CN116093710A - Automatic shore power connection system and method - Google Patents
Automatic shore power connection system and method Download PDFInfo
- Publication number
- CN116093710A CN116093710A CN202211737180.2A CN202211737180A CN116093710A CN 116093710 A CN116093710 A CN 116093710A CN 202211737180 A CN202211737180 A CN 202211737180A CN 116093710 A CN116093710 A CN 116093710A
- Authority
- CN
- China
- Prior art keywords
- shore power
- module
- plug
- plug fixing
- upper computer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
- H01R43/26—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for engaging or disengaging the two parts of a coupling device
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
- H01R13/629—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances
- H01R13/631—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances for engagement only
-
- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Computer Networks & Wireless Communication (AREA)
- Details Of Connecting Devices For Male And Female Coupling (AREA)
Abstract
The invention discloses an automatic shore power connection system and method. The system comprises a mechanical arm, a camera, an electromagnet, a position sensor, a shore power box, a cable, a plug fixing module, a shore power plug, a flexible connection module, a ship shore power box and an upper computer, wherein the camera and the electromagnet are arranged at the tail end of the mechanical arm, the cable is connected with the shore power box, the other end of the cable is connected with the shore power plug, and the flexible connection module is arranged at a socket port of the ship shore power box; the system and the method remarkably improve the automation degree and the operation efficiency of the shore power connection, improve the working precision and realize unmanned transformation of the shore power operation.
Description
Technical Field
The invention relates to the technical field of ship shore power, in particular to an automatic shore power connection system and method.
Background
Ports have long been a key node of the global supply chain, which has an extremely important promoting effect on the development of global economy, but the pollutants produced by the ports are also the main sources of ports. At present, a ship adopts a traditional auxiliary engine power generation mode to produce electric power, and the generated waste gas pollution is serious. The marine shore power technology is to stop using auxiliary units during berthing of a ship and to use an on-shore power supply to supply power, so as to obtain power required by pump sets, ventilation, illumination, communication and other facilities. The root of the work is to realize a new energy use mode that the electric energy is replaced by 'replacing oil with electricity' for fossil fuel during the harbor leaning period. The ship shore power technology of the port can not only realize energy conservation and emission reduction and control of atmospheric pollution, but also reduce the port leaning cost of the ship. With the adoption of the national power grid full-power propulsion electric energy substitution strategy in 2015, ship electricity is converted from original coal-fired power supply to power supply by means of a port cable. At present, research, application and popularization of the shore power technology are being greatly promoted in China, so that the use of the marine shore power technology is an important development trend, and the development prospect is very wide.
At present, shore-based power supply cable equipment for ships is mainly a cable arm frame type conveying system, one end of a cable is conveyed to the ship through a telescopic arm frame, and the other end of the cable is connected with a wharf shore power box. Dock power needs to be distributed to the ship units through cables, and traditional shore power cables are generally conveyed to the ship through manpower or cranes and the like. A typical shore power system includes: shore power boxes, cable reels, cranes, etc. One end of the cable is connected with the quay shore power box, the other end of the shore power plug is conveyed to the ship through the cable winding drum and the crane, and the shore power plug is connected with the ship through manpower. When the crane conveys the shore power plug to the ship, the cable is taken in or taken out through the winding drum. When the power supply is finished, the plug is still manually taken down, and then the crane conveys the plug downwards or supplies power to the next ship.
The prior art in the field has the following defects: 1) The crane needs to complete more accurate conveying tasks, and has higher requirements on the crane; 2) The crane requires manual operation; 3) The crane can only transport one cable at a time, and can supply power to the next ship after the power supply is finished, so that the use efficiency is low; 4) After the crane conveys the shore power plug to the ship, one end of the plug still needs to be manually connected with the ship; 5) The ship can wave with water, and workers are difficult to control the shore power plug with larger weight on the ship.
Disclosure of Invention
The invention aims at overcoming the defects of the prior art and provides an automatic shore power connection system and method. Aims at realizing the accurate cable laying in the shore ship power supply, and unmanned, accurate control cable transportation, carry out the power supply to many ships simultaneously, promote power supply efficiency.
In order to solve the technical problems, the invention adopts the following technical scheme:
an automatic shore power hookup system includes: the device comprises a mechanical arm, a camera, an electromagnet, a position sensor, a shore power box, a cable, a plug fixing module, a shore power plug, a flexible connection module, a ship shore power box and an upper computer, wherein the camera and the electromagnet are arranged at the tail end of the mechanical arm, the cable is connected with the shore power box, the other end of the cable is connected with the shore power plug, and the flexible connection module is arranged at a socket port of the ship shore power box;
the flexible connection module comprises an automatic locking and unlocking mechanism, an upper baffle plate, a marker, a blocking plate, a front baffle wheel, a vertical damping spring, an extension damping spring, a linear module and a side baffle plate, wherein the automatic locking and unlocking mechanism is hinged to the linear module and can rotate, the top of the automatic locking and unlocking mechanism is a drag hook, the vertical damping spring and the extension damping spring are both arranged between the automatic locking and unlocking mechanism and the linear module, the front baffle wheel is arranged at the outer end of the automatic locking and unlocking mechanism, and the upper baffle plate and the side baffle plate form a travelling track space of a shore power plug and are used for guiding accurate insertion of the shore power plug;
the plug fixing module comprises a plug fixing module marker, an extension rod and a plug fixing shell, and the shore power plug is arranged on the plug fixing module;
the upper computer is respectively and electrically connected with the linear module, the position sensor, the mechanical arm, the camera and the electromagnet, and is in signal communication connection with the ship charging management system.
Preferably, the linear modules are provided with two sets, each set of linear module is provided with an automatic locking and unlocking mechanism, and a vertical damping spring and a stretching damping spring are arranged below each set of automatic locking and unlocking mechanism.
Preferably, the number of the fixed module markers is more than two, and the shape of the fixed module markers is rectangle or circle.
Preferably, the plug fixing module further comprises a plug fixing plate, an upper pulley and a side pulley.
Preferably, the shore power plug is mounted on a plug fixing plate on the plug fixing module.
As one embodiment, the position sensor is mounted at the end of a shore power plug.
As another embodiment, the position sensor is mounted at a shore power box socket of the ship.
As a third implementation mode, the position sensor is arranged at two ends of the linear module, and the position of the shore power plug is determined through the automatic locking and unlocking mechanism and the displacement of the plug fixing module in the track direction of the linear module.
An automatic shore power connection method, which adopts the automatic shore power connection system to connect, comprises the following steps:
when a ship is parked at a port and is waiting for power supply, an instruction is sent to an upper computer of a shore power system to request power supply; after receiving the ship signal, the upper computer sends an instruction to the mechanical arm and the camera, the mechanical arm moves up and down and left and right in a vertical plane from an initial position, a larger visual field range is provided for the camera, and when the camera recognizes a plug fixing module marker in the plug fixing module, the upper computer controls the mechanical arm to change a movement mode and approach to the plug fixing module; when the mechanical arm approaches to a certain distance, a signal is sent to the upper computer, the upper computer sends an instruction to start the electromagnet, the electromagnet attracts the plug fixing shell in the plug fixing module, and the shore power plug is fixed on the plug fixing module in advance;
after the plug fixing shell is sucked, the upper computer sends an instruction to enable the mechanical arm to return to an initial position, the mechanical arm moves up and down and left and right in a vertical plane again until the camera captures a flexible connection module marker in a flexible connection module on a ship, and signals are sent to the upper computer;
the upper computer controls the mechanical arm to change a movement mode and move towards the flexible connection module, when the mechanical arm reaches a designated position, a signal is sent to the upper computer, the upper computer sends a command to disconnect the electromagnet, at the moment, the plug fixing module and a shore power plug on the plug fixing module drop down due to gravity, an extension rod of the plug fixing module falls into a hook groove at the upper part of an automatic locking and unlocking mechanism of the flexible connection module, and meanwhile, the mechanical arm returns to an initial position and sends a signal to the upper computer;
after receiving the signal, the upper computer sends a signal to a linear module in the flexible connection module, the linear module drives an automatic locking and unlocking mechanism to move towards the direction of the shore power box of the ship, so that the plug fixing module enters a guide area, the plug is guided up and down, left and right by an upper baffle plate and a side baffle plate in the flexible connection module and is inserted into a socket hole in the shore power box of the ship, when the plug is inserted in place, the position sensor is triggered and sends a signal to the upper computer, the shore power box starts to transmit power, and current reaches a ship charging management system after passing through a cable;
after the power supply is finished, a ship charging management system sends a signal of 'power supply completion' to an upper computer, the upper computer controls the linear module to move, so that the plug fixing module and the shore power plug are far away from a socket of a ship shore power box, the upper computer sends an instruction to start an electromagnet on the mechanical arm to attract a plug fixing shell, and then the mechanical arm carries the plug fixing module and the shore power plug to return to an initial position according to a specified track, the electromagnet is closed and separated from the plug fixing module, and an automatic shore power connection process is finished.
Preferably, after the plug fixing module enters the guide area, an upper pulley and a side pulley in the plug fixing module respectively move at an upper baffle and a side baffle in the flexible connection module to finish the guide process.
After the technical scheme is adopted, compared with the prior art, the invention has the following beneficial effects:
according to the invention, the traditional crane is replaced by the industrial mechanical arm which can be accurately controlled, and the industrial mechanical arm and the camera are combined and accurately controlled, so that an accurate cable laying effect is achieved. The electromagnet is used for control, so that the operation of high-efficiency plugging and unplugging of the shore power plug is completed. Meanwhile, the problems of accurate design of the crane and manual operation of the crane are avoided. The automation degree and the operation efficiency of the shore power connection are remarkably improved, the working precision is improved, and unmanned transformation of shore power operation is realized. A flexible connection mode is designed, and the problem that a ship moves along with waves to cause connection difficulty and disconnection of a plug is solved.
Drawings
FIG. 1 is a front view of an automatic shore power hookup system of this invention;
FIG. 2 is a perspective view of the automatic shore power connection system of FIG. 1, with the upper computer portion omitted;
FIG. 3 is a schematic perspective view of the flexible connection module of FIG. 2;
FIG. 4 is a perspective view of the working position of the flexible connection module, the plug fixing module and the shore power plug in FIG. 2;
FIG. 5 is an enlarged view of a portion of FIG. 4;
FIG. 6 is a front view of the plug-securing module of FIG. 2;
FIG. 7 is a perspective view of the plug-securing module of FIG. 2;
FIG. 8 is a control schematic diagram of an automatic shore power hookup system of this invention;
reference numerals in the drawings are as follows;
1-a mechanical arm; 2-a camera; 3-an electromagnet; 4-a position sensor; 5-a shore power box; 6-a cable; 7-a plug fixing module; 701-plug-securing module tag; 702—plug fixation plate; 703-an upper pulley; 704-extending the rod; 705-plug-securing housing; 706—side pulleys; 8-shore power plug; 9-a flexible connection module; 901-automatic locking and unlocking mechanism; 902-upper baffle; 903-a marker; 904—side dams; 905-blocking plate; 906—front catch wheel; 907-vertical shock-absorbing springs; 908—stretching a damping spring; 909-a linear module; 904—side dams; 10-a ship shore power box; 11-upper computer.
Detailed Description
In order that the invention may be more readily understood, a more particular description of the invention will be rendered by reference to specific embodiments that are illustrated in the appended drawings. The following description is merely illustrative of the invention and is not intended to be limiting.
As shown in fig. 1, 2, 3, 4, 5, 6, 7 and 8, an automatic shore power hookup system of the present invention includes: the camera 2 and the electromagnet 3 are arranged at the tail end of the mechanical arm 1, the cable 6 is connected with the shore power box 5, the other end of the cable 6 is connected with the shore power plug 8, and the flexible connection module 9 is arranged at a socket port of the ship shore power box 10;
the flexible connection module 9 comprises an automatic locking and unlocking mechanism 901, an upper baffle 902, a marker 903, a blocking plate 905, a front baffle 906, a vertical damping spring 907, an extension damping spring 908, a linear module 909 and a side baffle 904, wherein the automatic locking and unlocking mechanism 901 is hinged on the linear module 909 and can rotate, the top of the automatic locking and unlocking mechanism 901 is a drag hook, the vertical damping spring 907 and the extension damping spring 908 are both arranged between the automatic locking and unlocking mechanism 901 and the linear module 909, the front baffle 906 is arranged at the outer end of the automatic locking and unlocking mechanism 901, and the upper baffle 902 and the side baffle 904 form a travelling track space of the shore power plug 8 and are used for guiding accurate insertion of the shore power plug 8;
the vertical damping spring 907 is arranged right below the rotatable end of the automatic locking and unlocking mechanism 901 and limits the rotation lowest position of the automatic locking and unlocking mechanism 901. The tension damper springs 908 cushion the rotation of the automatic lock release mechanism 901.
The plug fixing module 7 comprises a plug fixing module marker 701, an extension rod 704 and a plug fixing shell 705, and the shore power plug 8 is mounted on the plug fixing module 7;
the upper computer 11 is electrically connected with the linear module 909, the position sensor 4, the mechanical arm 1, the camera 2 and the electromagnet 3, and the upper computer 11 is in signal communication connection with the ship charging management system.
Preferably, the linear modules 909 have two sets, each set of linear modules 909 is provided with an automatic locking and unlocking mechanism 901, and a vertical damping spring 907 and a stretching damping spring 908 are arranged below each set of automatic locking and unlocking mechanism 901.
Preferably, the number of the fixed module markers 701 is two or more, and the shape of the fixed module markers 701 is rectangular or circular.
Preferably, the plug fixing module 7 further comprises a plug fixing plate 702, an upper pulley 703 and a side pulley 706.
Preferably, the shore power plug 8 is mounted on the plug fixing plate 702 of the plug fixing module 7.
The position sensor 4 is used for determining the position of the shore power plug 8 so as to facilitate the related control process of the upper computer 11, and the setting position of the position sensor 4 belongs to the prior art in the field, for example, the following various embodiments can be provided:
as an embodiment, the position sensor 4 is mounted at the end of the shore power plug 8.
As another embodiment, the position sensor 4 is mounted at the socket of the shore power hookup box 10 of the ship.
As a third embodiment, the position sensor 4 is installed at both ends of the linear module 909, and the position of the shore power plug 8 is determined by displacement of the automatic locking and unlocking mechanism 901 and the plug fixing module 7 in the track direction of the linear module 909.
An automatic shore power connection method, which adopts the automatic shore power connection system to connect, comprises the following steps:
when the ship is parked at a port and waiting for power supply, an instruction is sent to the shore power system upper computer 11 to request power supply; after receiving the ship signal, the upper computer 11 sends an instruction to the mechanical arm 1 and the camera 2, the mechanical arm 1 moves up and down and left and right in a vertical plane from an initial position, a larger visual field range is provided for the camera 2, and when the camera 2 recognizes the plug fixing module marker 701 in the plug fixing module 7, the upper computer 11 controls the mechanical arm 1 to change a movement mode and slowly approaches to the plug fixing module; when the mechanical arm 1 approaches to a certain distance, a signal is sent to the upper computer 11, the upper computer 11 sends an instruction to start the electromagnet 3, the electromagnet 3 attracts the plug fixing shell 705 in the plug fixing module 7, and the shore power plug 8 is fixed on the plug fixing module 7 in advance;
after the plug fixing shell 705 is sucked, the upper computer 11 sends an instruction to enable the mechanical arm 1 to return to the initial position, the mechanical arm 1 moves up and down and left and right in the vertical plane again until the camera 2 captures the flexible connection module marker 903 in the flexible connection module 9 on the ship, and a signal is sent to the upper computer 11;
the upper computer 11 controls the mechanical arm 1 to change a movement mode and slowly move towards the flexible connection module 9, when the mechanical arm 1 reaches a designated position, a signal is sent to the upper computer 11, the upper computer 11 sends a command to disconnect the electromagnet 3, at the moment, the plug fixing module 7 and the shore power plug 8 thereon drop down due to gravity, the extension rod 704 of the plug fixing module 7 falls into a hook groove at the upper part of the automatic locking and unlocking mechanism 901 of the flexible connection module 9, and meanwhile, the mechanical arm 1 returns to an initial position and sends a signal to the upper computer 11;
after the upper computer 11 receives the signal, a signal is sent to a linear module 909 in the flexible connection module 9, the linear module 909 drives an automatic locking and unlocking mechanism 901 to move towards the direction of the shore power box 10 of the ship, so that the plug fixing module 7 enters a guide area, the plug is guided up and down, left and right by an upper baffle 902 and a side baffle 904 in the flexible connection module 9, and is inserted into a socket hole in the shore power box 10 of the ship, when the plug is inserted in place, the position sensor 4 is triggered and sends the signal to the upper computer 11, the shore power box 5 starts to transmit power, and current passes through a cable 6 and then reaches a ship charge management system;
after the power supply is finished, a power supply finishing signal is sent to the upper computer 11 by the ship charging management system, the upper computer 11 controls the linear module 909 to move, so that the plug fixing module 7 and the shore power plug 8 are far away from a socket of the ship shore power box 10, the upper computer 11 sends an instruction to start the electromagnet 3 on the mechanical arm 1 to suck the plug fixing shell 705, and then the mechanical arm 1 carries the plug fixing module 7 and the shore power plug 8 to return to an initial position according to a specified track, the electromagnet 3 is closed and separated from the plug fixing module 7, and an automatic shore power connection process is finished.
Preferably, after the plug fixing module 7 enters the alignment area, the upper pulley 703 and the side pulley 706 in the plug fixing module 7 move at the upper baffle 902 and the side baffle 904 in the flexible connection module 9 respectively, so as to complete the alignment process.
The foregoing is illustrative of the present invention and is not to be construed as limiting thereof, but rather as merely providing for the purpose of describing the invention without resorting to any modifications, improvements, equivalents, etc. that fall within the spirit and principles of the invention.
Claims (10)
1. An automatic shore power connection system, characterized in that: comprising the following steps: the device comprises a mechanical arm, a camera, an electromagnet, a position sensor, a shore power box, a cable, a plug fixing module, a shore power plug, a flexible connection module, a ship shore power box and an upper computer, wherein the camera and the electromagnet are arranged at the tail end of the mechanical arm, the cable is connected with the shore power box, the other end of the cable is connected with the shore power plug, and the flexible connection module is arranged at a socket port of the ship shore power box;
the flexible connection module comprises an automatic locking and unlocking mechanism, an upper baffle plate, a marker, a blocking plate, a front baffle wheel, a vertical damping spring, an extension damping spring, a linear module and a side baffle plate, wherein the automatic locking and unlocking mechanism is hinged to the linear module and can rotate, the top of the automatic locking and unlocking mechanism is a drag hook, the vertical damping spring and the extension damping spring are both arranged between the automatic locking and unlocking mechanism and the linear module, the front baffle wheel is arranged at the outer end of the automatic locking and unlocking mechanism, and the upper baffle plate and the side baffle plate form a travelling track space of a shore power plug and are used for guiding accurate insertion of the shore power plug;
the plug fixing module comprises a plug fixing module marker, an extension rod and a plug fixing shell, and the shore power plug is arranged on the plug fixing module;
the upper computer is respectively and electrically connected with the linear module, the position sensor, the mechanical arm, the camera and the electromagnet, and is in signal communication connection with the ship charging management system.
2. The automatic shore power hookup system of claim 1, wherein: the linear modules are two, each linear module is provided with an automatic locking and unlocking mechanism, and a vertical damping spring and an extension damping spring are arranged below each automatic locking and unlocking mechanism.
3. The automatic shore power hookup system of claim 1, wherein: the number of the fixed module markers is more than two, and the shape of the fixed module markers is rectangle or round.
4. The automatic shore power hookup system of claim 1, wherein: the plug fixing module further comprises a plug fixing plate, an upper pulley and a side pulley.
5. The automatic shore power hookup system of claim 1, wherein: the shore power plug is arranged on a plug fixing plate on the plug fixing module.
6. The automatic shore power hookup system of claim 1, wherein: the position sensor is arranged at the tail end of the shore power plug.
7. The automatic shore power hookup system of claim 1, wherein: the position sensor is arranged at the socket opening of the shore power box of the ship.
8. The automatic shore power hookup system of claim 1, wherein: the position sensor is arranged at two ends of the linear module, and the position of the shore power plug is determined through the automatic locking and unlocking mechanism and the displacement of the plug fixing module in the track direction of the linear module.
9. An automatic shore power connection method is characterized in that: the automatic shore power connection system is adopted for connection, and comprises the following steps:
when a ship is parked at a port and is waiting for power supply, an instruction is sent to an upper computer of a shore power system to request power supply; after receiving the ship signal, the upper computer sends an instruction to the mechanical arm and the camera, the mechanical arm moves up and down and left and right in a vertical plane from an initial position, a larger visual field range is provided for the camera, and when the camera recognizes a plug fixing module marker in the plug fixing module, the upper computer controls the mechanical arm to change a movement mode and approach to the plug fixing module; when the mechanical arm approaches to a certain distance, a signal is sent to the upper computer, the upper computer sends an instruction to start the electromagnet, the electromagnet attracts the plug fixing shell in the plug fixing module, and the shore power plug is fixed on the plug fixing module in advance;
after the plug fixing shell is sucked, the upper computer sends an instruction to enable the mechanical arm to return to an initial position, the mechanical arm moves up and down and left and right in a vertical plane again until the camera captures a flexible connection module marker in a flexible connection module on a ship, and signals are sent to the upper computer;
the upper computer controls the mechanical arm to change a movement mode and move towards the flexible connection module, when the mechanical arm reaches a designated position, a signal is sent to the upper computer, the upper computer sends a command to disconnect the electromagnet, at the moment, the plug fixing module and a shore power plug on the plug fixing module drop down due to gravity, an extension rod of the plug fixing module falls into a hook groove at the upper part of an automatic locking and unlocking mechanism of the flexible connection module, and meanwhile, the mechanical arm returns to an initial position and sends a signal to the upper computer;
after receiving the signal, the upper computer sends a signal to a linear module in the flexible connection module, the linear module drives an automatic locking and unlocking mechanism to move towards the direction of the shore power box of the ship, so that the plug fixing module enters a guide area, the plug is guided up and down, left and right by an upper baffle plate and a side baffle plate in the flexible connection module and is inserted into a socket hole in the shore power box of the ship, when the plug is inserted in place, the position sensor is triggered and sends a signal to the upper computer, the shore power box starts to transmit power, and current reaches a ship charging management system after passing through a cable;
after the power supply is finished, a ship charging management system sends a signal of 'power supply completion' to an upper computer, the upper computer controls the linear module to move, so that the plug fixing module and the shore power plug are far away from a socket of a ship shore power box, the upper computer sends an instruction to start an electromagnet on the mechanical arm to attract a plug fixing shell, and then the mechanical arm carries the plug fixing module and the shore power plug to return to an initial position according to a specified track, the electromagnet is closed and separated from the plug fixing module, and an automatic shore power connection process is finished.
10. The automatic shore power hookup method of claim 9, wherein: after the plug fixing module enters the guide area, an upper pulley and a side pulley in the plug fixing module respectively move at an upper baffle and a side baffle in the flexible connection module to finish the guide process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211737180.2A CN116093710A (en) | 2022-12-31 | 2022-12-31 | Automatic shore power connection system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211737180.2A CN116093710A (en) | 2022-12-31 | 2022-12-31 | Automatic shore power connection system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116093710A true CN116093710A (en) | 2023-05-09 |
Family
ID=86213246
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211737180.2A Pending CN116093710A (en) | 2022-12-31 | 2022-12-31 | Automatic shore power connection system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116093710A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117096704A (en) * | 2023-08-21 | 2023-11-21 | 连云港远洋流体装卸设备有限公司 | Medium voltage cable shore power intelligent docking control system |
-
2022
- 2022-12-31 CN CN202211737180.2A patent/CN116093710A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117096704A (en) * | 2023-08-21 | 2023-11-21 | 连云港远洋流体装卸设备有限公司 | Medium voltage cable shore power intelligent docking control system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN116093710A (en) | Automatic shore power connection system and method | |
| CN107856829B (en) | Novel composite energy power supply ship suitable for ship berthed in reservoir area and waiting for brake | |
| CN112009302A (en) | Automatic wharf battery replacement system and method | |
| CN114394215B (en) | Docking mechanism for active capture underwater vehicle and working method thereof | |
| CN105739509A (en) | Multi-UUV dock cabin type rapid deploying and retrieving system | |
| CN219937573U (en) | Automatic shore power connection system | |
| CN108791730A (en) | A kind of electronic charging equipment waterborne peculiar to vessel | |
| CN116131025A (en) | Flexible auxiliary plugging device for shore power plug | |
| CN113602450A (en) | Dock and unmanned ship system | |
| CN113364135B (en) | Electric energy transmission system of deep offshore wind farm | |
| CN105186687B (en) | A kind of wireless telecommunication system for bank electricity system and ship | |
| CN112407175B (en) | Unmanned intelligent tug structure of modularization | |
| CN210284530U (en) | Foldable offshore section observation device based on ocean buoy | |
| CN213862599U (en) | Self-powered unmanned ship automatic parking charging device | |
| CN109302201A (en) | A kind of small ocean communication switching unit and its application | |
| CN211844870U (en) | Offshore wind power inspection system | |
| CN112109853A (en) | Hybrid power open sea floating platform | |
| KR20230083385A (en) | Exchangeable marine energy storage system and control method thereof | |
| CN211950732U (en) | Sea wave power generation device for yacht | |
| CN110616667A (en) | Wave preventing device suitable for installation of offshore floating type fan and method for installing offshore floating type fan | |
| CN105490271A (en) | Offshore power transmission device and implementation method thereof | |
| CN204851523U (en) | Wave energy photovoltaic and marine fan integrated power production system | |
| CN205264929U (en) | Telescopic wiring pile is used to small -size ships and light boats | |
| CN110498028A (en) | Inland river electrification transportation system and its implementation | |
| CN110768349B (en) | Device for carrying out submarine wireless charging by utilizing ocean current energy |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |