KR20110016610A - Docking system for a ship and docking method using the same - Google Patents

Abstract

PURPOSE: A ship docking system and a ship docking method using the same are provided to enable smooth loading and unloading of cargo by maintaining stable docking state of ships. CONSTITUTION: A ship docking system(100) comprises an attachment unit(110), a robot arm(120), a mooring cable(130), and a winch(140). The attachment unit is detachably attached to a hull. The robot arm transfers the attachment unit to the position for the attachment of the hull. The mooring cable pulls the attachment unit. The winch winds the mooring cable. The attachment unit comprises an adhesive pad(111).

Description

Docking system for ships and docking method for ships using it {DOCKING SYSTEM FOR A SHIP AND DOCKING METHOD USING THE SAME}

The present invention minimizes the time and effort required for docking of a ship and a ship or docking of a ship and a mobile port, and a docking system of a ship and a docking method of a ship using the same to ensure the stability of a system for docking a ship. It is about.

In general, maritime transportation using a vessel uses less energy than other transportation means, and transportation costs are also low, thus occupying a large portion as a remote transportation means such as goods.

Such vessels are equipped with equipment such as windlass for anchoring anchor cables or mooring winches for winding mooring ropes for mooring the harbor. Mooring facilities are provided for fixing the mooring ropes of ships, and in recent years, in the sea transportation such as container ships, the ships have been enlarged to increase the transport efficiency and economic efficiency. As a result, more and more ports are required with mooring facilities and unloading facilities that can dock large vessels.

However, harbors that can be docked by large container ships are limited at home and abroad, and the construction of such a port is not only expensive, but also requires a large space. In addition, due to the construction of a large port has a lot of influence on the surrounding environment, such as causing a traffic jam or destruction of the coastal environment, there are many restrictions on the construction of a large port.

Accordingly, the present applicant has invented a mobile port that can load and unload cargo while anchored in a sea off the land without docking a large vessel to the inner wall of the port, and filed a method of transporting the cargo using the same (Korean Application No. 10) -2008-0041981, the name of the invention "mobile port for improving the marine transport system and cargo transfer method using the same") has been registered (Registration No. 10-0895604).

As described above, although the buffer connection device is used for docking of the ship in the mobile port according to the prior art, only such a device has a limitation in stably docking or mooring the ship in the mobile port, and is provided in a ship or a port. Docking mobile harbors and ships using existing mooring facilities takes a lot of time and effort, as well as the difficulty of docking them stably.

The present invention has been made to solve the above problems, to minimize the time and effort required for docking of ships and ships, as well as docking of floating mobile ports and ships, and to keep them in a stable docking state Ensure that the loading and unloading of the car is smooth.

The docking system of the ship according to the present invention, in the docking system of the ship, the attachment unit detachably attached to the hull, the robot arm for transferring the attachment unit to the attachment position of the hull, installed so as to pull the attachment unit It may include a mooring cable, and a winch installed to wind the mooring cable.

In the ship's docking system according to the present invention, the attachment unit includes an attachment pad for generating an attachment force for attachment to the hull, a connection member for connecting the attachment pad to the robot arm, and a ball joint for coupling the attachment pad to the connection member. It may further include a coupling portion.

In the docking system of the ship according to the present invention, the ball joint coupling portion, the ball housing provided in any one of the attachment pad and the connection member, the ball housing provided in the other of the attachment pad and the connection member to surround the ball, ball housing It may include a rotation limit to limit the rotation of the ball within.

In the docking system of the ship according to the present invention, the attachment pad may be adsorbed to the hull by the supply of vacuum or attached to the hull by the magnetic force generated by the supply of power.

In the ship's docking system according to the present invention, the robot arm includes a rotation member rotatably installed about an axis perpendicular to the installation surface, a first actuator for rotating the rotation member from the installation surface, and a hinge to the rotation member. It may include a transfer arm rotatably coupled by a shaft, and a second actuator for rotating the transfer arm about the hinge axis.

The docking method of the ship according to the present invention, in the method of docking the vessel, the step of transferring the attachment unit to the attachment position of the hull by the robot arm, attaching the attachment unit to the hull, and the actuator of the robot arm Off and winding the mooring cable for attracting the attachment unit to dock or moor the hull.

In the docking method of the ship according to the present invention, the step of attaching the attachment unit, the attachment unit is to be adsorbed to the hull by the vacuum supplied, or to be attached to the hull by the magnetic force generated by the power supplied to the attachment unit. Can be.

In the docking method of the ship according to the invention, the step of turning off the actuator, the driving force of the actuator so that the robot arm is free from the burden of the load when the mooring cable bears the load by winding the mooring cable connected to the attachment unit Can be released.

The present invention minimizes the time and effort required for docking of ships and ships, or docking of ships and mobile ports, and maintaining them in a stable docking state so that cargo loading and unloading can be performed smoothly. Has the effect of ensuring the stability of the system for.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In addition, in describing the present invention, when it is determined that the detailed description of the related known configuration or function may obscure the gist of the present invention, the detailed description thereof will be omitted.

1 is a perspective view showing a docking system of a ship according to a first embodiment of the present invention, Figure 2 is a side view showing a docking system of a ship according to a first embodiment of the present invention. As shown, the docking system 100 of the ship according to the first embodiment of the present invention is a robot for transferring the attachment unit 110 and the attachment unit 110 is attached to the hull 1 (shown in Figure 3) A robot arm 120, a mooring cable 130 installed to pull the attachment unit 110, and a winch 140 winding the mooring cable 130 may include a arm. It is possible to dock or moor between a vessel and a ship or a mobile harbor, or to dock or moor a vessel in a general port. Various types of vessels may be applied, such as passenger transport or other special purpose vessels, mobile harbors, and the like, as well as docking systems of ships according to other embodiments, as well as docking methods of ships according to one embodiment of the present invention. It is also applicable.

As shown in FIG. 3, the attachment unit 110 is detachably coupled to the hull 1 to fix the hull 1 or to release the hull 1 from being freed. For example, as in the present embodiment It may include an attachment pad 111 for generating an attachment force for attachment to the hull (1).

The attachment pad 111 is detachably attached to the hull 1 by various methods or configurations. For example, the attachment pad 111 is attached to the hull 1 by a vacuum supplied through a vacuum supply line from a vacuum supply unit, which is not shown in this embodiment. It may be adsorbed, for this purpose, a plurality of vacuum holes 111a for supplying a vacuum to the attachment surface may be formed. In addition, the attachment pad 111 may include, as another example, an electromagnet attached to the hull 1 by a magnetic force generated by the supply of power.

The attachment unit 110 allows the attachment pad 111 to be connected to the robot arm 120 and the connection member 112 to change the posture of the attachment pad 111 according to various shapes of the hull 1. And, it may further include a ball joint coupling portion 113.

The connection member 112 connects the attachment pad 111 to the end of the robot arm 120. The attachment pad 111 may be arranged in plurality in the connection member 112 by a plurality of attachment pads 111. In this case, the attachment pads 111 may be arranged in the connection member 112 in a line or two-dimensional.

As shown in FIGS. 4 and 5, the ball joint coupling part 113 couples the attachment pad 111 to the connection member 112. For this purpose, for example, the attachment pad 111 and the connection member ( The ball 113a provided in any one of the 112, the ball housing 113b provided in the other of the attachment pad 111 and the connection member 112 to surround the ball 113a, and the ball housing 113b It may include a rotation limiting portion 113c for limiting the rotation of the ball (113a) within.

The rotation limiting portion 113c is a ball 113a to prevent the ball 113a from being difficult to maintain a posture for attaching the attachment pad 111 to the hull 1 when free rotation is allowed from the ball housing 113b. ) To be rotatable from the ball housing 113b, but to limit the rotation of the ball 113a to some extent to maintain the posture of the attachment pad 111, for this purpose may have a variety of configurations, for example, the attachment pad A connecting shaft 113d for connecting the ball 113a to any one of the 111 and the connecting member 112, and an elastic cap 113e provided to wrap up to the connecting shaft 113d at the inlet of the ball housing 113b. It may include. Here, the elastic cap 113e is made of an elastic material such as rubber or synthetic resin to elastically support the connecting shaft 113d to limit the rotation of the ball 113a by restricting the movement of the connecting shaft 113d.

The robot arm 120 transfers the attachment unit 110 installed at the end to the attachment position of the hull 1. For this purpose, the robot arm 120 consists of a plurality of arms having joints so that the arm is rotated relative to the joint area by driving the actuator. It can be configured to transfer the attachment unit 110 to the attachment position of the hull (1), for example, to be rotatable about the axis (121a) perpendicular to the installation surface 2, such as a ship or a mobile port The rotating member 121 to be installed, the first actuator 122 for rotating the rotating member 121 from the mounting surface 2 about the vertical axis 121a, and the hinge shaft 123a to the rotating member 121. It may include a transfer arm 123 is rotatably coupled by a) and a second actuator 124 for rotating the transfer arm 123 about the hinge axis (123a).

The rotating member 121 may be installed on the base 125 fixed to the installation surface 2, and in this case, the vertical shaft 121a fixed to the bottom may be coupled to the base 125 so as to be rotatable.

For example, the first actuator 122 may be formed of a motor for rotating the rotating member 121 by rotating the vertical shaft 121a, and configured to transmit the rotational force of the motor to the vertical shaft 121a through a reducer or a plurality of gears. Can be.

The transfer arm 123 has a lower end connected to the rotating member 121 by a hinge shaft 123a, and is rotated back and forth around the hinge shaft 123a by the second actuator 124, and the attachment unit 110 is disposed at the end thereof. Is connected, it can have a stretchable structure to transport the attachment unit 110 in a narrow space while minimizing the rotation, for this purpose is composed of a plurality of arm parts (123b, 123c) sliding to each other any one arm The length can be changed by inserting or protruding the inside of the other arm portion 123c, and the third actuator 126 may be installed to expand and contract by sliding the arm portions 123b and 123c to each other.

For example, the third actuator 126 may adjust the length of the arm parts 123b and 123c by converting rotational force such as a motor into linear motion and transmitting the same to one of the arm parts 123b and 123c. As in the arm (123b, 123c) inside the cylinder to adjust the expansion and contraction of the arm (123b, 123c) by the piston rod operating by the supply of hydraulic or pneumatic reciprocating may be used.

On the other hand, the robot arm 120 is coupled to the attachment unit 110 around the hinge axis (123d) at the end, the attachment unit 110 around the hinge axis (123d) by the fourth actuator 127 back and forth. It can be rotated, the attachment unit 110 may be coupled to the hinge shaft 123d at the end of the transfer arm 123 as in this embodiment.

For example, the fourth actuator 127 may be formed of a motor that transmits a rotational force for rotating the attachment unit 110 by rotating the hinge shaft 123d fixed to the attachment unit 110 at the end of the transfer arm 123. In this case, the rotational force of the motor may be transmitted to the hinge shaft 123d through a reducer or a plurality of gears. In contrast, the attachment unit 110 may use the cylinder operated by hydraulic pressure or pneumatic hinge shaft 123d. It can be rotated from the transfer arm 123 around.

The mooring cable 130 is installed to attract the attachment unit 110 and is wound around the winch 140 to draw the hull 1 attached to the attachment unit 110 toward the installation surface 2. When the attachment unit 110 is attached to the hull 1, the load is not applied to the robot arm 120 by releasing the driving force by turning off the first to fourth actuators 122, 124, 126 and 127 of the robot arm 120. All the loads are to be avoided, which not only bears the load on the docking or mooring of the hull 1 but also makes the robot arm 120 free from the load burden, thereby simplifying and reducing the structure of the robot arm 120. Can be imported. In addition, the mooring cable 130 may be directly connected to the end of the attachment unit 110, for example, the connection member 112, or connected through a separate member in order to attract the attachment unit 110, In addition, it may be connected to the end of the robot arm 120.

The winch 140 may be installed on the installation surface 2 such as a ship or a mobile port to wind the mooring cable 130, and the rotational force of the motor 141 is transmitted through a speed reducer or a plurality of gears, not shown. The mooring cable 130 is wound on the outer circumferential surface of the reel 142 to be rotated.

As shown in FIG. 3, the docking system 100 of a ship according to the present invention includes a structure 3 such as a mobile harbor or a vessel in which a robot arm 120 is installed and a hull 1 of a ship such as a container ship. It may further include a fender (150) installed in. Accordingly, the structure of the hull 1 is prevented from colliding with the structure 3, in which the robot arm 120 is installed, by the fender 150 when winding the mooring cable 130, and the structure in which the robot arm 120 is installed. By acting to push the hull (1) from (3) it can be maintained the tension of the mooring cable 130, even when the sea conditions are poor, such as when the waves rough seas docking or mooring of ships, etc. Make it stable.

The fender 150 may be installed by the structure 3 on which the robot arm 120 is installed, or by the hull 1 of the ship to be docked or moored or a separate structure, and fixed to be installed to float on the surface of the water or to be positioned at a predetermined height. It may have a variety of installation structure, such as can be, and may have a material or structure that can withstand a strong external force and friction while absorbing shock.

6 is a perspective view showing a docking system of a ship according to a second embodiment of the present invention. As shown, the docking system 200 of the ship according to the second embodiment is attached to the hull 1 (shown in Figure 3) detachably attached to the unit 210, the attachment unit 210 to the hull (1) Robot arm 220 to be transferred to the attachment position of the), the mooring cable 230 is installed to attract the attachment unit 210, and the winch 240 is installed to wind the mooring cable 230 Since these configurations are described in detail in the ship's docking system 100 according to the first embodiment, only the differences from the ship's docking system 100 according to the first embodiment will be described.

The transfer arms 223 and 224 of the robot arm 220 are formed in plural and are rotatably coupled to each other by the hinge shaft 224a, and any one 224 around the hinge shaft 224a is the fifth actuator 228. For example, by being rotated by a cylinder, the attachment unit 210 can be accurately attached to a desired position of the hull 1 through various motions.

On the other hand, the fourth actuator 227 for rotating the attachment unit 210 around the hinge axis 224b at the end of the robot arm 220 is the end of the robot arm 220 and the transfer unit 210 as in this embodiment. It may be made of a cylinder hinged to the brackets (227a, 227b) provided in each, and by expanding or compressing the cylinder by the hydraulic or pneumatic pressure supplied from the outside by the robot arm 220 by adjusting the distance between the brackets (227a, 227b) ) To rotate the attachment unit (210).

7 is a perspective view showing a docking system of a ship according to a third embodiment of the present invention. As shown, the docking system 300 of the ship according to the third embodiment of the present invention, the attachment unit 310 and the attachment unit 310 detachably attached to the hull 1 (shown in Figure 3), Robot arm 320 for transferring the vehicle to the attachment position of the hull 1, a mooring cable 330 is installed to pull the attachment unit 310, and a winch is installed to wind the mooring cable 330 340, which are described in detail in the ship's docking system 100 according to the first embodiment, and only the differences from the ship's docking system 100 according to the first embodiment will be described. I will.

In this embodiment, the mooring cable 330 may be installed to be arranged along the robot arm 320. Therefore, the mooring cable 330 has an effect of integrating with other components, thereby minimizing the area occupied for the installation of the mooring cable 330 to enable compactness and easy installation of the system. At this time, the winch 340, the robot arm 320 is freed from such a load or the robot arm 320 when the mooring cable 330 bears the load due to the docking or mooring of the hull 1 (shown in Figure 3) It may be installed at a position to winding the mooring cable 330 so as not to harm the stability of the.

In addition, the mooring cable 330 may be formed in a number to be wound around each winch 340, as shown in Figure 7, thereby causing each of the mooring cable 330 to share the load hull (1); It is possible to enable a stable docking and mooring (shown in Figure 3), such a plurality of mooring cable 330 can be applied to the docking system of the ship according to the previous embodiment as well as the later embodiment.

8 is a perspective view showing a docking system of a ship according to a fourth embodiment of the present invention. As shown, the docking system 400 of the ship according to the fourth embodiment of the present invention, the attachment unit 410 and the attachment unit 410 detachably attached to the hull 1 (shown in Figure 3), Robot arm 420 for transporting to the attachment position of the hull 1, a mooring cable 430 is installed to attract the attachment unit 410, and a winch is installed to wind the mooring cable 430 440, which are described in detail in the ship's docking system 100 according to the first embodiment, and only the differences from the ship's docking system 100 according to the first embodiment will be described. I will.

In this embodiment, the mooring cable 430 may be installed inside the robot arm 420. Therefore, the mooring cable 430 may have the effect of forming the mooring cable 430 integrally with other components. The area occupied for the installation of 430 is minimized to enable compactness and easy installation of the system.

On the other hand, when the mooring cable 430 bears a load due to docking or mooring of the hull 1 (shown in FIG. 3), the robot arm 420 is not freed from such a load or does not impair the stability of the robot arm 420. A guide part (not shown) may be provided on the robot arm 420 to guide movement of the mooring cable 430 within the limit, and the guide part may be made of a separate member or a member of the robot arm 420. Can be. In addition, the winch 440 may allow the robot arm 420 to be free from the load or the robot arm 420 when the mooring cable 430 bears the load due to docking or mooring of the hull 1 (shown in FIG. 3). The mooring cable 430 may be installed at a position where the winding of the mooring cable 430 is not impaired.

The operation of the docking system of the ship according to the invention having such a configuration will be described in detail with the docking method of the ship according to an embodiment of the present invention, the docking method of the ship according to an embodiment of the present invention is Since it can be applied to all embodiments of the docking system of the ship according to the present invention will be described by taking the docking system of the ship according to the first embodiment as an example.

9 is a flowchart illustrating a docking method of a ship according to an embodiment of the present invention. As shown, the docking method of the ship according to an embodiment of the present invention includes the step of transferring the attachment unit to the hull by the robot arm (S10), the step of attaching the attachment unit to the hull (S20), and the robot arm It may include the step of (off) the actuator of (S30), and winding the mooring cable (S40).

According to the step (S10) of transferring the attachment unit to the hull by the robot arm, the vessel to be docked or mooring close to another vessel or mobile port (S11), and then the attachment unit 110 in the hull of the vessel to be docked or mooring Select the optimal position to attach (S12), the robot arm 120 to move the attachment unit 110 to the attachment position of the hull (S13). Here, the direction of the transfer arm 123 is driven by the driving of the first actuator 122, the front and rear rotation of the transfer arm 123 is driven by the driving of the second actuator 124, and the third actuator 126 is driven. By the expansion and contraction of the transfer arm 123, and by changing the posture of the attachment unit 110 by the driving of the fourth actuator 127 so that the attachment unit 110 reaches the position to be attached to the hull (1). do.

According to the step (S20) of attaching the attachment unit to the hull, the attachment unit 110 is to be adsorbed to the hull 1 by vacuum by the vacuum supplied, the vacuum is supplied to the attachment pad 111 from the outside by the vacuum hole The attachment unit 110 is adsorbed to the hull 1 through 111a. On the other hand, the attachment unit 110 may be attached to the hull 1 by the magnetic force generated by the power supplied when the magnetic attachment method rather than the vacuum adsorption method.

According to the step (S30) of turning off the actuator of the robot arm, by winding the mooring cable (S40) by winding the mooring cable 130 for pulling the attachment unit 110 by the mooring cable When the 130 loads due to docking or mooring of the vessel, the robot arm 120 releases the driving force of the first to fourth actuators 122, 124, 126 and 127 so as to be free from the load.

According to the step (S40) of winding the mooring cable, the first to fourth actuators 122, 124, 126, and 127 of the robot arm are turned off, and then directly or separately to the attachment unit 110 to attract the attachment unit 110. Winding the mooring cable 130 connected through the winch 140, etc., by pulling the hull 1 to be docked or mooring toward the installation surface (2) side, the hull 1 is a suitable distance from other ships or moving ports, etc. The docking or mooring while maintaining the, so that the mooring cable 130 to fully bear the load due to the docking or mooring of the hull (1).

As shown in FIG. 3, before winding the mooring cable 130, a fender between a structure 3 such as a mobile port or a ship in which a robot arm 120 is installed and a hull 1 of a ship such as a container ship is installed. After the fender 150 is installed, the mooring cable 130 may be wound. Accordingly, the structure of the hull 1 is prevented from colliding with the structure 3, in which the robot arm 120 is installed, by the fender 150 when winding the mooring cable 130, and the structure in which the robot arm 120 is installed. By acting to push the hull (1) from (3) it can be maintained the tension of the mooring cable 130, even when the sea conditions are poor, such as when the waves rough seas docking or mooring of ships, etc. Make it stable.

According to the embodiment of the present invention as described above, used when the ship and the ship docked or the ship and the mobile port docked at sea, the contact between the ship and the ship is made by the attachment unit using a vacuum or magnetic force, This attachment unit is to move the position using the robot arm. In addition, when the attachment unit is attached to the hull, all the load is applied to the mooring cable by turning off all the actuators of the robot arm, so that a large load applied when docking or mooring a large vessel is not a mooring arm. By applying to the cable it is possible to ensure the stability of the robot arm consisting of a rigid body (rigid body).

As described above, specific embodiments have been described in the detailed description of the present invention, but it is obvious that the technology of the present invention can be easily modified by those skilled in the art, and such modified embodiments are defined in the claims of the present invention. It will be included in the technical spirit described.

1 is a perspective view showing a docking system of a ship according to a first embodiment of the present invention,

2 is a side view showing a docking system of a ship according to a first embodiment of the present invention,

3 is a side view for explaining the operation of the docking system of the ship according to the first embodiment of the present invention,

4 is a rear view showing the docking system of the ship according to the first embodiment of the present invention,

5 is a side view showing a ball joint coupling unit showing a docking system of a ship according to a first embodiment of the present invention,

6 is a perspective view showing a docking system of a ship according to a second embodiment of the present invention,

7 is a perspective view showing a docking system of a ship according to a third embodiment of the present invention,

8 is a perspective view showing a docking system of a ship according to a fourth embodiment of the present invention,

9 is a flowchart illustrating a docking method of a ship according to an embodiment of the present invention.

<Explanation of symbols for the main parts of the drawings>

110,210,310,410: Attachment unit 111: Attachment pad

111a: vacuum hole 112: connecting member

113: ball joint coupling portion 113a: ball

113b: ball housing 113c: rotational limit

113d: connecting shaft 113e: elastic cap

120,220,320,420: Robot arm 121,221: Rotating member

121a: vertical axis 122: first actuator

123,223,224: Transfer arm 123a, 123d, 224a, 224b: Hinge shaft

123b and 123c: arm 124: second actuator

125: base 126: third actuator

127,227: 4th actuator 130,230,330,430: mooring cable

140,240,340,440: winch 141: motor

142: reel 150: fender

227a, 227b bracket 228: fifth actuator

1: hull 2: mounting surface

3: Structure

Claims (21)

In the docking system of a ship, An attachment unit detachably attached to the hull, A robot arm for transferring the attachment unit to an attachment position of the hull; A mooring cable installed to pull the attachment unit; A winch installed to wind the mooring cable; Docking system of the ship. The method of claim 1, The attachment unit, An attachment pad for generating an attachment force for attachment to the hull Docking system of the ship. The method of claim 2, The attachment unit, A connection member connecting the attachment pad to the robot arm; And a ball joint coupling part for coupling the attachment pad to the connection member. Docking system of the ship. The method of claim 3, wherein The ball joint coupling portion, A ball provided on any one of the attachment pad and the connection member; A ball housing provided on the other of the attachment pad and the connection member to surround the ball; It includes a rotation limiting portion for limiting the rotation of the ball in the ball housing Docking system of the ship. The method of claim 4, wherein The rotation limit unit, A connecting shaft connecting the ball to any one of the attachment pad and the connecting member; It is provided to surround the connection shaft at the inlet of the ball housing, made of an elastic material comprising an elastic cap for elastically supporting the connection shaft Docking system of the ship. The method of claim 3, wherein The attachment pad, The planar member is arranged in plurality in the connecting member Docking system of the ship. The method according to any one of claims 2 to 6, The attachment pad, Adsorbed to the hull by the supply of vacuum Docking system of the ship. The method according to any one of claims 2 to 6, The attachment pad, Attached to the hull by magnetic force generated by the supply of power Docking system of the ship. The method of claim 1, The robot arm, A rotating member rotatably installed about an axis perpendicular to the installation surface; A first actuator for rotating the rotating member from the mounting surface; A transfer arm coupled to the rotating member to be rotatable by a hinge shaft; A second actuator for rotating the transfer arm about the hinge axis; Docking system of the ship. The method of claim 9, The transfer arm is, Comprising a plurality of arm parts slidingly coupled to each other, the third actuator is installed so that the arm portion is stretched by sliding each other Ship's docking system The method according to claim 1 or 9, The robot arm, A fourth actuator for rotating the attachment unit about a hinge axis at an end thereof; Docking system of the ship. 11. The method according to claim 9 or 10, The transfer arm is, It is composed of a plurality of rotatably coupled to each other by a hinge axis, and one of which rotates about the hinge axis by a fifth actuator Docking system of the ship. The method of claim 1, The mooring cable, Installed to be arranged along the robot arm Docking system of the ship. The method of claim 1, The mooring cable, Installed inside the robot arm Docking system of the ship. The method according to any one of claims 1, 13 or 14, The mooring cable, Made up of a number of windings on each winch Docking system of the ship. The method of claim 1, Further comprising a fender installed between the structure the robot arm is installed and the hull Docking system of the ship. In a method of docking a ship, Transferring the attachment unit to the attachment position of the hull by the robot arm, Attaching the attachment unit to the hull; Turning off an actuator of the robot arm; Winding the mooring cable for attracting the attachment unit to dock or moor the hull; How to dock a ship. The method of claim 17, Attaching the attachment unit, The attachment unit is to be sucked to the hull by the vacuum supplied How to dock a ship. The method of claim 17, Attaching the attachment unit, The attachment unit is to be attached to the hull by a magnetic force generated by the power supplied How to dock a ship. The method of claim 17, Turning off the actuator, Winding the mooring cable to release the driving force of the actuator so that the robot arm is free from the burden of the load when the mooring cable bears the load. How to dock a ship. The method of claim 17, Winding the mooring cable, Winding the mooring cable after installing the fender between the structure and the hull and the robot arm is installed How to dock a ship.

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