CN106143799A - A kind of intellectuality replacing hawser to have fender function concurrently light-duty system docking system - Google Patents
A kind of intellectuality replacing hawser to have fender function concurrently light-duty system docking system Download PDFInfo
- Publication number
- CN106143799A CN106143799A CN201610607948.2A CN201610607948A CN106143799A CN 106143799 A CN106143799 A CN 106143799A CN 201610607948 A CN201610607948 A CN 201610607948A CN 106143799 A CN106143799 A CN 106143799A
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- Prior art keywords
- vaccum
- attachement pad
- suction attachement
- harbour
- mooring
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B3/00—Engineering works in connection with control or use of streams, rivers, coasts, or other marine sites; Sealings or joints for engineering works in general
- E02B3/20—Equipment for shipping on coasts, in harbours or on other fixed marine structures, e.g. bollards
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B3/00—Engineering works in connection with control or use of streams, rivers, coasts, or other marine sites; Sealings or joints for engineering works in general
- E02B3/20—Equipment for shipping on coasts, in harbours or on other fixed marine structures, e.g. bollards
- E02B3/26—Fenders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B2021/003—Mooring or anchoring equipment, not otherwise provided for
- B63B2021/006—Suction cups, or the like, e.g. for mooring, or for towing or pushing
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A30/00—Adapting or protecting infrastructure or their operation
- Y02A30/30—Adapting or protecting infrastructure or their operation in transportation, e.g. on roads, waterways or railways
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Ocean & Marine Engineering (AREA)
- Mechanical Engineering (AREA)
- Environmental & Geological Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
Abstract
The invention discloses a kind of intellectuality replacing hawser to have fender function concurrently light-duty system docking system, including detecting system, vaccum-suction attachement pad, harbour are installed firm banking and be distributed at least three group electric cylinders between vaccum-suction attachement pad and harbour installation firm banking and at least three bearing spring, electric cylinder is evenly distributed in groups around all bearing springs；Electric cylinder is installed firm banking with vaccum-suction attachement pad and harbour and is connected respectively；The upper end of all bearing springs is separately distributed on the lower surface of vaccum-suction attachement pad, and the lower end of all bearing springs is concentrated on the upper surface being distributed on harbour installation firm banking；Vaccum-suction attachement pad and electric cylinder are controlled by detecting system according to the sextuple attitude of mooring ship, to realize stable mooring.The present invention can adjust moored condition according to stormy waves stream environmental change in real time, and achieves without hawser mooring operation, while promoting dock operation efficiency, can reduce the generation of accident, promote port security.
Description
Technical field
The present invention relates to a germline docking system, replace hawser to have the intelligent light of fender function concurrently particularly to a kind of
Type system docking system.
Background technology
For many years, ship, crew on the bank are repeat-heaving pile-tune cable-fixing such action of boats and ships of untying the mooring rope always,
Although the material of hawser has developed into the hitech materials in modern times from original string, but the mode of ship mooring is several
Do not have bigger change.Recently as the development of development and the International Shipping Industry of international trade, marine transportation demand
Increasing, corresponding larger-sized vessel, the efficiency of loading and unloading promote, is alongside etc. frequently becomes the one of future development and becomes
Gesture.The aspects such as Ship Design, manufacture, harbour management are all had higher requirement by this, particularly to many boats and ships at harbour
Mooring proposes safely test.The berthing hawsers that approaches be typically, tidewater good, calm at weather smoothly in the case of, boats and ships
Can berth on berth safely, but this preferable weather and environment not exist always, the change of harsh weather and environment
Once occurring, the heaving pile during will giving ship berthing brings great risk.With shipbuilding industry, shipping business is advanced by leaps and bounds, harbour
Facility is also more and more flourishing, and the corresponding tonnage of ship is increasing, and hawser is also increasingly thicker, and band cable operation becomes increasingly to be stranded
Difficulty, more and more dangerous.According to incompletely statistics, up to a hundred human casualty accidents are had to occur when carrying cable operation every year.As
What ensures that the safety of mooring ship day by day causes concern both domestic and external and payes attention to, and is obtained by substantial amounts of theory and experimental study
Certain safety assurance and optimization, and constantly accumulate experience in actual applications, achieve good effect.Global economy one
Changing and requiring that boats and ships turnover is accelerated, keen competition also requires that the business efficiency of operation of ship is higher, safer.Therefore, what uses
Kind of Mooring Arrangements, starting force arrange how many rationally, how to adjust mooring line power in time and distribute and used which kind of efficient harbour
Mooring manages, the safety of guarantee boats and ships and mooring arrangement and when have to wind sheltering of casting anchor of leaving the post, and is all harbour
Terminal designs and pay attention to day by day and urgent problem in operation management.Meanwhile, we also it should be seen that, existing home and abroad advise
Model is relatively fewer for the concrete regulation of mooring safety, is typically all and determines with some influence factors in environmental condition, right
For the concrete operations of ship mooring more coarse.Generally, existing specification only defines provisioned cable for boats and ships
The specification of rope, quantity and different wave height, amount of exercise limit recommendation etc., without with regard under which kind of stormy waves stream combined situation
Suggestion or the reference of which kind of Mooring Arrangements should be used, merely specify the minimum mooring cable number that mooring ship must use
Amount, and do not consider hawser specification, performance, length etc., particularly tackle the suggested measures etc. of extreme case, be all weak.
In sum, with the safety standard requirement that development and the adaptation of shipping interest constantly promote, wharf mooring system
Reliability will become more and more important, particularly with some important harbours, such as oil dock, liquefied natural gas (LNG/LPG)
Harbour, chemicals harbour etc..Meanwhile, with the development of modern science and technology, particularly computer, the extensive of automatic technology answers
With so that monitor in real time, become a reality from the Novel intelligent wharf mooring system of main modulation, utilize new and high technology to ensure boats and ships
Mooring safety is to replace band cable mode traditional for many years to have become as possibility.
Content of the invention
The present invention solves technical problem present in known technology and provide one that hawser can be replaced to have fender function concurrently
Intellectuality light-duty system docking system.
The present invention solves that technical problem is adopted the technical scheme that present in known technology: one can replace hawser
Have the intellectuality light-duty system docking system of fender function concurrently, including detecting system, vaccum-suction attachement pad, harbour install firm banking with
And at least three group electric cylinders of each two one group being distributed between described vaccum-suction attachement pad and described harbour installation firm banking
With at least three bearing spring, described electric cylinder is evenly distributed in groups around all described bearing springs；Often in group
The output of two described electric cylinders is concentrated and is respectively connected with described vaccum-suction attachement pad, often in group by a movable joint I
Two described electric cylinders separately and respectively by a movable joint II and described harbour installation firm banking are connected；Hold described in all
The upper end carrying spring is separately distributed on the lower surface of described vaccum-suction attachement pad, and the lower end of all described bearing springs is concentrated uniform
On the upper surface that firm banking installed by described harbour；Described detecting system according to the sextuple attitude of mooring ship to described vacuum
Suction tray and described electric cylinder are controlled, to realize stable mooring.
Described vaccum-suction attachement pad uses square structure, and described electric cylinder has four groups, and described bearing spring has four, often group
The output of described electric cylinder is connected with a corner of square vaccum-suction attachement pad, the upper end of each described bearing spring and institute
The corner stating square vaccum-suction attachement pad connects.
The present invention has the advantage that and with good effect is:
One) absorption affinity relying on vacuum cup to produce replaces traditional hawser pull, and its absorption affinity can be according to different
Design needs customization (such as 20t, 40t, 80t etc.) to adapt to dissimilar and size boats and ships, and its shape and material are applicable to
The different irregular planes of boats and ships board.
Two) vaccum-suction attachement pad has 6 freedoms of motion, can Automatic-drawing and torsion in horizontal, longitudinal direction and vertical direction
Turn, adapt to boats and ships stop to adjust position.
Three) without hawser, decreasing the demand to hawser for the boats and ships, shortening is cycle of alongside band cable operation, improves code
The efficiency of head operation, makes the automaticity of harbour be improved.
Four) when decreasing mooring to a certain extent, boats and ships move the shell paint causing and scrape phenomenon, save maintenance
The expense of maintenance shell.
Five) mooring can be stablized by six degree of freedom adjustment, can move according to ripple, stream etc. and ring while perception cable power
Should realize automatically adjusting evenly distributing of mooring force, improve the mooring conditions during mooring, can carry for the dock operation between ship-bank
For more stable handling operation platform.
Six) as lay day harbour tidal level, wave, current etc. change, the boats and ships of tradition heaving pile must constantly adjust cable
Rope length, the alongside good to ensure boats and ships, this increases not only the labour intensity of crewman, and increase the several of accident generation
Rate and risk.Particularly in bigger marine site of surging, boats and ships all around constantly rock, and hawser usually stretches tight because of abrasion
Disconnected, tradition Mooring Arrangements is difficult to again overcome strenuous exercise, thus jeopardizes boats and ships and personal security.Therefore, load onto at these harbours
This kind of intelligent anchoring system can the generation of minimizing accident to a great extent, ensure lives and properties risk, promote port security.
In sum, the present invention can adjust moored condition according to stormy waves stream environmental change in real time, and achieves without hawser
Change mooring operation, while promoting dock operation efficiency, the generation of accident can be reduced, promote port security.
Brief description
Fig. 1 is the three-dimensional structure schematic diagram of the present invention；
Fig. 2 is the front view of the present invention；
Fig. 3 is the side view of the present invention；
Fig. 4 a～Fig. 4 b is system work process floor map during the alongside of boats and ships system；
Fig. 5 a～Fig. 5 c is boats and ships different attitude mooring control schematic diagrames.
In figure: the 1st, vaccum-suction attachement pad (fender collision pad of holding concurrently), the 2nd, sport ball joint I, the 3rd, electric cylinder, the 4th, sport ball joint
II, the 5th, bearing spring, the 6th, firm banking is installed.
Detailed description of the invention
For content of the invention, feature and effect of the present invention can be further appreciated that, hereby enumerate following example, and coordinate accompanying drawing
Describe in detail as follows:
Refer to Fig. 1～Fig. 3, a kind of intellectuality replacing hawser to have fender function concurrently light-duty system docking system, including
The 1st, detecting system, vaccum-suction attachement pad are installed firm banking 6 and are distributed on described vaccum-suction attachement pad 1 and described harbour and install fixing
At least three group electric cylinders 3 of each two between base 6 one group and at least three bearing spring 5, described electric cylinder 3 is in groups along week
To being distributed on all described bearing springs 5 around.
Often the output of the described electric cylinder 3 of two in group is concentrated and respectively passes through a high-intensity exercise ball-joint I 2 and institute
Stating vaccum-suction attachement pad 1 to connect, often the described electric cylinder of two in group 3 separately and respectively passes through a high-intensity exercise ball-joint II 4
It is connected with described firm banking 6.
The upper end of all described bearing springs 5 is separately distributed on the lower surface of described vaccum-suction attachement pad 1, all described in hold
The lower end carrying spring 5 is concentrated on the upper surface being distributed on described harbour installation firm banking 6.
Described detecting system uses for reference ripe six-dimensional parallel mechanism kinematic compensation technique, i.e. application neural network algorithm, warp
Cross the learning training to action modes such as stormy waves streams, motor imagination attitude can be adjusted under wind wave flow action to anchoring system and carry out
Real-time estimate, and according to the sextuple athletic posture of the real-time mooring ship detecting to described vaccum-suction attachement pad 1 and described servomotor
Electric cylinder 3 is controlled, and is moved to adapt to boats and ships by adjusting the flexible of anchoring system and torsional amplitude, and holds in anchoring system
Limit bigger motion in the range of loading capability in good time and meet mooring or job requirements with the amount of exercise meeting boats and ships, thus realize
Stable mooring between ship-bank.
The mechanism kinematic free degree of the present invention is six, and detecting system, can in order to calculate the sextuple attitude of vaccum-suction attachement pad 1
The real-time motor imagination Attitude control amplitude according to mooring ship under wind wave flow action, thus by being connected with electric cylinder
The vaccum-suction attachement pad 1 connecing controls hull motion amplitude, it is achieved stablizing of moored condition.
In the present embodiment, in order to also serve as the strake fender of traditional form, described vaccum-suction attachement pad 1 uses square knot
Structure, described electric cylinder 3 has four groups, and described bearing spring 5 has four, often organizes output and the square vacuum of described electric cylinder 3
One corner of suction tray connects, a corner of the upper end of each described bearing spring 5 and described square vaccum-suction attachement pad
Connect.
In the present embodiment, to take into account cable power fixing with strake fender function for vaccum-suction attachement pad 1, and movable joint I 2 and motion are closed
Saving II 4 employing high-intensity exercise joints, 8 electric cylinders use driven by servomotor, support 6 DOF motion, and bearing spring 5 is big
The high dynamic bearing spring of load.
Refer to Fig. 4 a～Fig. 4 b, use four groups of intelligent anchoring system one simple harbour intelligent anchoring systems of composition,
Four groups of intelligent anchoring systems are named successively from front to back: #1 system, #2 system, #3 system and #4 system, when ships entered harbor exists
Self power or tugboat auxiliary under with certain alongside angle and speed alongside when, stem at first with #1 system making contact, this
When the vaccum-suction attachement pad 1 of #1 system and stem contact outside, due to the power of being impacted, bearing spring 5 compresses simultaneously, outside stem is
Curved surface, there is certain inclination for keeping 100% to attach hull under the cooperation of the electric cylinder of driven by servomotor in vaccum-suction attachement pad,
To coordinate boats and ships motion.
As whole hull gradually completes alongside action, four groups of intelligent anchoring systems adsorb hull simultaneously, absorption affinity with
Tonnage of ship size and keeping mooring stable and adjust, bearing spring 5 presents a certain degree of compressive state.Stem and ship stern
#1 and the #4 system at place is for adapting to hull curved surface thus effectively absorption is fixing, and its suction tray is presented by electric cylinder torsion of stretching
Inclination angle in various degree adapts to therewith, and after each anchoring system reaches to stablize, the alongside operation of whole anchoring system completes.
Hereafter, during the whole operation mooring of this boats and ships landing pier, four groups of anchoring systems will become according to tidal level at any time
The electric cylinder that servomotor is driven by change and stormy waves stream adjusts, and the mooring amount of exercise to meet each group system is equal with stress
Weighing apparatus, refers to Fig. 5 a～Fig. 5 c, under the mooring environment being entirely made up of ship-harbour bank, when boats and ships occur rolling, traversing respectively
During with heave, this intelligent anchoring system will occur to adjust to adapt to boats and ships motion in allowed limits therewith.
The concrete control program of this intellectuality anchoring system is as follows:
One) ship 6 degree of freedom amount of exercise: be configured according to not shipmate type, with meet International Chamber of Shipping (PIANC,
1995) proposed standard.In actual applications, system is mainly by controlling the pulling force of 8 electric cylinders, limits excessive boats and ships displacement
And cradle angle, and by adjusting flexible and load, control boats and ships amount of exercise meets requirement.
Two) ship mooring force: allow amount of exercise standard for meeting boats and ships during mooring operation, system will constantly basis
Wind wave-flow condition adjusts absorption affinity in real time, main vaccum-suction attachement pad and the electric cylinder compound action of passing through in the active force of hull,
And stretch with amount of exercise and be sized in good time, it is achieved similar traditional cable adjusts the function of degree of tightness, and with reference to OCIMF mooring
The requirement of guide, can bear 50% or the 60% of pulling force as the limit arranging alarm using native system.If boats and ships move
Measure the excessive limit range causing pulling force to increase and exceeding set by native system and will automatically disconnect vaccum-suction attachement pad suction, thus keep away
Exempt from damage that excessive pulling force causes and damage further.System passes through self load and displacement perceptional function so that pulling force and fortune
Momentum matching coordinative, to reach to meet as far as possible the requirement of operation and mooring.
Three) impact: vaccum-suction attachement pad and bearing spring play the effect of tradition fender, when hull extrudes to some extent
During harbour, this system on the one hand by the suction tray of six-freedom motion hull can be adjacent to adapt to the change of rum point, another
Aspect bearing spring forced compression perception loads change, once exceed native system loading range, then 8 electric cylinders are by participation
Support stress.Once impact load exceedes this system and arranges the limit, then send alarm.
Although the preferred embodiments of the present invention being described above in conjunction with accompanying drawing, but the invention is not limited in
The detailed description of the invention stated, above-mentioned detailed description of the invention is only schematically, is not restricted, this area common
Technical staff is under the enlightenment of the present invention, in the case of without departing from present inventive concept and scope of the claimed protection, also
May be made that a lot of form, these belong within protection scope of the present invention.
Claims (2)
1. the intellectuality that hawser can be replaced to have fender function concurrently a light-duty system docking system, it is characterised in that include detection system
System, vaccum-suction attachement pad, harbour are installed firm banking and are distributed on described vaccum-suction attachement pad and described harbour installation firm banking
Between at least three group electric cylinders of each two one group and at least three bearing spring, described electric cylinder is evenly distributed in groups
Around all described bearing springs；
Often the output of two described electric cylinders in group is concentrated and is respectively connected with described vaccum-suction attachement pad by a movable joint I
Connecing, often two described electric cylinders in group separately and respectively by a movable joint II and described harbour install firm banking even
Connect；
The upper end of all described bearing springs is separately distributed on the lower surface of described vaccum-suction attachement pad, all described bearing springs
Lower end concentrate be distributed on described harbour install firm banking upper surface on；
Described vaccum-suction attachement pad and described electric cylinder are controlled by described detecting system according to the sextuple attitude of mooring ship, with
Realize stablizing mooring.
2. hawser can be replaced according to claim 1 to have the intellectuality light-duty system docking system of fender function concurrently, and its feature exists
In described vaccum-suction attachement pad uses square structure, and described electric cylinder has four groups, and described bearing spring has four, and often group is described
The output of electric cylinder with square vaccum-suction attachement pad a corner is connected, the upper end of each described bearing spring and described just
One corner of square vaccum-suction attachement pad connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610607948.2A CN106143799B (en) | 2016-07-25 | 2016-07-25 | A kind of light-duty system's docking system of intelligence that fender function is had both instead of hawser |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610607948.2A CN106143799B (en) | 2016-07-25 | 2016-07-25 | A kind of light-duty system's docking system of intelligence that fender function is had both instead of hawser |
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| Publication Number | Publication Date |
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| CN106143799A true CN106143799A (en) | 2016-11-23 |
| CN106143799B CN106143799B (en) | 2018-07-10 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108842692A (en) * | 2018-09-21 | 2018-11-20 | 袁福英 | A kind of anticollision device, collision-prevention device for the bridge pier that can unload power |
| CN109436214A (en) * | 2018-11-20 | 2019-03-08 | 交通运输部天津水运工程科学研究所 | A kind of elasticity roll-on-roll-off ship bank linking springboard |
| CN110525586A (en) * | 2019-10-12 | 2019-12-03 | 交通运输部天津水运工程科学研究所 | A kind of harbour berthing device and adjustable harbour intelligence berthing device |
| CN111976891A (en) * | 2020-08-20 | 2020-11-24 | 燕山大学 | Energy feedback type mooring device for rapid mooring of large ship |
| CN112204195A (en) * | 2018-03-06 | 2021-01-08 | 梅尔兰兹贾斯布鹿特丹私人有限公司 | Protective device |
| CN113512989A (en) * | 2021-05-19 | 2021-10-19 | 大连海事大学 | Automatic vacuum mooring device and automatic vacuum mooring system |
| CN114703806A (en) * | 2022-04-13 | 2022-07-05 | 广东海洋大学 | Intelligent wharf mooring system for ship |
| CN115075195A (en) * | 2022-05-13 | 2022-09-20 | 上海理工大学 | Electric control permanent magnet mooring system for wharf |
| CN117302423A (en) * | 2023-11-28 | 2023-12-29 | 安徽省交通科学研究院 | Wireless intelligent floating mooring equipment and mooring method for ship |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112204195A (en) * | 2018-03-06 | 2021-01-08 | 梅尔兰兹贾斯布鹿特丹私人有限公司 | Protective device |
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| CN108842692A (en) * | 2018-09-21 | 2018-11-20 | 袁福英 | A kind of anticollision device, collision-prevention device for the bridge pier that can unload power |
| CN109436214B (en) * | 2018-11-20 | 2023-09-08 | 交通运输部天津水运工程科学研究所 | Elastic roll-on/roll-off ship bank connection springboard |
| CN109436214A (en) * | 2018-11-20 | 2019-03-08 | 交通运输部天津水运工程科学研究所 | A kind of elasticity roll-on-roll-off ship bank linking springboard |
| CN110525586A (en) * | 2019-10-12 | 2019-12-03 | 交通运输部天津水运工程科学研究所 | A kind of harbour berthing device and adjustable harbour intelligence berthing device |
| CN111976891A (en) * | 2020-08-20 | 2020-11-24 | 燕山大学 | Energy feedback type mooring device for rapid mooring of large ship |
| CN113512989A (en) * | 2021-05-19 | 2021-10-19 | 大连海事大学 | Automatic vacuum mooring device and automatic vacuum mooring system |
| CN114703806A (en) * | 2022-04-13 | 2022-07-05 | 广东海洋大学 | Intelligent wharf mooring system for ship |
| CN114703806B (en) * | 2022-04-13 | 2023-12-08 | 广东海洋大学 | Intelligent wharf mooring system for ship |
| CN115075195A (en) * | 2022-05-13 | 2022-09-20 | 上海理工大学 | Electric control permanent magnet mooring system for wharf |
| CN117302423A (en) * | 2023-11-28 | 2023-12-29 | 安徽省交通科学研究院 | Wireless intelligent floating mooring equipment and mooring method for ship |
| CN117302423B (en) * | 2023-11-28 | 2024-02-09 | 安徽省交通科学研究院 | Wireless intelligent floating mooring equipment and mooring method for ship |
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|---|---|
| CN106143799B (en) | 2018-07-10 |
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