CN113512989A - Automatic vacuum mooring device and automatic vacuum mooring system - Google Patents
Automatic vacuum mooring device and automatic vacuum mooring system Download PDFInfo
- Publication number
- CN113512989A CN113512989A CN202110546677.5A CN202110546677A CN113512989A CN 113512989 A CN113512989 A CN 113512989A CN 202110546677 A CN202110546677 A CN 202110546677A CN 113512989 A CN113512989 A CN 113512989A
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- mooring
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- sucker
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- 210000000078 claw Anatomy 0.000 claims abstract description 10
- 238000004891 communication Methods 0.000 claims description 4
- 230000009977 dual effect Effects 0.000 claims 1
- 230000008859 change Effects 0.000 abstract description 2
- 238000006073 displacement reaction Methods 0.000 description 7
- 238000001179 sorption measurement Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 5
- 230000006378 damage Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 101150038956 cup-4 gene Proteins 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
-
- 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
- E02B3/24—Mooring posts
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- 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
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- 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)
- Environmental & Geological Engineering (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides an automatic vacuum mooring device and an automatic vacuum mooring system. The device comprises: a base disposed on the dock; the supporting frame is fixedly arranged above the base; the fixed end of the hydraulic cylinder is connected with the support frame, and the support end of the hydraulic cylinder is fixedly connected with the connecting part of the sucker; the sucker connecting part is movably connected with the support frame through a double-connecting-rod structure; and the vacuum sucker is connected with the sucker connecting part and is communicated with the claw type vacuum pump. The device can automatically sense the position of the ship and fast moor the ship, so that the friction and collision between the ship and a wharf are prevented, the device can adapt to the position change of the ship by adjusting the stroke of the hydraulic cylinder and the position of the supporting arm after mooring is finished, and the mooring stability is improved.
Description
Technical Field
The invention relates to the technical field of ship equipment, in particular to an automatic vacuum mooring device and an automatic vacuum mooring system.
Background
Most vessels are currently docked at quay while conventional mooring by wire is still used. The ship is landed, and a mooring rope is tied through the cooperation of a worker and a driver, so that the ship is fixed; the vessel is offshore and the crew unwinds the cable and the vessel exits the dock. The mode needs more personnel, is complex to match and operate, and consumes physical strength. In the mooring process, casualty accidents caused by cable breakage frequently occur, and are dangerous. If the berthing position and control are inaccurate, the ship body can be rubbed or collided with the wharf, and although the wharf is provided with a damping device such as a tire, the ship body can be damaged to a certain extent due to the huge impact force. The impact, mooring and thrust forces generated after the vessel is moored can also have adverse effects on the quay. Furthermore, the mooring mode of the mooring rope is characterized in that the ship shakes seriously, especially rolls, and the safety and the riding comfort of the ship are influenced. In addition, the traditional mooring way by cables invisibly occupies larger dock berthing space, and certain influence is caused on the utilization rate of berths.
With the increasing tonnage of ships, the mooring of ships with cables is more difficult and more time-consuming. For a ten thousand ton ship, 12 mooring ropes are generally needed, 30-40 min is consumed, and the operation efficiency of the wharf is affected. Therefore, new requirements are put on ship mooring, and fast mooring and fast debarking are developed.
Disclosure of Invention
According to the technical problems of low efficiency and poor reliability of the cable mooring mode, the automatic vacuum mooring device and the automatic vacuum mooring system are provided. The device can automatically sense the position of the ship and fast moor the ship, so that the friction and collision between the ship and a wharf are prevented, the device can adapt to the position change of the ship by adjusting the stroke and the supporting position of the hydraulic cylinder after mooring is finished, and the mooring stability is improved.
The technical means adopted by the invention are as follows:
an automatic vacuum mooring apparatus comprising: a base disposed on the dock; the supporting frame is fixedly arranged above the base; the fixed end of the hydraulic cylinder is connected with the support frame, and the support end of the hydraulic cylinder is fixedly connected with the connecting part of the sucker; the sucker connecting part is movably connected with the support frame through a double-connecting-rod structure; and the vacuum sucker is connected with the sucker connecting part and is communicated with the claw type vacuum pump.
Further, the support frame comprises a first support part and a second support part which are perpendicular to the base and sequentially arranged along the offshore direction, the height of the second support part is higher than that of the first support part, and the top ends of the first support part and the second support part are connected through a connecting part; the fixed end of the hydraulic cylinder is connected with the first supporting part, and the supporting end of the hydraulic cylinder extends out of the second supporting part and is fixed with the sucker connecting part.
Further, the sucking disc connecting part comprises a sliding rail movably connected with the second supporting part through a double-connecting-rod structure, and a sliding seat fixedly connected with the vacuum sucking disc, and the sliding seat reciprocates up and down, left and right along the sliding rail.
Further, the double-connecting-rod structure comprises a first connecting rod and a second connecting rod, the first connecting rod is connected with a first adjusting hydraulic cylinder, and the second connecting rod is connected with a second adjusting hydraulic cylinder.
Furthermore, the vacuum chuck comprises a plurality of adsorption parts arranged in an array form, and each adsorption part is communicated with the claw type vacuum pump through an independent connecting channel.
Furthermore, the adsorption part comprises a plurality of suction ports which are arranged in a square or circular array.
Further, the suction opening is a circular suction opening.
Further, the device also comprises a control system, wherein the control system comprises a main control unit and a position sensor arranged on the vacuum chuck; the signal input end of the main control unit is in communication connection with the position sensor, and the signal output end of the main control unit is in control connection with the hydraulic cylinder.
The invention also provides an automatic vacuum mooring system comprising a plurality of automatic vacuum mooring devices as described in any one of the above.
Compared with the prior art, the invention has the following advantages:
1. the invention can reduce the time required for mooring and releasing the mooring cable; abandon traditional mooring rope in order to realize more high-efficient, high safe mooring to promote the safe level and the operating efficiency of harbour operation, realize harbour boats and ships intellectuality.
2. The invention can firmly control the movement of the ship, and avoid the influence of the ship body leaving the wharf to the normal loading operation of the ship loader caused by the loosening of the mooring rope; or severe accidents such as the influence on normal loading due to the violent movement of ships when the ships pass in and out of the port, the collision of wharf facilities, the breakage of cables, the damage of ship bodies and the like occur.
3. When the invention is used, people are not needed to adjust the cable in a tightening state any more, thereby avoiding possible personal injury.
4. By using the invention, during berthing and loading, the operator on duty is not required to frequently adjust the front and rear mooring ropes, so that the fatigue degree of the crew can be greatly reduced.
5. The invention can monitor the motion amount of the ship in real time, monitor the mooring load and reasonably and autonomously adjust the scheme, thereby effectively reducing or even avoiding the cable breakage accident of the wharf mooring ship.
6. The invention adopts a vacuum adsorption mode, has no magnetic force, and cannot cause any interference and damage to electromagnetic equipment and communication equipment of the ship.
7. The invention combines the vacuum chuck and the passive damping technology and is suitable for various environmental conditions.
Based on the reasons, the invention can be widely popularized in the fields of shipping management and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural view of an automatic vacuum mooring apparatus according to the present invention.
Fig. 2 is a schematic structural diagram of an automatic vacuum mooring device in the embodiment.
Fig. 3 is a front view of a vacuum chuck of the automatic vacuum mooring apparatus of the embodiment.
In the figure: 1. a base 2, a support frame 201 and a first support part; 202. a second support portion; 3. a connecting rod 301 and a first adjusting hydraulic cylinder; 302. a second adjusting hydraulic cylinder; 4. vacuum chuck, 5, absorption portion, 6, control box, 7, pneumatic cylinder, 8, slide rail, 9, slide.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. Any specific values in all examples shown and discussed herein are to be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the absence of any contrary indication, these directional terms are not intended to indicate and imply that the device or element so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be considered as limiting the scope of the present invention: the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
As shown in fig. 1, the present invention provides an automatic vacuum mooring apparatus comprising: a base 1 arranged on the dock; a support frame 2 fixedly arranged above the base 1; the fixed end is connected with the support frame 2, and the support end is fixedly connected with the connecting part of the sucker through a hydraulic cylinder 7; the sucker connecting part is movably connected with the support frame 2 through a double-connecting-rod structure; and the vacuum chuck 4 is connected with the chuck connecting part, and the vacuum chuck 4 is communicated with the claw type vacuum pump.
The sucker connecting part comprises a sliding rail movably connected with the support frame 2 through a double-connecting-rod structure and a sliding seat 9 fixedly connected with the vacuum sucker 4, and the sliding seat 9 can move up and down, left and right in a reciprocating mode along the sliding rail.
Preferably, the vacuum chuck includes a plurality of suction portions arranged in an array, and each suction portion is communicated with the claw vacuum pump through an independent connection channel. Furthermore, the adsorption part comprises a plurality of suction ports which are arranged in a square or circular array, and the suction ports are circular suction ports.
In addition, the device also comprises a control system which comprises a main control unit and a position sensor arranged on the vacuum chuck 4; the signal input end of the main control unit is in communication connection with the position sensor, and the signal output end of the main control unit is in control connection with the hydraulic cylinder 7.
The scheme and the effect of the invention are further explained by specific application examples in the following with the attached drawings.
As shown in fig. 2-3, the present embodiment provides an automatic vacuum mooring apparatus for a ship berthing terminal, which includes a base 1, a control box 6, a support frame 2, a connecting rod 3, a slide rail 8, a slide carriage 9, a hydraulic cylinder 7, and a claw vacuum pump disposed inside the control box 6. In addition, the vacuum chuck 4 is also included, the vacuum chuck 4 is provided with a plurality of groups of adsorption parts 5 and displacement sensors, and each adsorption part 5 is provided with 4 spherical suction ports. The support frame 2 is fixed on the base by bolts. Preferably, the support frame 2 comprises a first support part 201 and a second support part 202 arranged in sequence in the offshore direction perpendicular to the base 1, wherein the second support part 202 has a height higher than that of the first support part 201, and the top ends of the first support part 201 and the second support part 202 are connected by a connecting part. The fixed end of the hydraulic cylinder 7 is connected with the first supporting part 201, and the supporting end of the hydraulic cylinder extends out of the second supporting part 202 to be fixed with the sucker connecting part. In this embodiment, the suction cup connection portion includes a slide rail 8 movably connected to the second support portion 202 via a dual-link structure, and a slide carriage 9 fixedly connected to the vacuum suction cup 4, and the slide carriage 9 can reciprocate up and down, left and right along the slide rail 8.
Further preferably, the double link structure comprises a first link and a second link, the first link is connected with a first adjusting hydraulic cylinder 301, and the second link is connected with a second adjusting hydraulic cylinder 302. One end of the first connecting rod and one end of the second connecting rod are hinged with the second supporting part 202 of the supporting frame 2, and the other end of the first connecting rod and the other end of the second connecting rod are hinged with the slide rail 8. One end of the hydraulic cylinder 7 is hinged with the first supporting part 201 of the supporting frame 2, and the other end is connected to the slide rail 8. The vacuum chuck 4 is hinged to the sliding seat 9 through a pin, a displacement sensor used for sensing the position of the berthing ship is arranged on the vacuum chuck 4, and the control box 6 controls the working stroke of the hydraulic cylinder 7 according to the information of the displacement sensor on the vacuum chuck 4. The control box 6 and the base 1 are fixed at the wharf edge for easy mooring.
In this embodiment, the hinge connection is a pin or a bolt structure.
When the automatic vacuum mooring device is used, the base 1 is fixed on the wharf in a bolt connection mode, and the support frame 2 is fixed on the base 1 in a bolt connection mode and serves as a supporting structure of the whole automatic vacuum mooring device. The claw type vacuum pump is fixed in the control box 6 through a bolt, one end of the connecting rod 3 is hinged with the second supporting part 202 of the supporting frame 2, and the other end is hinged with the sliding rail 8; one end of the hydraulic cylinder is hinged with the first supporting part 201 of the supporting frame 2, and the other end is connected to the sliding rail 8. The surface rubber seal of the vacuum chuck 4, which is hinged to the slide 9 by a pin; the vacuum chuck 4 is provided with a displacement sensor for sensing the position of the berthing ship, and the displacement sensor can move up and down, left and right on the guide rail to allow the ship to move vertically and horizontally. The sliding seat moves up and down and left and right on the sliding rail to adjust the position of the vacuum chuck, an action range of an automatic vacuum mooring device is formed in space, and the transverse oscillation, longitudinal oscillation and bow of the ship body are comprehensively controlled. When the vacuum chuck is attached to the hull, the claw vacuum pump immediately applies a high pressure vacuum so that the chuck can provide a secure seal so that the boat can be smoothly pulled onto the dock and securely held.
By adopting the technical scheme, in the ship berthing process, when the ship body is gradually close to the wharf, the ship body is inevitably close to the vacuum mooring device, after the displacement sensor on the vacuum sucker senses that the berthing ship is in the action range of the vacuum mooring device, the control box calculates and analyzes, the control box controls the first hydraulic cylinder and the second hydraulic cylinder to automatically adjust the angle of the vacuum sucker, the vacuum sucker automatically moves to the offshore side, the ship is actively adsorbed, and the anti-collision, buffering and automatic berthing are realized.
The hull approaches the quay gently, coordinated with the use of a car, a rudder, and two tugs. When the ship body is close to the wharf in parallel, a pilot gets contact with wharf workers to accurately control the ship position; when the ship body is in place, the ship body is pushed by the tugboat to be completely attached to the collision pads, at the moment, the automatic mooring system starts to work, and the four vacuum suction cups generate suction to firmly suck the ship body.
The invention also provides an automatic vacuum mooring system comprising a plurality of automatic vacuum mooring devices as described in any one of the above.
In a preferred embodiment, two vacuum mooring devices are used in a group, one group is arranged at the fore and the aft of the ship, and the number of the groups of the ship with large displacement is increased according to the situation. In the berthing process of a ship at a wharf, the device can automatically sense the position of the ship and fast moor the ship, so that the ship and the wharf are prevented from being rubbed and collided, and after the mooring is finished, the device can control the mooring stability by adjusting the stroke of the hydraulic cylinder and the pin shaft of the supporting arm. When the automatic mooring system is used, when a ship needs to be undocked and started, only the wharf staff is informed to stop the automatic mooring system, the ship body is separated from the vacuum chuck, the free state is recovered, and the ship can be quickly undocked and taken out of the port under the driving of the tug boat.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. An automatic vacuum mooring apparatus, comprising:
a base disposed on the dock;
the supporting frame is fixedly arranged above the base;
the fixed end of the hydraulic cylinder is connected with the support frame, and the support end of the hydraulic cylinder is fixedly connected with the connecting part of the sucker;
the sucker connecting part is movably connected with the support frame through a double-connecting-rod structure;
and the vacuum sucker is connected with the sucker connecting part and is communicated with the claw type vacuum pump.
2. The automatic vacuum mooring of claim 1, wherein the support frame comprises a first support portion and a second support portion arranged in sequence in the offshore direction perpendicular to the base, the second support portion has a height higher than the first support portion, and top ends of the first support portion and the second support portion are connected by a connecting portion; the fixed end of the hydraulic cylinder is connected with the first supporting part, and the supporting end of the hydraulic cylinder extends out of the second supporting part and is fixed with the sucker connecting part.
3. The automatic vacuum mooring of claim 2, wherein the suction cup attachment portion comprises a slide rail movably attached to the second support portion by a double link structure, and a slide carriage fixedly attached to the vacuum suction cup, the slide carriage reciprocating up, down, left, and right along the slide rail.
4. The automated vacuum mooring of claim 1, wherein the dual link structure comprises a first link to which a first adjustment cylinder is connected and a second link to which a second adjustment cylinder is connected.
5. The automated vacuum mooring of claim 1, wherein the vacuum chuck comprises a plurality of suction segments arranged in an array, each suction segment communicating with the claw vacuum pump through a separate connecting channel.
6. The automated vacuum mooring of claim 5, wherein the suction portion comprises a plurality of suction ports arranged in a square or circular array.
7. The automatic vacuum mooring of claim 6, wherein the suction opening is a circular suction opening.
8. The automated vacuum mooring apparatus of claim 1, further comprising a control system comprising a master control unit and a position sensor disposed on the vacuum chuck; the signal input end of the main control unit is in communication connection with the position sensor, and the signal output end of the main control unit is in control connection with the hydraulic cylinder.
9. An automatic vacuum mooring system comprising a plurality of automatic vacuum mooring arrangements according to any of claims 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110546677.5A CN113512989A (en) | 2021-05-19 | 2021-05-19 | Automatic vacuum mooring device and automatic vacuum mooring system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110546677.5A CN113512989A (en) | 2021-05-19 | 2021-05-19 | Automatic vacuum mooring device and automatic vacuum mooring system |
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| Publication Number | Publication Date |
|---|---|
| CN113512989A true CN113512989A (en) | 2021-10-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110546677.5A Pending CN113512989A (en) | 2021-05-19 | 2021-05-19 | Automatic vacuum mooring device and automatic vacuum mooring system |
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| Country | Link |
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| CN (1) | CN113512989A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114261476A (en) * | 2022-02-24 | 2022-04-01 | 鲁东大学 | Automatic berthing system of unmanned ship |
| CN115584699A (en) * | 2022-04-25 | 2023-01-10 | 吕冲 | Positioning and stabilizing device for offshore ship berthing |
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| US20040154518A1 (en) * | 2000-02-26 | 2004-08-12 | Hadcroft John Mackay | Mooring device |
| US20040182296A1 (en) * | 2001-04-17 | 2004-09-23 | Montgomery Peter James | Mooring robot |
| CN104260830A (en) * | 2014-08-15 | 2015-01-07 | 郭冉 | Automatic permanent magnet mooring device |
| CN106143799A (en) * | 2016-07-25 | 2016-11-23 | 交通运输部天津水运工程科学研究所 | A kind of intellectuality replacing hawser to have fender function concurrently light-duty system docking system |
| CN108674582A (en) * | 2018-06-01 | 2018-10-19 | 大连理工大学 | A kind of automatic magnetic mooring gear |
| CN111976891A (en) * | 2020-08-20 | 2020-11-24 | 燕山大学 | Energy feedback type mooring device for rapid mooring of large ship |
| CN214783676U (en) * | 2021-05-19 | 2021-11-19 | 大连海事大学 | Automatic vacuum mooring device and automatic vacuum mooring system |
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2021
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040154518A1 (en) * | 2000-02-26 | 2004-08-12 | Hadcroft John Mackay | Mooring device |
| US20040182296A1 (en) * | 2001-04-17 | 2004-09-23 | Montgomery Peter James | Mooring robot |
| CN104260830A (en) * | 2014-08-15 | 2015-01-07 | 郭冉 | Automatic permanent magnet mooring device |
| CN106143799A (en) * | 2016-07-25 | 2016-11-23 | 交通运输部天津水运工程科学研究所 | A kind of intellectuality replacing hawser to have fender function concurrently light-duty system docking system |
| CN108674582A (en) * | 2018-06-01 | 2018-10-19 | 大连理工大学 | A kind of automatic magnetic mooring gear |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US11731738B1 (en) | 2022-02-04 | 2023-08-22 | Ludong University | Automatic berthing system for unmanned ship |
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| CN115584699A (en) * | 2022-04-25 | 2023-01-10 | 吕冲 | Positioning and stabilizing device for offshore ship berthing |
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