RU215135U1 - TURNING TOW MOORING GEAR - Google Patents

Abstract

The utility model relates to equipment for mooring or rearrangement of ships and can be used by autonomous automatic tugs to carry out mooring operations of marine vehicles (cargo ships).

The technical task to which the proposed utility model is directed is to ensure the safe and fast performance of maritime maneuvers (escort, canting, mooring-unmooring) when implementing a crewless method for performing maritime maneuvers that does not require the participation of people directly on board ships.

The technical result lies in the fact that the proposed design of the mechanism for ship mooring takes into account different types of rolling, compensating for rolling when performing a rigid hitch, maintaining a high degree of reliability when distributing the load and preventing high concentration of stress in the metal structure.

The technical result is achieved due to the interconnection of the structural units of vertical and horizontal hydraulic units using hinged and spring connections. 1 fig.

Description

FIELD OF TECHNOLOGY.

The utility model relates to equipment for mooring or rearrangement of ships and can be used by autonomous automatic tugs to carry out mooring operations of marine vehicles (cargo ships), including for providing escort or tilting.

LEVEL OF TECHNOLOGY.

Known automatic mooring devices (ASHU), in particular, automatic electromagnetic mooring devices or automatic vacuum mooring devices used on a ship in mooring operations with a berth.

Existing AShU are intended for operation only on berths; due to their design features, they are not suitable as on-board equipment for a rigid hitch during offshore operations by tugboats.

The development of autonomous navigation and the smart port concept requires mooring technologies that replace fixed installations at a berth or on a ship in berthed mooring operations, as well as for approaching another ship for bunkering purposes.

Mooring devices are known according to patent documents.

"ELECTROMAGNETIC MOORING DEVICE", a.s. USSR SU 1 000 340 A1, IPC B63V 21/02, publ. 11/11/1981, equipped with two additional electromagnets with shock absorbers, one of which contains a drive, and the other contains an emphasis, three niches are made in the ship's hull, located in one horizontal plane, one in the diametrical plane, and the other two - symmetrically relative to it along the sides , while the drives of the main and additional electromagnets are made in the form of hydraulic cylinders located in the side niches, the ends of the body and the rod of each of which are connected, respectively, with the bottom of the niche and the electromagnet, by means of ball joints, the aforementioned stop is installed in the diametrical niche and is connected at one end to its bottom by means of a cylindrical hinge, and an electromagnet is connected to the opposite end of the stop by means of a ball joint, the shock absorbers of the onboard electromagnets are located between the bodies of the hydraulic cylinders and the walls of the niches, and the shock absorbers are diametrically located between the wall of the niche and the stop on its lower side.

It is also known "ELECTROMAGNETIC MOORING DEVICE", a.s. USSR SU 1 661 048 A1 IPC V63V 21/02, publ. 07/07/1991, including an electromagnetic system containing a housing with a winding of an electromagnet coil electrically connected to a power source on the shore, moreover, the housing is installed on the berth by means of a slider and dampers installed with the possibility of moving in vertical guides and dampers with the possibility of interacting with the anchor of the electromagnet placed on the ship's hull. Said dampers are installed between said berth and guides, and the body itself is pivotally connected to the slider by means of a spherical hinge.

In the patent RU 2013287 C1, B63B 21/00, pub. 05/30/1994, "SHIP MOORING DEVICE" is presented, containing a base installed on the deck. A manipulator with two levers and electromotor and electromagnetic switches is installed on the base. A mooring element is installed at the free end of the lever. The mooring trap is made with one M-shaped groove and interacts with the mooring element.

The purpose of this invention is to ensure reliable supply to the berth (or other vessel) and return (return) of the mooring element to the vessel under any difficult operating conditions without the use of manual labor with a significant reduction in labor and material costs for its manufacture.

Known "MOORING DEVICE" patent RU 2723697 C1, IPC B63V 21/02, pub. 06/17/2020, designed for magnetic mooring of unmanned ships. The mooring berthing device contains an electromagnet fixed through a shock absorber on the quay wall and connected via a controlled relay to a power supply source. Also, the device is additionally equipped with a control unit installed on the berth, the input of which is connected to a power supply source, and the output is connected to a controlled relay. The control unit is configured to interact with GPS/GLONAS navigation satellite systems. In turn, the electromagnet is made with the possibility of docking with the mating element installed on the hull of the unmanned vessel. EFFECT: possibility of automated mooring of ships without intervention in the control of a remote operator is achieved.

The proposed device solves the problem of automated mooring of crewless ships.

This result is achieved through radio communication between water (vessel) and land (berth) objects, carried out through a satellite navigation system and transceivers of objects. The organization of radio navigation communication between the ship and the berth allows, in turn, to create a magnetic field between them immediately before the ship is moored.

Known "MOORING DEVICE" patent RU 2734644 C1, IPC B63V 21/02, pub. 10/21/2020, relating to technical means for electric power supply and battery charging of unmanned or autonomous surface vessels when they are moored. The mooring mooring device contains a control unit located on the upper horizontal plane of the device and including interconnected AIS transponder, RTK base station, VHF radio modem designed for wireless data transmission from the RTK base station, and a computer, the output of which is connected to a controlled relay . It additionally contains on the lateral vertical plane a guide axle with a device sliding along it depending on the water level, which combines a float and an electrical contact device. The technical result consists in connecting unmanned or autonomous surface vessels to the electrical network for powering or recharging the ship's current sources while moored. Automatic mooring is carried out in conditions of fluctuating water levels.

ACCORDING TO FOREIGN PATENT SOURCES:

PATENT CN 108674582 - AUTOMATIC MAGNETIC MOORING DEVICE

The invention provides for an automatic magnetic mooring device and relates to the technical field of shipbuilding equipment. An automatic magnetic mooring device is used to berth a vessel on a quay or berth between watercraft. The automatic magnetic mooring device includes a base, a control box, a mechanical arm, a hydraulic cylinder, a spherical joint, an electromagnetic suction cup, a displacement sensor, and a triaxial force sensor.

In accordance with the shortcomings of existing ship mooring pattern technologies, the invention provides an automatic magnetic mooring device that can automatically sense the position of the ship and quickly moor the ship, preventing friction and collision between the ship and the dock, and can release and inhibit the movement amplitude and speed of the ship in six degrees. freedom by adjusting the stroke of the hydraulic cylinder and the position of the robotic arm after mooring is completed, and improves the mooring stability.

PATENT CN 208947539 - SHIP HYDRAULIC MOORING MACHINE

The utility model relates to the field of moored anchor cables of ships, in particular to a marine hydraulic cable apparatus. The utility model discloses a hydraulic mooring machine for a ship.

PATENT CN 211816034 - SHIP ANCHORING DEVICE.

The utility model discloses a vessel anchorage device that includes at least one set of a chuck electromagnetic mechanism, a hydraulic energy absorption mechanism, and a hydraulic station.

PATENT US 20070084395 - SYSTEM OF MOORING AND DOCKETING OF WATER VESSELS.

Disclosed are systems, methods and apparatus for docking and mooring a floating craft. An exemplary device may have a steel material or an electromagnetic generator connected to a vessel, including a vessel whose hull is made of ferrous metal. The device may also have an electromagnetic generator coupled to the docking station to selectively generate a magnetic field to attract or counteract the magnetic force field generated by the onboard electromagnetic generator. The communication device may be used to communicate with the control device to activate the electromagnetic generator.

The described structures are not used when performing a complex of marine operations performed by tugboats - skimming, escorting, mooring, due to the lack of the required level of structural reliability, which is justified by the applied forces and moments that occur during marine maneuvers. The lack of structural rigidity in the considered analogues is compensated by the number of placed units. In the event of pitching, a technology is used in which a certain unit performs "stepping over" in turn with other placed devices. This technology is relevant in the case of placing a variety of devices, which in turn is impossible on board the automatic tug.

The described analogues, both domestic and foreign, cannot be used if it is necessary to perform marine maneuvers both with the lag and the forecastle (stern), as well as at an angle, because their design does not provide for an appropriate rotary mechanism.

Technical solutions are known from patent documents that are structurally closer to the purpose of the claimed device, but they also do not solve the problem.

Known "SHIP MANIPULATOR" patent RU 2049698 C1 IPC B63V 21/02, pub. 12/10/1995, containing a base on which a hydraulic cylinder is pivotally mounted, interconnected with a rotary lever, on which an electric motor is installed, driving a microwinch, on the drum of which there is a cable that ensures the selection (lifting) of the mooring cable from the coastal trap located on the pier and transferring it to the ship. At the end of the manipulator lever there is a gripping device for holding the mooring cable with a ball end, equipped with an expanding mechanism, which is actuated by a cable traction at the moment the lever reaches its final working position. The other end of the cable traction is fixed to the ship's hull.

Known "SHIP MOORING DEVICE" patent RU 2013287 C1, IPC B63V 21/02, pub. 05/30/1994, containing the base installed on the deck. A manipulator with two levers and electromotor and electromagnetic switches is installed on the base. A mooring element is installed at the free end of the lever. The mooring trap is made with one M-shaped groove and interacts with the mooring element.

Known "Improved detachable floating mooring system with a turret" patent RU 2412080, IPC B63B 21/50, pub. February 20, 2011

The system includes a vessel with a cavity in its lower part, a turret extending from the deck level into the cavity, and a mooring buoy that can be connected to the cavity through a connecting mechanism. The buoy supports at least one riser string, wherein the riser string has a connecting element at its end and is capable of sliding through an opening in the buoy. The riser connecting element is configured to be attached to a movable transport element designed to lift the riser column to the deck level to connect the connecting element to the transfer channel on the ship. EFFECT: increased reliability of mooring, as well as acceleration of the processes of attachment and detachment.

Known "ELECTROMAGNETIC MOORING DEVICE" according to the utility model patent RU 40286 U1, IPC V63V 21/02, pub. 09/10/2004 Refers to auxiliary equipment for mooring vehicles with electric traction, in particular ships. EFFECT: automatic connection to the shore network, the possibility of starting propeller engines from it and recharging the battery.

Essence: an electromagnetic system in the form of a transformer, the core of which consists of two parts, carrying the primary and secondary windings, enclosed in separate housings, one of which with the primary winding is fixed with shock absorbers on the mooring column, and the other is attached to the frame installed on the bow or aft end of the vessel, by means of a telescopic rod with spherical hinges at the ends, with an axial spring shock absorber and radial springs connecting it with the frame. The primary winding is connected to the shore power supply, and the secondary - to the ship. On the lateral surface of the ends of the rods of both parts of the core and housings there are elements for pointing and joining the core. When the ship approaches the berth, the hull, having freedom of movement due to the rod, springs and hinges, with the help of guides and rollers, approaches the hull where the primary winding is located. Nozzles on the core rods provide an accurate articulation of its 2 parts.

TECHNICAL PROBLEM

The technical task to which the proposed utility model is directed is to ensure the safe and fast performance of maritime maneuvers (escort, canting, mooring-unmooring) when implementing a crewless method for performing maritime maneuvers that does not require the participation of people directly on board ships.

The technical problem is achieved by the fact that a rotary towing mooring mechanism is proposed, characterized in that it is equipped with hydraulic and mechanical structural elements that provide movement and rotation of the mechanism along three spatial axes X, Y, Z and interaction with rigid hitch means, while the rotary mechanism includes a round a base rotatably mounted on a stability rod with a weighted lower part, two parallel plates mounted with the possibility of displacement relative to the X, Y, Z axes, on one of which magnetic nodes are placed to ensure a rigid hitch, evenly on the outer cylindrical surface of the base there are teeth for involute engagement with the transmission mechanism, two vertical supports are installed on the base, connected by a rigid metal structure, to each of which four cylinders are fixed in pairs with the help of articulated joints with rods placed in them and springs to ensure the movement of the rods for pressing and squeezing, as well as the displacement of two parallel plates relative to the X, Y, Z axes, swivel joints are placed at the ends of the rods to secure one of the plates and displace a pair of plates in space, springs are placed on this plate on the reverse side and a hinged fastening for connection with the second plate with placed magnetic assemblies for a rigid coupling, while the rotary mechanism includes hydraulic cylinders with shock-absorbing springs placed in them and is equipped with a hinged rod structure made of horizontal and vertical hinged and rigidly connected rods, which connects for synchronous displacement in space of cylinders with rods and springs placed in them, and hydraulic cylinders located obliquely to provide the necessary stroke of the hydraulic cylinder rods in such a way that the lower ends of the hydraulic cylinders are attached to the base, and the upper ends are pivotally attached to the upper horizontal rod a lower rod structure to ensure vertical displacement of the plates, moreover, the plate with the placed magnetic nodes, while remaining parallel to the other plate, is installed with the possibility of rotation to ensure the maximum contact area with the mating surface, in addition, a counterweight is placed on the base on the opposite side of the plates.

TECHNICAL RESULT

The technical result lies in the fact that the proposed design of the mechanism for ship mooring takes into account different types of rolling, compensating for rolling when performing a rigid hitch, maintaining a high degree of reliability when distributing the load and preventing high concentration of stress in the metal structure.

The technical result is achieved due to the interconnection of the structural units of vertical and horizontal hydraulic units using hinged and spring connections.

SUMMARY OF THE INVENTION

The design with a swivel mechanism is justified by the need to perform marine maneuvers both with the log and the forecastle (stern), as well as at an angle. The claimed design provides mooring operations of marine vehicles (cargo ships) in such conditions.

The claimed design consists of a rod with a weighted part, which is designed to strengthen the structure and distribute the load, shifting the center of gravity. Thus, the main effort will be distributed and will not be concentrated on dynamic nodes.

A support metal structure is placed on the base with teeth, which serves both as a support and as a means of distributing the load. The teeth are designed to engage in a spur gear to rotate the mechanism.

Metal structures, hinged-rod and rigid-rod structures, hydraulic cylinders, thrust hydraulic spring cylinders and connected with hinged fasteners are necessary to provide a rigid hitch assembly with a greater number of degrees of freedom. Springs are placed in the cylinders to create force and cushion the moving rods. Cylinders Hydro-spring cylinders are connected by rigid and articulated rod structures for added overall rigidity and parallel displacement in space for uniform force distribution. The rigid rod structure is connected to hydraulic cylinders to provide vertical displacement. The hydraulic cylinders are also equipped with a spring for general shock absorption, especially when the pressure in the cylinders themselves decreases.

Resistant hydro-spring cylinders compensate for the load from the bulk, departure and approach of the tug to the cargo ship. Due to 4 movable rods, the position of the fixed plate with knots changes, providing a rigid hitch in space relative to the hull of the moored cargo ship.

The described design is equipped with a counterweight on the reverse side of the location of the plate with rigid coupling units.

Thus, the described structure is equipped with shock-absorbing units for vertical and horizontal forces. The design has rigidity due to metal structures.

THE ESSENCE OF THE INVENTION is illustrated by graphic materials, which show:

In FIG. 1 - a three-dimensional image of the device and partially a side section is presented.

DEVICE CONTAINS

1 - round base;

2 - weighted rod;

3 - plate;

4 - plate (with a placed node for a rigid hitch);

5 - teeth;

6 - vertical supports;

7 - supporting metal structure;

8 - swivel (for 4 thrust hydro-spring cylinders);

9 - cylinders (assembly of thrust hydro-spring cylinders);

10 - rods (assembly of thrust hydro-spring cylinders);

11 - spring (assembly of thrust hydro-spring cylinders);

12 - swivel (at the end of the rod of the thrust hydro-spring cylinder));

13 - spring (located between the plates);

14 - swivel (placed between the plates);

15 - hinged rod structure;

16 - hydraulic cylinder;

17 - damping spring of the hydraulic cylinder;

18 - swivel (for attaching a hydraulic cylinder and a rigid rod structure);

19 - counterweight;

20 - swivel (for fastening the hinged rod structure and the cylinder of the thrust hydro-spring cylinder);

21 - rigid-rod design.

The swivel mechanism for ship mooring comprises a round base 1 mounted for rotation on a weighted rod 2 providing stability, two parallel plates 3, 4 mounted with the possibility of turning in both directions along a certain length of the arc, magnetic nodes are placed on the plate 4 to ensure a rigid hitch, on the outer cylindrical surface of the base 1 teeth 5 are evenly spaced for involute engagement with the transmission mechanism. On the base 1, two vertical supports 6 are installed, connected to a rigid supporting metal structure 7, to each of which, by means of articulated joints 8, four cylinders of the thrust hydro-spring cylinder 9 are fixed in pairs with rods 10 and springs 11 placed in them to ensure the movement of the rods 10 on pressing and pressing. At the ends of the rods 10 there are swivel joints 12 for fixing the plate 3 and shifting the pair of plates 3, 4 relative to the vertical in space. On the plate 3 of the reverse side there are springs 13 and articulated fasteners 14 for connecting and compensating for displacement relative to the horizon with the plate 4, with magnetic assemblies for a rigid hitch. The mechanism is equipped with a hinge-rod structure 15, which connects for synchronous displacement in space the cylinders of the thrust hydro-spring cylinders 9, with the rods 10 and springs 11 placed in them. The hydraulic cylinders 16 with the damping springs 17 placed in them are located at an angle to the base 1, for ensuring the necessary stroke of the rods of the hydraulic cylinders 16 to ensure the displacement of the plates 3, 4 vertically. On the basis 1, on the opposite side of the plates 3, 4, a counterweight 19 is placed. 18 to ensure vertical displacement of plates 3, 4.

THE DEVICE WORKS AS FOLLOWS.

The structure is controlled remotely with the possibility of automatic control without reference to a specific node for a rigid hitch - magnetic.

When mooring the tug to the cargo ship, a signal is sent to the control mechanism to rotate the structure relative to the ship for a rigid hitch so that the plane of the plate 4 of the rotary structure and the hull of the cargo ship are parallel. When the plate 4 comes into contact with the side of the cargo ship, a signal is given to turn on the magnetic assembly. Thus, the mooring of the tug to the cargo ship is carried out.

When the tug is working on a prick in the telescopic thrust spring cylinder, the spring 11 is compressed and, due to the reduction in the length of the rod 10, there is a tight contact of the fender of the tug with the side of the cargo ship to reduce the load on the mooring rotary device. Thus, the tug performs the work on the injection directly with its hull, while maintaining its location at the side of the cargo ship due to the rigid coupling (magnetic) with the side of the cargo ship.

When the tug moves away from the side of the vessel, the extension length of the rod 10 increases at the telescopic thrust spring cylinder, which allows creating a distance for the tug between the side of the vessel in order to avoid the jet thrust of the rudder propeller against the side of the cargo vessel. At the same time, thanks to the hinged fastenings 8, 12, 14, 18, 20, the cylinder-spring devices compensate for all types of pitching, which prevents damage to the structure.

Thanks to the swivel mooring structure, the tug can make a turn for escort and canting in relation to the tug's attachment point with the side of the cargo ship.

At the end of towing operations, a control signal is given to turn off the magnetic assembly, followed by the departure of the tug from the side of the cargo ship.

Thanks to the mechanical shock-absorbing springs 11 in the telescopic thrust spring cylinder, the towing rotary mooring device returns to its original traveling position. After that, a control signal is given to turn the structure to return to the stowed position.

DEVICE RELIABILITY.

The reliability of the device has been confirmed by experiments.

In order to substantiate the rigidity of the structure, an experiment was carried out describing the state and behavior of nodes under different loads on statics and stability.

The conducted experiment revealed the expected stress concentration among the teeth of the cylindrical gearing, as well as the swivel joints. Static analysis confirmed the need for a vertical stem to hold the telescopic assembly. The spectral map of the experiment indicates the optimal version of the claimed design.

There is no locking mechanism on the mechanism, such as for fixing the position of the structure in space relative to the ship's hull. When performing escort, canting and other marine operations with the help of a tug, the mooring device acts as a communication node between the tug and the cargo ship, therefore, when performing some marine maneuvers, there will be contact between the hulls, reducing the load, force from the rotary mooring device due to the hull of the hull itself.

Claims (1)

Rotary towing mooring mechanism, characterized in that it is equipped with hydraulic and mechanical structural elements that provide movement and rotation of the mechanism along three spatial axes X, Y, Z and interaction with rigid hitch means, while the swivel mechanism includes a round base mounted for rotation on providing stability to the rod with a weighted lower part, two parallel plates mounted with the possibility of displacement relative to the X, Y, Z axes, on one of which magnetic nodes are placed to ensure a rigid hitch, on the outer cylindrical surface of the base, teeth for involute engagement with the gear mechanism, two vertical supports are installed on the base, connected by a rigid metal structure, to each of which, by means of articulated joints, four cylinders are fixed in pairs with rods and springs placed in them to ensure the movement of the rods on the pressure holding and pressing, as well as the displacement of two parallel plates relative to the X, Y, Z axes, at the ends of the rods there are swivel joints for fixing one of the plates and displacement of a pair of plates in space, on this plate on the reverse side there are springs and a hinged mount for connecting with a second plate with placed magnetic assemblies for a rigid hitch, while the rotary mechanism includes hydraulic cylinders with shock-absorbing springs placed in them and is equipped with a hinged rod structure made of horizontal and vertical hinged and rigidly connected rods, which connects for synchronous displacement in the space of the cylinders with placed in them rods and springs, and hydraulic cylinders located obliquely to provide the necessary stroke of the hydraulic cylinder rods in such a way that the lower ends of the hydraulic cylinders are attached to the base, and the upper ends are pivotally attached to the upper horizontal rod of the hinged rod structure to ensure the rotation displacement of the plates, and the plate with the placed magnetic nodes, while remaining parallel to the other plate, is installed with the possibility of rotation to ensure the maximum contact area with the mating surface, in addition, a counterweight is placed on the base on the opposite side of the plates.

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