CN106143799B - A kind of light-duty system's docking system of intelligence that fender function is had both instead of hawser - Google Patents
A kind of light-duty system's docking system of intelligence that fender function is had both instead of hawser Download PDFInfo
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- CN106143799B CN106143799B CN201610607948.2A CN201610607948A CN106143799B CN 106143799 B CN106143799 B CN 106143799B CN 201610607948 A CN201610607948 A CN 201610607948A CN 106143799 B CN106143799 B CN 106143799B
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- CN
- China
- 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
Abstract
The invention discloses a kind of light-duty system's docking systems of intelligence that fender function is had both instead of hawser, at least three groups of electric cylinders and at least three bearing springs, the electric cylinder installed firm banking including detecting system, vaccum-suction attachement pad, harbour and be distributed between vaccum-suction attachement pad and harbour installation firm banking are evenly distributed in groups around all bearing springs；Electric cylinder is connect respectively with vaccum-suction attachement pad and harbour installation firm banking；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, which is concentrated, to be distributed on the upper surface of harbour installation firm banking；Detecting system controls vaccum-suction attachement pad and electric cylinder according to the sextuple posture of mooring ship, to realize stable mooring.The present invention can adjust moored condition, and realize no hawser mooring operation according to the environmental change of stormy waves stream in real time, while dock operation efficiency is promoted, can reduce the generation of accident, promote port security.
Description
Technical field
The present invention relates to a germline docking system, more particularly to a kind of intelligence that fender function is had both instead of hawser is light
Type system docking system.
Background technology
For many years, ship, crew on the bank are repeating action as-heaving pile-tune cable-fixation ship of untying the mooring rope always,
Although the material of hawser has developed to modern hitech materials from original plant fiber, the mode of ship mooring is several
That larger change does not occur.The development of development and International Shipping Industry recently as international trade, marine transportation demand
Increasing, corresponding larger-sized vessel, the efficiency of loading and unloading, which promote, is frequently berthing etc. becomes one kind of future development and becomes
Gesture.This proposes higher requirement to Ship Design, manufacture, harbour management etc., particularly to more ships in harbour
Mooring proposes safely test.The berthing hawsers that approaches is typically in the case that weather is good, calm, tidewater is stable, ship
It can berth safely on berth, but this ideal weather and environment not always exist, the variation of harsh weather and environment
Once occurring, great risk will be brought to the heaving pile during ship berthing.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, it is more and more dangerous.According to incompletely statistics, up to a hundred human casualty accidents occur when with cable operation every year.Such as
What ensures that the safety of mooring ship increasingly causes concern both domestic and external and payes attention to, and passes through a large amount of theoretical and experimental study and obtain
Certain safety assurance and optimization, and constantly accumulate experience in practical applications, achieve good effect.Global economy one
Change requires ship turnover to accelerate, and keen competition also requires the business efficiency higher, safer of operation of ship.Therefore, using what
Kind Mooring Arrangements, starting force setting is how many rationally, how to adjust the distribution of mooring line power in time and using which kind of efficient harbour
Mooring management just can guarantee the safety of ship and mooring arrangement and when have to wind sheltering of casting anchor of leaving the post, is all harbour
Terminal designs and pay attention to day by day and urgent problem in operation management.Meanwhile we also should be seen that, existing home and abroad rule
Model is relatively fewer for the concrete regulation of mooring safety, is typically determined with some influence factors in environmental condition, right
It is more coarse for the concrete operations of ship mooring.Under normal circumstances, existing specification only defines ship on provisioned cable
The specification of rope, quantity and different wave height, amount of exercise limitation recommendation etc., without about under which kind of stormy waves stream combined situation
The suggestion or reference of which kind of Mooring Arrangements should be used, merely specifies the minimum mooring cable number that mooring ship must use
Amount, and hawser specification, performance, length etc. are not considered, the suggested measures etc. of extreme case are particularly coped with, are all weak.
In conclusion with the safety standard requirement that the development and adaptation of shipping interest are constantly promoted, 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 as the development of modern science and technology, particularly computer, the extensive of automatic technology answer
With so that real time monitoring becomes a reality from the novel intelligent wharf mooring system of main modulation, ensures ship using new and high technology
Mooring safety has become possibility in a manner of replacement band cable traditional for many years.
Invention content
The present invention provides one kind for technical problem present in solution known technology to have both fender function instead of hawser
The light-duty system's docking system of intelligence.
The present invention is adopted the technical scheme that solve technical problem present in known technology：One kind can replace hawser
Have both the light-duty system's docking system of intelligence of fender function, including detecting system, vaccum-suction attachement pad, harbour installation firm banking with
And it is distributed at least three groups of electric cylinders of one group of each two between the vaccum-suction attachement pad and harbour installation firm banking
With at least three bearing springs, the electric cylinder is evenly distributed in groups around all bearing springs；In every group
The output terminal of two electric cylinders is concentrated and is respectively connect by a movable joint I with the vaccum-suction attachement pad, in every group
Two electric cylinders separate and respectively install firm banking with the harbour by a movable joint II and connect；It is held described in all
The upper end for carrying spring is separately distributed on the lower surface of the vaccum-suction attachement pad, and the lower end of all bearing springs, which is concentrated, to be evenly distributed with
On the upper surface of harbour installation firm banking；The detecting system is according to the sextuple posture of mooring ship to the vacuum
Suction tray and the electric cylinder are controlled, to realize stable mooring.
The vaccum-suction attachement pad uses square structure, and the electric cylinder has four groups, and there are four the bearing springs, every group
The output terminal of the electric cylinder is connect with a corner of square vaccum-suction attachement pad, the upper end of each bearing spring and institute
State the corner connection of square vaccum-suction attachement pad.
The invention has the advantages and positive effects that：
One) traditional hawser pull is replaced by the adsorption capacity of vacuum cup generation, adsorption capacity can be according to different
Design needs to customize (such as 20t, 40t, 80t etc.) to adapt to the ship of different type and size, and shape and material are applicable to
The different irregular planes of ship board.
Two) vaccum-suction attachement pad has 6 freedom of motion, can Automatic-drawing and torsion in transverse direction, longitudinal direction and vertical direction
Turn, ship stop is adapted to adjust position.
Three) without hawser, reduce demand of the ship to hawser, it is period of the berthing with cable operation to shorten, and improves code
The efficiency of head operation, is improved the degree of automation of harbour.
Four) shell paint scrapes phenomenon caused by ship movement when reducing mooring to a certain extent, saves maintenance
Maintain the expense of shell.
Five) can six degree of freedom adjustment stablize mooring, can while cable power is perceived, according to the movements such as wave, stream sound
It should realize evenly distributing for adjust automatically mooring force, improve the mooring conditions during mooring, dock operation that can be between ship-bank carries
For more stable handling operation platform.
Six) with variations such as lay day harbour tidal level, wave, flows, the ship of traditional heaving pile must constantly adjust cable
Rope length degree to ensure the good berthing of ship, this increases not only the labor intensity of crewman, and increases the several of accident generation
Rate and risk.Particularly in bigger marine site of surging, ship all around constantly shakes, and hawser usually stretches tight due to abrasion
Disconnected, traditional Mooring Arrangements are difficult to overcome strenuous exercise again, so as to jeopardize ship and personnel safety.Therefore, it is loaded onto at these harbours
This kind of intelligent anchoring system can largely reduce the generation of accident, ensure lives and properties risk, promote port security.
In conclusion the present invention can adjust moored condition, and realize no hawser according to the environmental change of stormy waves stream in real time
Change mooring operation, while dock operation efficiency is promoted, the generation of accident can be reduced, promote port security.
Description of the drawings
Fig. 1 is the three dimensional structure 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；
System work process floor map during Fig. 4 a~Fig. 4 b are the berthing of ship system；
Fig. 5 a~Fig. 5 c are ship difference posture mooring control schematic diagrams.
In figure：1st, vaccum-suction attachement pad (and fender collision pad), 2, movement ball-joint I, 3, electric cylinder, 4, movement ball-joint
II, 5, bearing spring, 6, installation firm banking.
Specific embodiment
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and coordinate attached drawing
Detailed description are as follows：
Fig. 1~Fig. 3 is referred to, it is a kind of to replace the light-duty system's docking system of intelligence that hawser has both fender function, including
Detecting system, vaccum-suction attachement pad 1 install firm banking 6 and are distributed on the vaccum-suction attachement pad 1 and harbour installation fixation
At least three groups of 3 and at least three bearing springs 5 of electric cylinder of one group of each two between pedestal 6, the electric cylinder 3 is in groups along week
To being distributed on around all bearing springs 5.
The output terminal of two electric cylinders 3 in every group is concentrated and respectively passes through a high-intensity exercise ball-joint I 2 and institute
It states vaccum-suction attachement pad 1 to connect, two in the every group electric cylinder 3 separates and respectively passes through a high-intensity exercise ball-joint II 4
It is connect with the firm banking 6.
The upper end of all bearing springs 5 is separately distributed on the lower surface of the vaccum-suction attachement pad 1, all described to hold
The lower end concentration for carrying spring 5 is distributed on the upper surface of the harbour installation firm banking 6.
The detecting system uses for reference ripe six-dimensional parallel mechanism kinematic compensation technique, i.e., using neural network algorithm, warp
The learning training of form the effects that stormy waves stream is crossed, the progress of motor imagination posture can be adjusted under wind wave flow action to anchoring system
Prediction in real time, and according to the mooring ship 6 DOF athletic posture detected in real time to the vaccum-suction attachement pad 1 and the servo motor
Electric cylinder 3 is controlled, and by adjusting the flexible and torsional amplitude of anchoring system to adapt to ship movement, and is held in anchoring system
Larger movement is limited in the range of loading capability in due course and meets mooring or job requirements to meet the amount of exercise of ship, so as to fulfill
Stabilization mooring between ship-bank.
The mechanism kinematic degree of freedom of the present invention is six, and detecting system, can to calculate the sextuple posture of vaccum-suction attachement pad 1
Motor imagination Attitude control amplitude according to mooring ship under wind wave flow action in real time, so as to by being connected with electric cylinder
The vaccum-suction attachement pad 1 connect controls hull motion amplitude, realizes the stabilization of moored condition.
In the present embodiment, in order to also serve as the strake fender of traditional form, the vaccum-suction attachement pad 1 is tied using square
Structure, the electric cylinder 3 have four groups, and there are four the bearing springs 5, the output terminal of electric cylinder 3 described in every group and square vacuum
The corner connection of suction tray, the upper end of each bearing spring 5 and a corner of the square vaccum-suction attachement pad
Connection.
In the present embodiment, vaccum-suction attachement pad 1 is taken into account cable power and is fixed and strake fender function, movable joint I 2 and movement pass
II 4 are saved using high-intensity exercise joint, 8 electric cylinders are driven using servo motor, support sextuple movement, bearing spring 5 is big
Load high dynamic bearing spring.
Fig. 4 a~Fig. 4 b are referred to, a simple harbour intelligent anchoring system is formed using four groups of intelligent anchoring systems,
Four groups of intelligent anchoring systems are named as successively from front to back：#1 systems, #2 systems, #3 systems and #4 systems, when ships entered harbor exists
Self power or tugboat auxiliary under with certain berthing angle and speed berthing when, stem at first with #1 system making contacts, this
When #1 systems the outer side contacts of vaccum-suction attachement pad 1 and stem, due to the power that is impacted, bearing spring 5 compresses simultaneously, and stem outside is
Curved surface, vaccum-suction attachement pad are certain inclination occur under the cooperation of electric cylinder that 100% attaching hull is kept to be driven in servo motor,
Ship to be coordinated to move.
As entire hull gradually completes berthing action, four groups of intelligent anchoring systems adsorb hull simultaneously, adsorption capacity with
It tonnage of ship size and keeps mooring stable and adjust, a degree of compressive state is presented in bearing spring 5.Stem and ship stern
For #1 the and #4 systems at place to adapt to hull curved surface so as to which effectively absorption is fixed, suction tray stretches torsion to present by electric cylinder
Different degrees of inclination angle adapts to therewith, and after each anchoring system reaches stable, the berthing operation of entire anchoring system is completed.
Hereafter, during the entire operation mooring of the ship landing pier, four groups of anchoring systems will become according to tidal level at any time
The electric cylinder that change and stormy waves stream drive servo motor adjusts, equal to meet the mooring amount of exercise of each group system and stress
Weighing apparatus, refers to Fig. 5 a~Fig. 5 c, under the mooring environment being entirely made of ship-harbour bank, when rolling, traversing occurs respectively for ship
During with heave, which will occur adjustment to adapt to ship movement in allowed limits therewith.
The specific control program of the intelligence 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 practical applications, system limits excessive ship displacement mainly by controlling the pulling force of 8 electric cylinders
And cradle angle, and by adjusting flexible and load, control ship amount of exercise is met the requirements.
Two) ship mooring force：Allow amount of exercise standard for the ship during meeting mooring operation, system will constantly basis
Wind wave-flow condition adjusts adsorption capacity in real time, mainly by vaccum-suction attachement pad and electric cylinder compound action in the active force of hull,
And be sized in due course as amount of exercise stretches, realize that similar traditional cable adjusts elastic function, and with reference to OCIMF moorings
The requirement of guide, using this system can bear 50% or the 60% of pulling force as setting alarm the limit.If ship moves
Measure it is excessive pulling force is caused to increase and exceeds the limit range set by this system will disconnect vaccum-suction attachement pad suction automatically, so as to keep away
Damage caused by exempting from excessive pulling force and further damage.System passes through itself load and displacement perceptional function so that pulling force and fortune
Momentum matching coordinative, to reach the requirement for meeting operation and mooring as far as possible.
Three) impact force：Vaccum-suction attachement pad plays the role of traditional fender with bearing spring, when hull squeezes to some extent
During harbour, the system on the one hand by can the suction tray of six-freedom motion be adjacent to hull to adapt to the variation of rum point, it is another
Aspect bearing spring forced compression simultaneously perceives loads change, once more than this system loading range, then 8 electric cylinders will participate in branch
Support stress.Once impact load, which is more than the system, sets the limit, then alarm is sent out.
Although the preferred embodiment of the present invention is described above in conjunction with attached drawing, the invention is not limited in upper
The specific embodiment stated, above-mentioned specific embodiment is only schematical, be not it is restricted, this field it is common
Technical staff, in the case where not departing from present inventive concept and scope of the claimed protection, goes back under the enlightenment of the present invention
Many forms can be made, within these are all belonged to the scope of protection of the present invention.
Claims (2)
1. a kind of light-duty system's docking system of intelligence that fender function is had both instead of hawser, which is characterized in that including detection system
System, vaccum-suction attachement pad, harbour install firm banking and are distributed on the vaccum-suction attachement pad and harbour installation firm banking
Between at least three groups of electric cylinders and at least three bearing springs, the electric cylinder of one group of each two be evenly distributed in groups
Around all bearing springs；
The output terminal of two electric cylinders in every group is concentrated and is respectively connected by a movable joint I and the vaccum-suction attachement pad
It connects, two in the every group electric cylinder, which separates and respectively installs firm banking by a movable joint II and the harbour, to be connected
It connects；
The upper end of all bearing springs is separately distributed on the lower surface of the vaccum-suction attachement pad, all bearing springs
Lower end concentrate and be distributed on the upper surface of harbour installation firm banking；
The detecting system controls the vaccum-suction attachement pad and the electric cylinder according to the sextuple posture of mooring ship, with
It realizes and stablizes mooring.
2. hawser can be replaced to have both the light-duty system's docking system of intelligence of fender function according to claim 1, feature exists
In the vaccum-suction attachement pad uses square structure, and the electric cylinder has four groups, and there are four the bearing springs, described in every group
The output terminal of electric cylinder connect with a corner of square vaccum-suction attachement pad, the upper end of each bearing spring and it is described just
The corner connection of rectangular vaccum-suction attachement pad.
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 CN106143799A (en) | 2016-11-23 |
| CN106143799B true CN106143799B (en) | 2018-07-10 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NL2020540B1 (en) * | 2018-03-06 | 2019-09-13 | Merwelands Jachtbouw Rotterdam Bv | Fender |
| CN108842692B (en) * | 2018-09-21 | 2020-09-08 | 安徽交通职业技术学院 | Bridge pier anti-collision device capable of unloading force |
| 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 |
| 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 |
| CN111976891B (en) * | 2020-08-20 | 2021-08-20 | 燕山大学 | Energy feedback type mooring device for rapid mooring of large ship |
| CN114703806B (en) * | 2022-04-13 | 2023-12-08 | 广东海洋大学 | Intelligent wharf mooring system for ship |
| CN115075195B (en) * | 2022-05-13 | 2023-07-07 | 上海理工大学 | Electric control permanent magnet mooring system for wharf |
| 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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| CN104260830A (en) * | 2014-08-15 | 2015-01-07 | 郭冉 | Automatic permanent magnet mooring device |
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| CN205891166U (en) * | 2016-07-25 | 2017-01-18 | 交通运输部天津水运工程科学研究所 | Can replace hawser to have intelligent light -duty of fender function concurrently is alongside system |
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|---|---|---|---|---|
| WO2010059489A1 (en) * | 2008-11-19 | 2010-05-27 | Sydney Belinsky | Stationary positioned offshore windpower plant (owp) and methods and means for its assembly, transportation, installation and servicing |
| CN104260830A (en) * | 2014-08-15 | 2015-01-07 | 郭冉 | Automatic permanent magnet mooring device |
| CN205314059U (en) * | 2015-12-10 | 2016-06-15 | 上海杰桢海洋工程有限公司 | Adsorption equipment of intelligence absorption formula large -tonnage ship alongside |
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| CN106143799A (en) | 2016-11-23 |
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