CN211810079U

CN211810079U - Novel automatic ship mooring device

Info

Publication number: CN211810079U
Application number: CN202020352409.0U
Authority: CN
Inventors: 黄昊燊; 张泳仪; 黄技; 张健超; 胡琼蕾; 陈沛楷; 吴英质
Original assignee: Guangdong Ocean University
Current assignee: Guangdong Ocean University
Priority date: 2020-03-19
Filing date: 2020-03-19
Publication date: 2020-10-30
Anticipated expiration: 2030-03-19

Abstract

The utility model discloses a novel boats and ships automatic mooring device, including box main part, fixing device, winch subassembly, running gear and arm component, box main part is provided with arm component in the front end top, box main part lower extreme is provided with fixing device, running gear installs in box main part both sides, winch subassembly fixed mounting is in box main part afterbody, and winch subassembly and arm component have the hawser to link to each other. The novel automatic mooring device for the ship can flexibly run on the ground under various conditions, simultaneously can fully automatically moor different types of ships, can realize the strong trafficability of the utility model, and can operate on the ground under various conditions such as sand beach, harbor, river bank, reservoir coast and the like; the observation system that has the night vision function is installed to arm subassembly, and the scalable rotation in many places of arm subassembly, and the rope system design benefit is walked to the mooring ware, can realize the utility model discloses the mooring of different boats and ships is carried out in all weather automatically in a flexible way.

Description

Novel automatic ship mooring device

Technical Field

The utility model relates to a boats and ships mooring technical field specifically is a novel boats and ships automatic mooring device.

Background

At present, ship mooring mainly depends on manual operation, the process is relatively complex, multiple groups of personnel are needed to cooperate, particularly small ships such as small yachts and unmanned ships are adopted, most of the small yachts are manually cabled when moored, the danger coefficient is high, and certain failure risk exists; unmanned ships do not have mooring devices, so most of the unmanned ships need to be manually moored and recycled, which is dangerous and has certain failure risk.

We have therefore proposed a new type of automatic mooring device for a vessel in order to solve the problems set out above.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a novel automatic mooring device for ships, which solves the problems that the small yachts proposed by the background technology are mostly manually thrown cables when mooring, the danger coefficient is high and certain failure risk exists; the unmanned ship does not have a mooring device, so most of the unmanned ships need to be moored and recycled manually, which is dangerous and has a certain failure risk.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a novel boats and ships automatic mooring device, includes box main part, fixing device, winch subassembly, running gear and robotic arm subassembly, box main part is provided with robotic arm subassembly in the front end top, box main part lower extreme is provided with fixing device, running gear installs in box main part both sides, winch subassembly fixed mounting is in box main part afterbody, and winch subassembly and robotic arm subassembly have the hawser to link to each other.

Preferably, the fixing device is arranged at the lower end of the box-type main body, and the fixing device consists of four fixing devices with telescopic structures, and the tail ends of the fixing devices are provided with the suckers.

Preferably, the winch assembly is arranged at the tail of the box-type main body, a hook is arranged at the tail end of a cable on the winch assembly, the hook is connected with the mechanical arm assembly, and the other end of the cable is fixed inside the box-type main body.

Preferably, the mobile device is arranged on two sides of the box-type main body, and the mobile device adopts a triangular crawler wheel which is provided with three equal driving wheels and is in a regular triangular array.

Preferably, the arm assembly sets up in box main part front end top, and telescopic boom A in the arm assembly is connected by pivot A with box main part, another end of telescopic boom A links to each other with pivot B, telescopic boom A is connected by pivot B with telescopic boom B, and the nearly pivot B of telescopic boom B side top is provided with the support arm to the hawser guide pulley is installed to the support arm upper end, telescopic boom B front end is provided with pivot C, and pivot C is connecting telescopic boom B and mooring ware to mooring ware upper end and hook cooperation are connected, the observer is installed to the nearly pivot C side of telescopic boom B.

Preferably, the holders are in a diamond array at the lower end of the box-type body.

Preferably, the viewer has a turning device and is provided with two multifunctional cameras and one night vision device.

Preferably, the mooring device has a skillful threading mechanical structure, the upper end of the movable rod is matched with a hook connected with a mooring rope, and the mooring rope can be threaded on a ship by matching the movable rod with the U-shaped fork.

Preferably, the upper end of the U-shaped fork is provided with a bayonet with an outward opening, the lower end of the U-shaped fork is provided with a bayonet with an inward opening, and the U-shaped fork and the movable rod are matched to form the mooring device.

Compared with the prior art, the beneficial effects of the utility model are that: this novel automatic mooring of boats and ships device can be nimble go on various condition ground, but the different types of boats and ships of full-automatic mooring simultaneously:

the triangular crawler wheels are used as the moving devices, so that the utility model has strong trafficability, and can be operated on the ground under various conditions such as sand beach, harbor, river bank, reservoir bank and the like; the observation system that has the night vision function is installed to arm subassembly, and the scalable rotation in many places of arm subassembly, and the rope system design benefit is walked to the mooring ware, can realize the utility model discloses the mooring of different boats and ships is carried out in all weather automatically in a flexible way.

Drawings

Fig. 1 is a schematic side plan view of the present invention;

FIG. 2 is a schematic side view of the present invention;

FIG. 3 is a front view of the present invention;

fig. 4 is a rear view structure diagram of the present invention;

fig. 5 is a schematic structural view of the mooring device of the present invention.

In the figure: 1. a box-type main body; 2. a fixing device; 3. a winch assembly; 4. a mobile device; 5. a mechanical arm assembly; 6. a holder; 7. a suction cup; 8. a cable; 9. a hook; 10. an observer; 11. a mooring unit; 12. a U-shaped fork; 13. a movable rod; 14. a drive wheel; 15. a support arm; 16. a cable guide wheel; 17. a telescopic arm A; 18. a telescopic arm B; 19. a rotating shaft A; 20. a rotating shaft B; 21. a rotating shaft C.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-5, the present invention provides a technical solution: the utility model provides a novel boats and ships automatic mooring device, including box main part 1, fixing device 2, winch subassembly 3, running gear 4, robotic arm subassembly 5, fixer 6, sucking disc 7, hawser 8, hook 9, observer 10, mooring gear 11, U type fork 12, movable rod 13, drive wheel 14, support arm 15, hawser guide pulley 16, flexible arm A17, flexible arm B18, pivot A19, pivot B20 and pivot C21, box main part 1 is provided with robotic arm subassembly 5 in the front end top, box main part 1 lower extreme is provided with fixing device 2, running gear 4 installs in box main part 1 both sides, winch subassembly 3 fixed mounting is in box main part 1 afterbody, and winch subassembly 3 has the hawser 8 to link to each other with robotic arm subassembly 5.

The fixing device 2 is arranged at the lower end of the box-type main body 1, the fixing device 2 is composed of four fixing devices 6 with telescopic structures, the tail ends of the fixing devices 6 are provided with suckers 7, and the fixing devices 6 are arranged at the lower end of the box-type main body 1 in a diamond array.

The winch assembly 3 is arranged at the tail of the box-type body 1, a hook 9 is arranged at the tail end of a cable 8 on the winch assembly 3, the hook 9 is connected with the mechanical arm assembly 5, and the other end of the cable 8 is fixed inside the box-type body 1.

The action devices 4 are arranged on two sides of the box-type main body 1, and the action devices 4 adopt triangular crawler wheels, the triangular crawler wheels are provided with three equal driving wheels 14, the driving wheels are in a regular triangular array, the action devices have strong trafficability and are suitable for most of the ground, and therefore ships can be moored in a multi-environment.

The mechanical arm assembly 5 is arranged on the top of the front end of the box-type main body 1, a telescopic arm A17 in the mechanical arm assembly 5 is connected with the box-type main body 1 through a rotating shaft A19, the other end of the telescopic arm A17 is connected with a rotating shaft B20, the telescopic arm A17 is connected with a telescopic arm B18 through a rotating shaft B20, a supporting arm 15 is arranged above the side, close to the rotating shaft B20, of the telescopic arm B18, a cable guide wheel 16 is arranged at the upper end of the supporting arm 15, a rotating shaft C21 is arranged at the front end of the telescopic arm B18, a rotating shaft C21 is connected with the telescopic arm B18 and a mooring device 11, the upper end of the mooring device 11 is connected with a hook 9 in a matching manner, the upper end of a movable rod 13 is matched with the hook 9 connected with a cable 8, the movable rod 13 is matched with the U-type fork 12, the mooring device 11 is arranged at the upper end of the U-type fork 12 and is provided with a bayonet with an outward opening, the multifunctional mooring device can be used for mooring different types of ships ingeniously, the observer 10 is installed on the side of the side end, close to the rotating shaft C21, of the telescopic arm B18, the observer 10 is provided with a rotating device, the observer 10 is provided with two multifunctional cameras and one night vision device, the multifunctional cameras and the night vision device are matched with other devices in an integrated mode, full-automatic work is achieved, high precision and applicability are achieved, and ships can be moored in all weather and in multiple environments.

The working principle is as follows: the utility model is in a full-automatic working mode, and after a technician inputs an instruction, the utility model can carry out full-automatic mooring ship work;

during mooring operation, the full-automatic ship mooring device firstly determines an optimal mooring point through an observation system, then is driven by the action device 4 to reach the point, and the fixing device 6 extends to enable the suction disc 7 to be firmly adsorbed on the ground; the observer 10 detects the ship and operates in combination with the extension and rotation of the mechanical arm assembly 5 to enable the mooring device 11 to approach the ship; the mechanical arm assembly 5 drives the mooring device 11 to align with the shipboard fixing devices 2 such as a beam, a column and the like on the ship, then the mooring device 11 taps the shipboard fixing devices 2 forwards, the shipboard fixing devices 2 are clamped between the movable rods 13 and the U-shaped forks 12, then the mooring device 11 retracts, the movable rods 13 are opened, the shipboard fixing devices 2 leave the mooring device 11, and the mooring ropes 8 skillfully sleeve the shipboard fixing devices 2; the retraction of the robot assembly 5, the operation of the winch assembly 3, the retraction of the cable 8, the docking of the towing vessel, which are not described in detail in this description, are well known to those skilled in the art.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.

Claims

1. The utility model provides a novel boats and ships automatic mooring device, includes box main part (1), fixing device (2), winch subassembly (3), running gear (4) and arm subassembly (5), its characterized in that: the winch is characterized in that a mechanical arm assembly (5) is arranged at the top of the front end of the box-type main body (1), a fixing device (2) is arranged at the lower end of the box-type main body (1), the moving device (4) is installed on two sides of the box-type main body (1), the winch assembly (3) is fixedly installed at the tail of the box-type main body (1), and the winch assembly (3) is connected with the mechanical arm assembly (5) through a cable (8).

2. The novel automatic mooring device for ships according to claim 1, characterized in that: the fixing device (2) is arranged at the lower end of the box-type main body (1), the fixing device (2) is composed of four fixing devices (6) with telescopic structures, and the tail ends of the fixing devices (6) are provided with suckers (7).

3. The novel automatic mooring device for ships according to claim 1, characterized in that: winch subassembly (3) set up in box main part (1) afterbody, and winch subassembly (3) on hawser (8) end have hook (9) to hook (9) link to each other with arm subassembly (5), hawser (8) other end is fixed in inside box main part (1).

4. The novel automatic mooring device for ships according to claim 1, characterized in that: the action devices (4) are arranged on two sides of the box-type main body (1), and the action devices (4) adopt triangular crawler wheels which are provided with three equal driving wheels (14) and are in a regular triangular array.

5. The novel automatic mooring device for ships according to claim 1, characterized in that: the mechanical arm assembly (5) is arranged at the top of the front end of the box-type main body (1), a telescopic arm A (17) in the mechanical arm assembly (5) is connected with the box-type main body (1) through a rotating shaft A (19), the other end of the telescopic arm A (17) is connected with a rotating shaft B (20), the telescopic arm A (17) is connected with the telescopic arm B (18) through the rotating shaft B (20), and a support arm (15) is arranged above the telescopic arm B (18) near the rotating shaft B (20), and the upper end of the support arm (15) is provided with a cable guide wheel (16), the front tail end of the telescopic arm B (18) is provided with a rotating shaft C (21), and the rotating shaft C (21) is connected with a telescopic arm B (18) and a mooring device (11), and the upper end of the mooring device (11) is connected with the hook (9) in a matching way, and the side of the telescopic arm B (18) close to the side end of the rotating shaft C (21) is provided with the observer (10).

6. The novel automatic mooring device for ships according to claim 2, characterized in that: the fixator (6) is in a diamond array at the lower end of the box-type main body (1).

7. The novel automatic mooring device for ships according to claim 5, characterized in that: the observer (10) has a turning device, and the observer (10) is provided with two multifunctional cameras and one night vision device.

8. The novel automatic mooring device for ships according to claim 5, characterized in that: the mooring device (11) is provided with a skillful threading mechanical structure, the upper end of the movable rod (13) is matched with the hook (9) connected with the mooring rope (8), and the mooring rope (8) can be threaded on a ship by matching the movable rod (13) with the U-shaped fork (12).

9. The novel automatic mooring device for ships according to claim 8, characterized in that: the upper end of the U-shaped fork (12) is provided with a bayonet with an outward opening, the lower end of the U-shaped fork (12) is provided with a bayonet with an inward opening, and the U-shaped fork (12) and the movable rod (13) are matched to form the mooring device (11).