distance (x) between the midpoint of the line connecting the magnetic chucks on each port tugboat from left to right and the center of gravity of the moored vessel at 60°. n The values ​​should be x1 = 20m, x2 = 0m, x3 = 20m, and the vertical distance (y) should be respectively. n The values ​​should be y1 = y2 = y3 = 4m. The auxiliary thrust of tugboat 50 on moored vessel 60 is f = 600kN. At this time, the maximum tension F2 after the mooring cable is assisted is calculated to be 1046.16kN, which is far below 75% of the breaking force. Therefore, vessel 60 is moored safely.

[0114] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention 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 this invention.

[0115] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0116] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0117] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0118] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0119] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A ship mooring stability auxiliary structure, characterized in that, include: A magnetic chuck (10) includes multiple magnetic blocks (11), which are arranged in a magnetic row group along a first direction and arranged in a magnetic row group along a second direction. In the first direction, two adjacent magnetic blocks (11) are hinged to each other, and in the second direction, two adjacent magnetic blocks (11) are hinged to each other. A robotic arm (20) is provided, one end of which is connected to the magnetic chuck (10), and the other end of which is used to connect to the tugboat (50). The robotic arm (20) includes a plurality of arm segments (21) that are hinged in sequence. A telescopic drive (22) is provided between two adjacent arm segments (21) to change the included angle between two adjacent arm segments (21).

2. The ship mooring stability auxiliary structure according to claim 1, characterized in that, The ship mooring stability auxiliary structure also includes a connecting bracket (30), which is hinged to one end of the robotic arm (20). The magnetic block (11) located at the corner of the magnetic chuck (10) is a corner magnetic block (12), and the connecting bracket (30) is connected to the corner magnetic block (12) respectively. The connecting bracket (30) has a first telescopic rod (31) and a second telescopic rod (32), the first telescopic rod (31) being able to extend and retract along the first direction, and the second telescopic rod (32) being able to extend and retract along the second direction.

3. The ship mooring stability auxiliary structure according to claim 2, characterized in that, A transition piece (33) is provided between the connecting bracket (30) and the corner magnetic block (12). One end of the transition piece (33) is connected to the ball of the connecting bracket (30), and the other end of the transition piece (33) is connected to the ball of the corner magnetic block (12).

4. The ship mooring stability auxiliary structure according to claim 2, characterized in that, The connecting bracket (30) further includes a first folding rod (34) and a second folding rod (35), one end of the first folding rod (34) is hinged to one end of the first telescopic rod (31), and one end of the second folding rod (35) is hinged to one end of the second telescopic rod (32).

5. The ship mooring stability auxiliary structure according to claim 4, characterized in that, The connecting bracket (30) includes four L-shaped brackets (36). Each L-shaped bracket (36) includes a first telescopic rod (31) and a second telescopic rod (32) that are connected to each other. The two ends of the first folding rod (34) are respectively connected to the first telescopic rod (31) and the corner magnetic block (12). The two ends of the second folding rod (35) are respectively connected to the second telescopic rod (32) and the robotic arm (20). The four L-shaped brackets (36) form an I-shaped bracket.

6. The ship mooring stability auxiliary structure according to claim 1, characterized in that, The magnetic chuck (10) includes a central control board (13), and the magnetic block (11) is an electromagnetic block. The central control board (13) is electrically connected to the magnetic block (11) and is used to control the magnetic force of the magnetic block (11). The central control plate (13) is located at the center of the magnetic chuck (10). A plurality of magnetic blocks (11) are arranged around the central control plate (13) along a first direction and a second direction. A plurality of magnetic blocks (11) adjacent to the central control plate (13) are hinged to the central control plate (13). The central control plate (13) is ball-connected to the robotic arm (20).

7. The ship mooring stability auxiliary structure according to claim 1, characterized in that, The ship mooring stability auxiliary structure includes an energy storage device (41). The telescopic drive member (22) is provided with a permanent magnet (221) and an electromagnetic coil (222) sleeved on the permanent magnet (221). The energy storage device (41) is connected to the electromagnetic coil (222) and the telescopic drive member (22) respectively, and is used to store the electrical energy generated by the electromagnetic coil (222) and supply the stored electrical energy to the telescopic drive member (22).

8. The ship mooring stability auxiliary structure according to claim 1, characterized in that, The magnetic chuck (11) is equipped with a pressure sensor. The ship mooring stability auxiliary structure includes a controller (40), which is connected to the pressure sensor and the magnetic chuck (10) respectively, and is used to control the opening and closing of the magnetic chuck (10) according to the detection value of the pressure sensor.

9. The ship mooring stability auxiliary structure according to claim 1, characterized in that, The robotic arm (20) is provided with a protective cover (23), which includes a rigid shell (231) sleeved on different arm segments (21), a protective cloth (232) connecting multiple adjacent rigid shells (231), and a retractable corrugated tube (233) sleeved on the telescopic drive (22).

10. A harbor tugboat, characterized in that, The system includes a tugboat (50) and a ship mooring stability auxiliary structure as described in any one of claims 1-9, wherein the robotic arm (20) of the ship mooring stability auxiliary structure is connected to the tugboat (50), and the magnetic chuck (10) of the ship mooring stability auxiliary structure is used for magnetic connection with the ship (60).

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