GB2571895A - Shape-changing multi-functional vessel berthing device having five degrees of freedom - Google Patents
Shape-changing multi-functional vessel berthing device having five degrees of freedom Download PDFInfo
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- GB2571895A GB2571895A GB1909798.9A GB201909798A GB2571895A GB 2571895 A GB2571895 A GB 2571895A GB 201909798 A GB201909798 A GB 201909798A GB 2571895 A GB2571895 A GB 2571895A
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- Prior art keywords
- berthing
- hinge
- vessel
- universal joint
- parallel
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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
- B63B21/02—Magnetic mooring equipment
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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
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
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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
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/02—Fenders integral with waterborne vessels or specially adapted therefor, e.g. fenders forming part of the hull or incorporated in the hull; Rubbing-strakes
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B17/00—Artificial islands mounted on piles or like supports, e.g. platforms on raisable legs or offshore constructions; Construction methods therefor
- E02B17/0017—Means for protecting offshore constructions
- E02B17/003—Fenders
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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
- B63B2021/001—Mooring bars, yokes, or the like, e.g. comprising articulations on both ends
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Vibration Prevention Devices (AREA)
- Ship Loading And Unloading (AREA)
Abstract
A shape-changing multi-functional vessel berthing device having five degrees of freedom, comprising a mounting base (1), parallel berthing supports (2), an oval chuck base (3), magnetic chucks (4), and an electromagnetic brake (5). During berthing, the parallel berthing supports (2) drive the oval chuck base (3) such that the magnetic chucks (4) extend from the vessel hull, and the powering on of the magnetic chucks (4) generates a magnetic force which joins the hull of the lead vessel to a dock or other vessel hull, thus berthing the lead vessel. During unberthing, power to the magnetic chucks (4) is cut, and the parallel berthing supports (2) drive the oval chuck base (3) to retract back into the vessel hull. Three telescoping cylinders inside the parallel berthing supports (2) are either double-acting air cylinders or double-acting hydraulic cylinders. In addition to connection support and telescoping functions, the telescoping cylinders are further provided with a bidirectional pressure-retaining vibration reduction function. Multi-site deployment makes it possible to smoothly berth vessels in multiple locations, greatly reducing the force of impact with the dock, offshore platform, or other vessel during berthing, and thus ensuring berthing safety. The present invention has the further advantages of a simple structure, high safety, good stability, and convenient operation and maintenance.
Description
SHAPE-CHANGING MULTI-FUNCTIONAL VESSEL BERTHING DEVICE HAVING FIVE DEGREES
OF FREEDOM
Technical Field
The present invention relates to the technical field of vessel equipment, and particularly relates to a shape-changing multi-functional vessel berthing device having five degrees of freedom.
Background Art
Currently, when the small and medium-sized vessels are berthed at or de-berthed from wharfs, offshore platforms, or other large vessels, the mooring is generally implemented in a manner of multiple people manually operating and fixing the mooring rope. During berthing at the port, the impact force occurred due to vessel berthing, the mooring force occurred due to the offshore wind after the vessel being berthed, and the vessel crowding force occurred due to the onshore wind are three common dynamic loads at the wharf. Such lateral forces impose an extremely significant impact on the high-piled wharf and deep-water open sea terminal and are main reasons which cause the occurrence of hidden berthing safety risks frequently. During the operation and production process on the offshore platform of the petroleum industry, a vessel needs to be berthed at the offshore platform or the wellhead for related working tasks such as equipment transporting and hoisting, and platform crew transportation. When the vessel is berthed at the offshore platform or the wellhead, the mooring workers need to jump frequently between the vessel and the platform to fix the mooring ropes. In the low-temperature freezing season, especially the storm surge period between October of each year and February of the next year, the vessel offshore berthing operation brings a significant hidden safety risk to the operators. The manual rope mooring manner has the following defects: (1) multiple people are required for simultaneous operations, thereby wasting time and labor; (2) the vessel berthing position is not sufficiently accurate, and a situation in which the hull rubs against the wharf, the offshore platform, or other vessels thus occurs frequently; and (3) the poor stability of the berthed vessel especially for a high-speed passenger vessel or upon mooring on the sea, the relatively lateral swing large affects the safety and comfortableness of people during boarding and off-boarding. Offshore berthing between two vessels likewise has the similar problems. For example, in conveying of the injured from a vessel where the injured is to the hospital vessel on the water, certain effective lateral safe mooring between the two vessels is required; during offshore filling performed by the liquefied natural gas (LNG) filling vessel to the vessel to be supplied, the optimal feeding condition is as follows: the lateral berthing between the two vessels is fixed and the relative wobble is relatively small; the main method of a supply vessel providing supply to a military vessel is as follows: keeping two vessels at a certain lateral distance away from each other and travelling at the same speed, and goods being delivered from the supply vessel to the vessel to be supplied by means of ropes. The efficiency of supply and the security of the supply process can be effectively improved if the fast mooring and lateral security between the supply vessel and the vessel to be supplied can be ensured.
In order to prevent the damages of the vessel resulting from colliding with wharfs, offshore platforms, and other vessels, waste tyres or other rubber objects are generally fixed on the sidewall of the berthing shore of the wharf at which the vessel is berthed or the side surface of the vessel to serve as an anti-collision and shock absorption device. Such an anti-collision device has a certain safety protection effect for the vessels. However, there are many defects of using the waste tyres as an anti-collision and shock absorption device : (1) During the time of berthing a vessel, because the vessel is still in motion while the waste tyres are fixed, the waste tyres play the protective role only when the vessel is close to the shore, so the impact force applied by the vessel to the waste tyres is extremely large, and there has a relatively large friction occurred between the waste tyres and the vessel which still causing damages to the vessel surface; (2) the tyres are fixed and the protective function thereof for berthing a vessel (which travelling at a high speed) at the wharf is limited, particularly under the effect of relatively strong lateral wind, the existing fixed-type protective device normally cannot effectively protect the hull and the front pile when the vessel berthing speed is excessively fast; and (3) the poor outlook of the waste tyres affects the water scenery, and the tyres are easy to fall into water causing pollution for the water quality.
For the problems existing in vessel berthing, the existing patent documents also provide some solutions. The Chinese utility model application No. CN200820007920.6 discloses a magnetic vessel mooring device, comprising a magnetic chuck, an elastic shock absorber and a winch, wherein the winch is fixed on the hull, and mooring is implemented by fixing the wire rope of the winch and the magnetic chuck to the wharf steel plate and has a certain assistant shock absorption effect. However, said mooring device is fixed outside the hull and cannot autonomously stretch out and draw back, thereby affecting vessel travelling after de-berthing; and the mooring operation still requires the winch and the wire rope, so the stability is poor. The Chinese invention application No. CN201310045188.7 discloses a hanging foldable berthing device, comprising a support portion rotatably connected to an offshore platform and a folding/ unfolding device, wherein the hanging foldable berthing device being operated by means of a winch and a drag rope. The mooring stability and the shock absorption effect of said technical solution are relatively poor. The Chinese invention application No. CN201380030009.0 discloses a mooring device for vessel mooring, comprising a base portion, a movable arm structure supported by the base portion and a magnet mounted in a frame, wherein the magnet is connected to a beam of the frame by means of a blade spring and has a certain shock absorption effect, but the shock absorption direction of said structure is single. The Chinese invention application No. CN201410467461.X discloses a multi-functional vessel berthing device, comprising one or more double-acting single-piston oil cylinder disposed in a hull, wherein an electromagnet is fixed at an outer end of the piston, a two-stage decompression slow-dragging device is mounted at a front end of the piston. Said berthing device likewise can only implement the shock absorption in a single direction and has more constraints on the hull and poor security. Summary of the Invention
In view of the defects of the prior art, the objective of the present invention is providing a shape-changing multi-functional vessel berthing device having five degrees of freedom, which is a vessel berthing and shock absorption device that can operate in advance before the vessel is about to be berthed so as to reduce the vessel speed and to berth the vessel gradually and slowly. The present invention can provide a more safe and effective manner for berthing a vessel at a wharf or an offshore platform, or for offshore berthing between vessels, so as to improve the operation efficiency, stability and security in berthing and de-berthing, and reduce labor intensity, thereby overcome the defects of the prior art.
The problem to be solved by the present invention is implemented by adopting the following technical solution.
A shape-changing multi-functional vessel berthing device having five degrees of freedom, comprises a mounting base, a parallel berthing support, an elliptical chuck base, a magnetic chuck and an electromagnetic brake, wherein, the mounting base is fixedly mounted at the side of a vessel hull, for mounting and supporting the parallel berthing support; the rear end of the parallel berthing support is fixedly mounted on the mounting base, and the front end of the parallel berthing support is connected to the elliptical chuck base by means of an elastic hinge and the electromagnetic brake; the magnetic chuck is located at a front end of the elliptical chuck base and connected to the elliptical chuck base by means of a connecting hinge; a controller is further disposed on the vessel hull which equipped with said berthing device, and the controller is used for collecting information of the sensors mounted on the magnetic chuck and the parallel berthing support and controlling the parallel berthing support, the magnetic chuck and the electromagnetic brake. An electromagnetic reversing valve and a safety valve are further disposed on the mounting base. Two symmetrically arranged swing rods are disposed at a rear end of the elliptical chuck base, and crosswise arranged chuck connecting lugs are disposed at the front end of the elliptical chuck base. A rubber protection layer is disposed on the surface of the front end surface of the magnetic chuck, which can prevent damaging the coating layer of the hull when the magnetic chuck touching a berthing wharf, an offshore platform or a hull surface, and the thickness of the rubber protection layer is 0.5-3 mm; the number of the magnetic chucks is 10-30, each magnetic chuck is connected to the elliptical chuck base by means of an independent connecting hinge, and the axes of all connecting hinges can cross with each other. An objective of such a design is to improve a bonding degree and attaching flexibility between the magnetic chuck and the hull or the offshore platform to which the vessel is berthed by adopting multiple magnetic chucks crosswise arranged on the elliptical chuck base by taking into account of that most vessel hulls adopt a non-plane design, so that the present invention can adapt to the irregularity of the berthing point on the hull or on the offshore platform. The magnetic chuck and the electromagnetic brake are respectively connected to the power supply device in the vessel by means of cables.
The parallel berthing support is a parallel mechanism having a 3RPURR structure and having four degrees of freedom, comprises a left support chain, an intermediate support chain, a right support chain and a movable connecting plate. The front and rear ends of the left support chain, the intermediate support chain and the right support chain are respectively fixedly connected to the movable connecting plate and the mounting base. Structures of the left support chain, the intermediate support chain and the right support chain are completely identical, and all adopt an RPUR structure. Two symmetrically arranged double-lug bases, which disposed on a front end surface of the movable connecting plate, are respectively connected to the swing rods on the elliptical chuck base by means of the elastic hinges and the electromagnetic brakes; and a three-dimensional force sensor is further disposed on the movable connecting plate.
The left support chain comprises a left rear hinge, a left telescopic cylinder, a left universal joint and a left front hinge. The rear end of the left rear hinge is fixedly mounted on the mounting base by means of screws, the rear end of the left telescopic cylinder is fixedly connected to the front end of the left rear hinge, the front end of the left telescopic cylinder is fixedly connected to the rear end of the left universal joint, and the front end of the left universal joint is connected to the movable connecting plate by means of the left front hinge. The intermediate support chain comprises an intermediate rear hinge, an intermediate telescopic cylinder, an intermediate universal joint and an intermediate front hinge. T rear end of the intermediate rear hinge is fixedly mounted on the mounting base by means of screws, the rear end of the intermediate telescopic cylinder is fixedly connected to the front end of the intermediate rear hinge, the front end of the intermediate telescopic cylinder is fixedly connected to the rear end of the intermediate universal joint, and the front end of the intermediate universal joint is connected to the movable connecting plate by means of the intermediate front hinge. The right support chain comprises a right rear hinge, a right telescopic cylinder, a right universal joint and a right front hinge. The rear end of the right rear hinge is fixedly mounted on the mounting base by means of screws, the rear end of the right telescopic cylinder is fixedly connected to the front end of the right rear hinge, the front end of the right telescopic cylinder is fixedly connected to the rear end of the right universal joint, and the front end of the right universal joint is connected to the movable connecting plate by means of the right front hinge. The left telescopic cylinder, the intermediate telescopic cylinder and the right telescopic cylinder can be double-acting air cylinders, double-acting hydraulic cylinders or double-acting electro-hydraulic cylinders, and rubber protective bellows can be disposed outside each of the left telescopic cylinder, the intermediate telescopic cylinder and the right telescopic cylinder.
In the parallel berthing support, the axes of the left rear hinge and the right rear hinge are parallel to each other; the axes of the left rear hinge and the intermediate rear hinge are perpendicular to each other; the axes of the left front hinge, the intermediate front hinge and the right front hinge are parallel to each other; the axis of the left front hinge is perpendicular to both two axes of a cross axle of the left universal joint; in initial assembling of the parallel berthing support, one axis of the cross axle of the left universal joint is parallel to both one axis of the cross axle of the intermediate universal joint and one axis of the cross axle of the right universal joint, and the other axis of the cross axle of the left universal joint is parallel to both the other axis of the cross axle of the intermediate universal joint and the other axis of the cross axle of the right universal joint; the axis of the left rear hinge is parallel to one axis of the cross axle of the left universal joint.
From the perspective of mechanisms, the parallel berthing support is a parallel mechanism having totally four motional degrees of freedom comprising one translational degree of freedom and three rotational degrees of freedom in the space. In a situation in which the electromagnetic brake is powered off, a revolute pair between the movable connecting plate and the elliptical chuck base is released, said revolute pair together with the parallel berthing support thus constitute a hybrid connected mechanism having five degrees of freedom comprising two translational degrees of freedom and three rotational degrees of freedom in the space, and the structure of such mechanism is 3{-RPUR-}-R. When the electromagnetic brake is powered on, the hybrid connected mechanism constituted by the elliptical chuck base and the parallel berthing support is converted into a parallel mechanism having totally four motional degrees of freedom comprising one translational degree of freedom and three rotational degrees of freedom in the space. Powering-on and powering-off of the electromagnetic brake implement the mechanism constituted by the elliptical chuck base and the parallel berthing support being a metamorphic mechanism having four degrees of freedom or five degrees of freedom.
A laser ranging sensor used for measuring a vessel berthing speed and distance is further disposed on the front end surface of the elliptical chuck base, the signal output ends of the laser ranging sensor and the three-dimensional force sensor are connected to a computer and the controller, and the computer in the vessel performs data collection and analytical processing. Electromagnet can be used as the magnet in the magnetic chuck of the present invention, and generation and vanishing of the magnetic force of the magnetic chuck are implemented by means of powering-on and powering-off, thereby avoiding imposing a relatively large impact on the vessel equipment. The berthing device of the present invention can be completely retracted into the hull after mooring is removed, so as to avoid the running resistance against the travelling of the hull.
The beneficial effects of the present invention are as follows: compared with the prior art, when the vessel is berthing, the parallel berthing support drives the elliptical chuck base and the magnetic chuck to stretch out from the hull, the electromagnetic force generated by the magnetic chuck after being powered on connects the primary vessel hull to a wharf or a hull of other vessel to implement the mooring, then the left telescopic cylinder, the intermediate telescopic cylinder and the right telescopic cylinder synchronously shorten so that the vessel slowly gets close to the wharf, the offshore platform or other vessels, significantly reducing the impact force acting on the wharf, the offshore platform or other vessels during vessel berthing and ensuring the berthing security ; and the berthing operation can be completed by only one person in a relatively short period of time, thereby saving manpower, significantly improving the operation efficiency and enhancing security for people. In de-berthing, the magnetic chuck is powered off, and the parallel berthing support drives the elliptical chuck base to recover and retract into the hull. Double-acting air cylinders or double-acting hydraulic cylinders, which used as the three telescopic cylinders in the parallel berthing support, further provide two-way pressure retaining and shock absorbing functions in addition to the function of connection-supporting and telescopic function. Multi-point steady mooring can be implemented by means of a multi-point arrangement, which can significantly reduce the impact force acting on the wharf, the offshore platform or the other vessel during the berthing and ensure the security of the berthing. The rubber protection layer disposed on the front-end surface of the magnetic chuck can prevent the damage of the coating on the hull when the rubber protection layer touching the berthing wharf, the offshore platform or the surface of the other hull. In addition, the rubber material can increase the friction coefficient between the magnetic chuck and the outer plate of the hull. Mutual berthing and de-berthing between one vessel and other vessel during travelling can be conveniently and safely implemented by the use of the berthing device of the present invention, which is particularly suitable for an administrative enforcement vessel to perform a cruise inspection on other vessel and for offshore berthing between two vessels to perform a supply operation. The present invention further has the advantages such as simple structure, high security, good stability, and simple and convenient operation and maintenance, and can overcome the defects of the prior art.
Brief Description of the Drawings
FIG. 1 is a schematic diagram of a mounting status and a use status of a shape-changing multi-functional vessel berthing device having five degrees of freedom on a vessel according to the present invention;
FIG. 2 is a schematic diagram of an overall structure of a shape-changing multi-functional vessel berthing device having five degrees of freedom according to the present invention;
FIG. 3 is a structural schematic diagram of the parallel berthing support according to the present invention;
FIG. 4 is a schematic diagram of an arrangement of the magnetic chucks on the elliptical chuck base according to the present invention;
FIG. 5 is a structural schematic diagram of the elliptical chuck base according to the present invention; and
FIG. 6 is a partial structure schematic diagram of the elliptical chuck base according to the present invention.
Detailed Description of the Preferred Embodiments
In order to make the technical means, inventive features, achieved objectives and functions implemented by the present invention easier to be understood, the present invention will be described in further detail below with reference to specific embodiments and the drawings.
As shown in FIG. 1, FIG. 2, FIG. 3, FIG. 4, FIG. 5 and FIG. 6, a shape-changing multi-functional vessel berthing device having five degrees of freedom comprises a mounting base 1, a parallel berthing support 2, an elliptical chuck base 3, a magnetic chuck 4 and an electromagnetic brake 5. The mounting base 1 is fixedly mounted at the side of the hull of a vessel 6,and the mounting base 1 is used for mounting and supporting the parallel berthing support 2; the rear end of the parallel berthing support 2 is fixedly mounted on the mounting base 1, and the front end of the parallel berthing support 2 is connected to the elliptical chuck base 3 by means of an elastic hinge242 and the electromagnetic brake 5; the magnetic chuck 4 is located at the front end of the elliptical chuck base 3 and connected to the elliptical chuck base 3 by means of a connecting hinge; a controller 7 is further disposed on the hull of the vessel 6 equipped with the berthing device, and is used for collecting information of the sensors mounted on the magnetic chuck 4 and on the parallel berthing support 2 and controlling the parallel berthing support 2, the magnetic chuck 4 and the electromagnetic brake 5. An electromagnetic reversing valve and a safety valve are further disposed on the mounting base 1. Two symmetrically arranged swing rods 31 are disposed at the rear end of the elliptical chuck base 3, and crosswise arranged chuck connecting lugs 32 are disposed at the front end of the elliptical chuck base 3. A rubber protection layer is disposed on the front end surface of the magnetic chuck 4, and can prevent the magnetic chuck from damaging the hull coating when it is touching a berthing wharf, an offshore platform or a hull surface, and the thickness of the rubber protection layer cab be 0.5-3 mm; and the rubber protection layer can further prevent the direct touching of the magnetic chuck 4 with a mooring steel plate on the wharf or the offshore platform, which may otherwise cause a magnetization phenomenon. The number of the magnetic chucks 4 can be
10-30, each magnetic chuck 4 is connected to the elliptical chuck base 3 by means of an independent connecting hinge, and the axes of all connecting hinges cross with each other. The magnetic chuck 4 and the electromagnetic brake5 are respectively connected to a power supply device in the vessel 6 by means of a cable.
As shown in FIG. 1, FIG. 2 and FIG. 3, the parallel berthing support 2 is a parallel mechanism with a 3RPURR structure and having four degrees of freedom. The parallel berthing support 2 comprises a left support chain 21, an intermediate support chain 22, a right support chain 23 and a movable connecting plate 24. The front and rear ends of the left support chain 21, the intermediate support chain 22 and the right support chain 23 are respectively fixedly connected to the movable connecting plate 24 and the mounting base 1. Structures of the left support chain 21, the intermediate support chain 22 and the right support chain 23 are completely identical, and each one adopts an RPUR structure. Two symmetrically arranged double-lug bases 241 are disposed on the front end surface of the movable connecting plate 24 and connected to the swing rods 21 on the elliptical chuck base 3 by means of the elastic hinge 242 and the electromagnetic brake 5; and a three-dimensional force sensor is further disposed on the movable connecting plate 24.
As shown in FIG. 1, FIG. 2 and FIG. 3, the left support chain 21 comprises a left rear hinge 211, a left telescopic cylinder 212 and a left universal joint 213. The rear end of the left rear hinge 211 is fixedly mounted on the mounting base 1 by means of screws, the rear end of the left telescopic cylinder212 is fixedly connected to the front end of the left rear hinge 211, the front end of the left telescopic cylinder212 is fixedly connected to the rear end of the left universal joint 213, and the front end of the left universal joint213 is connected to the movable connecting plate 24 by means of a left front hinge 214. The intermediate support chain 22 comprises an intermediate rear hinge 221, an intermediate telescopic cylinder 222 and an intermediate universal joint 223. The rear end of the intermediate rear hinge 221 is fixedly mounted on the mounting base 1 by means of screws, the rear end of the intermediate telescopic cylinder222 is fixedly connected to the front end of the intermediate rear hinge 221, the front end ofthe intermediate telescopic cylinder222 is fixedly connected to the rear end of the intermediate universal joint 223, and the front end of the intermediate io universal joint 223 is connected to the movable connecting plate 24 by means of an intermediate front hinge 224. The right support chain 23 comprises a right rear hinge 231, a right telescopic cylinder 232 and a right universal joint 233. The rear end of the right rear hinge 231 is fixedly mounted on the mounting base 1 by means of screws, the rear end of the right telescopic cylinder232 is fixedly connected to the front end of the right rear hinge 231, the front end of the right telescopic cylinder232 is fixedly connected to the rear end of the right universal joint 233, and the front end of the right universal joint233 is connected to the movable connecting plate 24 by means of a right front hinge 234. Double-acting air cylinder or double-acting hydraulic cylinder can be used as the left telescopic cylinder 212, the intermediate telescopic cylinder 222 and the right telescopic cylinder232. A rubber protective bellows is disposed respectively outside each of the left telescopic cylinder 212, the intermediate telescopic cylinder 222 and the right telescopic cylinder 232.
As shown in FIG. 1, FIG. 2 and FIG. 3, in the parallel berthing support 2, the axes of the left rear hinge 211 and the right rear hinge 231 are parallel to each other; the axes of the left rear hinge 211 and the intermediate rear hinge 221 are perpendicular to each other; the axes of the left front hinge 214, the intermediate front hinge 224 and the right front hinge 234 are parallel to each other; the axes of the left front hinge 214 is perpendicular to both of the two axes of the cross axle of the left universal joint 213. In initial assembling of the parallel berthing support 2, one axes of the cross axle of the left universal joint213 is parallel to both one axis of the cross axle of the intermediate universal joint223 and one axis of the cross axle of the right universal joint 233, and the other axes of the cross axle of the left universal joint213 is parallel to both the other axis of the cross axle of the intermediate universal joint223 and the other axis of the cross axle of the right universal joint 233; The axis of the left rear hinge 211 is parallel to one axis of the cross axle of the left universal joint 213.
As shown in FIG. 1, FIG. 2, FIG. 4, FIG. 5 and FIG. 6, Laser ranging sensor (s) 33,used for measuring vessel berthing speed and distance, being further disposed on the front end surface of the elliptical chuck base 3, the signal output ends of the laser ranging sensor 33 and the three-dimensional force sensor are connected to a computer and the controller 7, and the computer in the vessel 6 performs data collection and analytical processing.
During berthing at the wharf or the offshore platform, a mooring steel plate used for berthing needs to be fixed on the wharf in advance. The mooring steel plate has relatively high magnetic permeability and can be adjusted according to the change of the water level. The laser ranging sensor 33 mounted on the front end surface of the elliptical chuck base 3 transmits distance and speed signals of the vessel 6 to a processor of the computer, then the processor of the computer controls whether to power on the magnetic chuck 4 by means of the controller 7, so as to implement the control of the double-acting left telescopic cylinder 212, intermediate telescopic cylinder 222, and right telescopic cylinder 232 to perform telescopic motions according to different working distances. When a vessel equipped with the berthing device of the present invention is about to get close to the wharf, the offshore platform, or other vessel, the double-acting left telescopic cylinder 212, intermediate telescopic cylinder 222, and right telescopic cylinder 232 work in advance; the electromagnetic brake 5 is powered on, so that a rigid connection state is kept between the elliptical chuck base 3 and the movable connecting plate 24, and a rotational degree of freedom between the elliptical chuck base 3 and the movable connecting plate 24 is eliminated; when the magnetic chuck 4 touches the mooring steel plate of the wharf or the offshore platform or other vessel, the magnetic chuck 4 is powered on to generate a magnetic force, so that the magnetic chuck 4 and the mooring steel plate or other vessel are tightly attached together, and then the electromagnetic brake 5 is powered off so that a revolute pair between the elliptical chuck base 3 and the movable connecting plate 24 is released; then, the parallel berthing support 2 starts to retract, and the vessel 6 slowly gets close to the wharf, the offshore platform or other vessel under effects of multiple parallel berthing supports 2 and finally steadily berthing can be completed, thereby significantly reduces the impact force acting on the wharf, the offshore platform or other vessel 8 by the vessel 6 during berthing and ensures the security of the berthing operation.
In the present invention, during berthing the vessel 6, a relatively large lateral force may be applied to a berthing side of the wharf, the offshore platform or other vessel 8 because of factors of winds, waves, and water flows, especially in an offshore deep-water wharf berthing water area. In this case, the double-acting left telescopic cylinder 212, intermediate telescopic cylinder 222 and right telescopic cylinder 232 in the parallel berthing support 2 play the role of pressure retaining and shock absorbing, i.e., stress on the vessel is relieved for a second time; in the combination with the rotational degree of freedom between the released elliptical chuck base 3 and the movable connecting plate 24 and a cushioning and shock absorbing function of the elastic hinge 242, the vessel 6 is allowed to generate, in a certain range, a small extent of shaking having totally five motional degrees of freedom comprising at most two translational degrees of freedom and three rotational degrees of freedom in the space, thereby avoiding the rigid stress on the berthing device of the present invention and reducing the damage to the berthing device of the present invention. In de-berthing, the magnetic chuck 4 is powered off, the electromagnet in the magnetic chuck 4 is demagnetized so that the magnetic chuck 4 gets away from the mooring steel plate or other vessel 8. After the berthing operation of the vessel 6 is completed, the parallel berthing support 2, along with the elliptical chuck base 3 and the magnetic chuck 4 can retract into the hull of the vessel 6, so as to avoid the running resistance against the vessel 6 when it is on normal travelling .
In the description of the present invention, it should be understood that the orientation or positional relation indicated by the terms such as upper, lower, vertical, top, bottom, inside, outside, front, rear, left and right are based on the orientation or positional relation shown in the drawings, and are merely for convenience in describing the present invention and simplification of the description, instead of indicating or suggesting that the indicated device or element must have a specific orientation or be constructed and operated in a specific orientation, and thus are not to be construed as limitations on the present invention.
The basic principles, main features and advantages of the present invention have been shown and described above. It should be understood by those skilled in the art that the present invention is not limited by the above embodiments, and only the principles of the present invention are described in the above embodiments and description. Various changes and modifications can be made to the present invention without departing from the spirit and scope of the present invention, and all of these changes and modifications fall into the scope claimed to be protected by the present invention. The scope claimed to be protected by the present invention is defined by the attached claims and equivalents thereof.
Claims (8)
1. A shape-changing multi-functional vessel berthing device having five degrees of freedom, comprising: a mounting base, a parallel berthing support, an elliptical chuck base, magnetic chuck (s) and an electromagnetic brake, characterized in that: the mounting base is fixedly mounted at two sides of a vessel hull; the rear end of the parallel berthing supports is fixedly mounted on the mounting base, and the front end of the parallel berthing support is connected to the elliptical chuck base by means of an elastic hinge and the electromagnetic brake; the magnetic chuck is located at the front end of the elliptical chuck base and connected to the elliptical chuck base by means of a connecting hinge; a controller is further disposed on the vessel hull equipped with the berthing device; a rubber protection layer is disposed on the front end surface of the magnetic chuck, and the thickness of the rubber protection layer is 0.5-3 mm;
the parallel berthing support is a parallel mechanism of a 3RPUR structure and comprises a left support chain, an intermediate support chain, a right support chain and a movable connecting plate, the front and rear ends of the left support chain, the intermediate support chain and the right support chain are respectively fixedly connected to the movable connecting plate and the mounting base; and the left support chain comprises a left rear hinge, a left telescopic cylinder, a left universal joint and a left front hinge, wherein the rear end of the left rear hinge is fixedly mounted on the mounting base by means of screws, the rear end of the left telescopic cylinder is fixedly connected to the front end of the left rear hinge, the front end of the left telescopic cylinder is fixedly connected to the rear end of the left universal joint, and the front end of the left universal joint is connected to the movable connecting plate by means of the left front hinge; the intermediate support chain comprises an intermediate rear hinge, an intermediate telescopic cylinder, an intermediate universal joint and an intermediate front hinge, wherein the rear end of the intermediate rear hinge is fixedly mounted on the mounting base by means of screws, the rear end of the intermediate telescopic cylinder is fixedly connected to the front end of the intermediate rear hinge, the front end of the intermediate telescopic cylinder is fixedly connected to the rear end of the intermediate universal joint, and the front end of the intermediate universal joint is connected to the movable connecting plate by means of the intermediate front hinge; the right support chain comprises a right rear hinge, a right telescopic cylinder, a right universal joint and a right front hinge, wherein the rear end of the right rear hinge is fixedly mounted on the mounting base by means of screws, the rear end of the right telescopic cylinder is fixedly connected to the front end of the right rear hinge, the front end of the right telescopic cylinder is fixedly connected to the rear end of the right universal joint, and the front end of the right universal joint is connected to the movable connecting plate by means of the right front hinge.
2. The shape-changing multi-functional vessel berthing device having five degrees of freedom according to claim 1, characterized in that: in the parallel berthing support, the axes of the left rear hinge and the right rear hinge are parallel to each other, and the axes of the left rear hinge and the intermediate rear hinge are perpendicular to each other; the axes of the left front hinge, the intermediate front hinge and the right front hinge are parallel to each other, and the axis of the left front hinge is perpendicular to both of the two axes of the cross axle of the left universal joint; in initial assembling of the parallel berthing support, one axis of the cross axle of the left universal joint is parallel to both one axis of the cross axle of the intermediate universal joint and one axis of the cross axle of the right universal joint, and the other axis of the cross axle of the left universal joint is parallel to both the other axis of the cross axle of the intermediate universal joint and the other axis of the cross axle of the right universal joint; and the axis of the left rear hinge is parallel to one axis of the cross axle of the left universal joint.
3. The shape-changing multi-functional vessel berthing device having five degrees of freedom according to claim 1, characterized in that: the structures of the left support chain, the intermediate support chain and the right support chain are completely identical and each of them adopt an RPUR structure.
4. The shape-changing multi-functional vessel berthing device having five degrees of freedom according to claim 1, characterized in that: an electromagnetic reversing valve and a safety valve are further disposed on the mounting base.
5. The shape-changing multi-functional vessel berthing device having five degrees of freedom according to claim 2, characterized in that: double-acting air cylinder, double-acting hydraulic cylinder, or double-acting electro-hydraulic cylinder is used as the left telescopic cylinder, the intermediate telescopic cylinder and the right telescopic cylinder.
6. The shape-changing multi-functional vessel berthing device having five degrees of freedom according to claim 1, characterized in that: the number of the magnetic chucks is 10-30, each magnetic chuck is connected to the elliptical chuck base by means of an independent connecting hinge, and the axes of the connecting hinges cross with each other.
7. The shape-changing multi-functional vessel berthing device having five degrees of freedom according to claim 1, characterized in that: a rubber protective bellows is disposed respectively outside the left telescopic cylinder, the intermediate telescopic cylinder and the right telescopic cylinder.
8. The shape-changing multi-functional vessel berthing device having five degrees of freedom according to claim 1, characterized in that: laser ranging sensor (s) used for measuring a vessel berthing speed and distance is (are) further disposed on the front end surface of the elliptical chuck base, the signal output end of the laser ranging sensor is connected to a computer and the controller, and the computer in the vessel performs data collection and analytical processing.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710934442.7A CN107521623B (en) | 2017-10-10 | 2017-10-10 | Five degree of freedom becomes cell type multi-purpose vessel berthing device |
| PCT/CN2017/108816 WO2019071665A1 (en) | 2017-10-10 | 2017-10-31 | Shape-changing multi-functional vessel berthing device having five degrees of freedom |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| GB201909798D0 GB201909798D0 (en) | 2019-08-21 |
| GB2571895A true GB2571895A (en) | 2019-09-11 |
| GB2571895B GB2571895B (en) | 2022-02-16 |
Family
ID=60684695
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB1909798.9A Expired - Fee Related GB2571895B (en) | 2017-10-10 | 2017-10-31 | Shape-changing multi-functional vessel berthing device having five degrees of freedom |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN107521623B (en) |
| GB (1) | GB2571895B (en) |
| WO (1) | WO2019071665A1 (en) |
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| CN114960556B (en) * | 2022-07-29 | 2022-10-25 | 鲁东大学 | Connecting device for unmanned ship and unmanned ship |
| CN117629570B (en) * | 2023-11-22 | 2024-07-26 | 华中科技大学 | Directional movable vibration exciter mounting base for ship dynamics test |
| CN118358695A (en) * | 2024-04-08 | 2024-07-19 | 中交天津航道局有限公司 | Full-freedom-degree-adjustment ship connecting device |
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Also Published As
| Publication number | Publication date |
|---|---|
| GB2571895B (en) | 2022-02-16 |
| CN107521623A (en) | 2017-12-29 |
| WO2019071665A1 (en) | 2019-04-18 |
| GB201909798D0 (en) | 2019-08-21 |
| CN107521623B (en) | 2018-05-29 |
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