WO2019071665A1 - 五自由度变胞式多用途船舶靠泊装置 - Google Patents
五自由度变胞式多用途船舶靠泊装置 Download PDFInfo
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- WO2019071665A1 WO2019071665A1 PCT/CN2017/108816 CN2017108816W WO2019071665A1 WO 2019071665 A1 WO2019071665 A1 WO 2019071665A1 CN 2017108816 W CN2017108816 W CN 2017108816W WO 2019071665 A1 WO2019071665 A1 WO 2019071665A1
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- hinge
- berthing
- telescopic cylinder
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- ship
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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
Definitions
- the invention belongs to the technical field of marine equipment, and particularly relates to a five-degree-of-freedom variable-cell multi-purpose ship berthing device.
- the artificial cable mooring method has the following disadvantages: (1) it requires time and effort for multiple people to operate at the same time; (2) the position of the ship is not accurate enough, and the hull and the dock, the offshore platform or other ships often have friction; (3) the ship After docking, the stability is poor, especially when the high-speed passenger ship or mooring at sea, the lateral sway is large, which affects the safety and comfort of the people going to and from the ship.
- the scrapped tires or other rubber objects are usually fixed on the side walls of the docked dock or on the side of the ship as anti-collision damping devices. It has certain safety protection for ships.
- waste tires As anti-collision and decompression devices: (1) When the ship is berthing, since the ship is still in motion, and the used tires are fixed, the old tires will only start when the ship is approaching the shore. To protect the ship, the impact of the ship on the tire is very large, and there will be a large friction between the used tire and the ship, which will still cause damage to the surface of the ship; (2) the tire is fixed and plays on the ship that docks quickly.
- the protection effect is limited, especially under the action of strong lateral wind.
- the existing fixed protection device can not effectively protect the hull and the front pile table; (3) the appearance of the used tires is ugly, affecting the water landscape, And it is easy to fall into the water and cause water pollution.
- the utility model patent of the application No. 200820007920.6 discloses a ship magnetic mooring device, which comprises a magnetic suction cup, an elastic damper and a hoist.
- the hoist is fixed on the hull, and is fixed on the dock steel plate by the steel cable of the hoist and the magnetic suction cup.
- the mooring has a certain auxiliary damping effect, but the mooring device is fixed outside the hull and cannot be self-expanded. After leaving the mooring, it will affect the navigation of the ship, and the mooring operation still needs the hoist and the steel cable, and the stability is poor.
- 201310045188.7 discloses a suspension folding berthing device comprising a support portion and a retracting device rotatably coupled to an offshore platform, and mooring stability of the technical solution by operation of a winch and a drawstring And the damping effect is poor.
- the Chinese invention patent No. 201380030009.0 discloses a mooring device for a mooring vessel, comprising a base, a movable arm structure supported by the base, and a magnet mounted in the frame, the magnet being connected to the frame by a leaf spring On the beam, it has a certain damping effect, but the vibration damping direction of the structure is single.
- 201410467461.X discloses a multi-purpose ship berthing device comprising one or more double-acting single-piston cylinders arranged in the hull, the outer end of the piston rod being fixed with an electromagnet, in the piston The front end of the rod is equipped with a secondary pressure reducing and pulling device, and the berthing device can only achieve vibration damping in a single direction, and has more constraints on the hull and poor safety.
- the object of the present invention is to provide a five-degree-of-freedom multi-purpose ship berthing device, which can reduce the ship speed and make the ship gradually slow to berth when the ship is about to berth.
- the ship is berthed by the damper and provides a safer and more efficient way to berth between the ship and the wharf or offshore platform or at sea. It improves the efficiency, stability and safety of berthing and berthing operations and reduces the labor intensity.
- the utility model relates to a five-degree-of-freedom multi-purpose ship berthing device, which comprises a mounting seat, a parallel berthing bracket, an elliptical suction cup holder, a magnetic suction cup and an electromagnetic brake.
- the mounting seat is fixedly mounted on both sides of the ship hull for mounting and supporting the parallel berth support; the rear end of the parallel berth support is fixedly mounted on the mount, and the front end of the parallel berth support
- the elliptical suction cup holder is connected by an elastic hinge and an electromagnetic brake; the magnetic suction cup is located at the front end of the elliptical suction cup holder, and is connected with the elliptical suction cup holder through a connecting hinge; and a controller is also provided on the installed ship hull.
- the sensor information is installed on the magnetic suction cup and the parallel berth support, and the parallel berth support, the magnetic suction cup and the electromagnetic brake are controlled.
- An electromagnetic reversing valve and a safety valve are also provided on the mounting seat.
- two symmetrically arranged swing rods are arranged, and at the front end of the elliptical suction cup holder, there are arranged suction cup connection ear sockets.
- the number of the magnetic chucks is 10-30, and each magnetic chuck and the elliptical chuck are connected by a separate connecting hinge, and the axes of the connecting hinges cross each other.
- the purpose of this design is to take into account the non-planar design of most ship hulls, so multiple magnetic suction cups are placed across the elliptical suction cup holder to improve the fit and adsorption between the magnetic suction cup and the berthed hull or offshore platform.
- the flexibility allows the invention to be adapted to the irregularities of the berth point of the hull or offshore platform.
- the magnetic chuck and the electromagnetic brake are respectively connected by a cable to a power supply device in the ship.
- the parallel berth support is a four-degree-of-freedom parallel mechanism of a 3RPUR structure, including a left support chain, a middle support chain, a right support chain and a moving link.
- a 3RPUR structure including a left support chain, a middle support chain, a right support chain and a moving link.
- the mount is fixed.
- the left support chain, the middle support chain, and the right support chain have the same structure, and all adopt the RPUR structure.
- Two symmetrically arranged binaural seats are arranged on the front end surface of the movable connecting plate, and the pendulum rod on the elliptical suction cup base is connected by an elastic hinge and an electromagnetic brake; and the movable connecting plate is further provided There are three-dimensional force sensors.
- the left support chain includes 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 seat by screws
- the rear end of the left telescopic cylinder is fixedly connected with the front end of the left rear hinge
- the front end of the left telescopic cylinder and the rear of the left universal joint End fastening, the front end of the left universal joint and the moving plate are connected by a left front hinge.
- the middle support chain includes a middle rear hinge, a middle telescopic cylinder, a middle joint, and a middle front hinge.
- the right support chain includes 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 seat by screws
- the rear end of the right telescopic cylinder is fixedly connected with the front end of the right rear hinge
- the front end of the right telescopic cylinder and the rear of the right universal joint The front end of the right universal joint is connected to the movable joint plate through the right front hinge.
- the left telescopic cylinder, the middle telescopic cylinder and the right telescopic cylinder adopt a double-acting cylinder or a double-acting hydraulic cylinder or a double-acting electro-hydraulic cylinder, and rubber ripples are arranged on the outside of the left telescopic cylinder, the middle telescopic cylinder and the right telescopic cylinder.
- Protective tube is provided to cover the left telescopic cylinder, the middle telescopic cylinder and the right telescopic cylinder.
- the axis 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 middle rear hinge are perpendicular to each other; the left front hinge and the front front hinge and the right front hinge are parallel to each other, and The axis of the left front hinge is perpendicular to the two axes of the cross joint of the left universal joint; when the parallel docking bracket is initially assembled, one axis of the left universal joint cross shaft is matched with the middle universal joint and the right universal Parallel to one axis of the cross shaft of the joint, the other axis of the left universal joint cross shaft is parallel to the other axis of the central joint and the cross joint of the right universal joint; the axis of the left rear hinge and the left axis Parallel to an axis of the cross axis of the section.
- the parallel berthing bracket is a parallel mechanism having a space of one translation, three rotations, and four motion degrees of freedom.
- the electromagnetic brake When the electromagnetic brake is powered off, the rotating pair between the movable plate and the elliptical chuck seat is released, and the rotating pair and the parallel docking bracket form a five-degree-of-freedom hybrid mechanism with two translations and three rotations. Its structure is 3 ⁇ -RPUR- ⁇ -R.
- the electromagnetic brake is energized, the hybrid mechanism formed between the elliptical suction cup holder and the parallel berth support becomes a parallel mechanism with only one translation, three rotations, and four motion degrees of freedom.
- the energization and de-energization of the electromagnetic brake realizes that the mechanism formed between the elliptical suction cup holder and the parallel berth support becomes a deformation mechanism having four degrees of freedom or five degrees of freedom.
- a laser ranging sensor for detecting the speed and distance of the ship's berthing is further disposed on the front end surface of the elliptical chucking seat, and the signal output end of the laser ranging sensor and the three-dimensional force sensor is connected to the computer and the controller. Data acquisition and analysis are performed by a computer in the ship.
- the magnet in the magnetic chuck of the invention adopts an electromagnet, and the generation and disappearance of the magnetic force of the magnetic chuck are realized by turning on and off, thereby avoiding a great influence on the ship equipment; after the mooring is released, the invention can be completely absorbed into the hull. Avoid running resistance to the hull.
- the invention has the beneficial effects that the parallel berth support drives the elliptical suction cup when the ship is berthed compared with the prior art.
- the seat and the magnetic suction cup extend outward from the hull. After being energized, the electromagnetic force generated by the magnetic suction cup connects the hull of the main ship with the hull of the dock or other ship to realize mooring, and then the left telescopic cylinder, the middle telescopic cylinder and the right telescopic cylinder are simultaneously shortened.
- the ship is slowly approached to the dock, offshore platform or other ships, greatly reducing the impact of the ship on the dock, offshore platform or other ships when berthing, ensuring the safety of berthing;
- the operation is completed in a short period of time, which not only saves manpower, but also greatly improves the work efficiency and increases the safety of personnel.
- the magnetic suction cup is powered off, and the parallel berthing bracket drives the elliptical magnetic suction cup to recover and retract into the hull.
- the three telescopic cylinders in the parallel berth support adopt double-acting cylinder or double-acting hydraulic cylinder. Besides the connection support and telescopic function, it also has two-way pressure-preserving and damping function.
- multi-point smooth mooring can be realized, which greatly reduces the impact force on the dock, offshore platform or other ships when berthing, and ensures the safety of berthing.
- a rubber protective layer is provided on the front end surface of the magnetic chuck of the present invention to prevent damage to the hull coating when it comes into contact with the docking station, the offshore platform or the surface of the hull.
- the rubber material can increase the coefficient of friction between the magnetic chuck and the outer hull.
- Figure 1 is a schematic view showing the state of installation and use on a ship according to the present invention
- Figure 2 is a schematic view of the overall structure of the present invention.
- FIG. 3 is a schematic structural view of a parallel berth support of the present invention.
- Figure 4 is a schematic view showing the arrangement of the magnetic chuck of the present invention on an elliptical suction cup holder
- Figure 5 is a schematic structural view of an elliptical suction cup holder of the present invention.
- Fig. 6 is a partial structural schematic view of an elliptical suction cup holder of the present invention.
- a five-degree-of-freedom multi-purpose ship berthing device comprises a mounting seat 1, a parallel berthing support 2, and an elliptical suction cup holder. 3. Magnetic chuck 4 and electromagnetic brake 5.
- the mounting seat 1 is fixedly mounted on both sides of the hull of the ship 6 for mounting and supporting the parallel berthing support 2; the rear end of the parallel berthing support 2 is fixedly mounted on the mounting seat 1 and connected in parallel
- the front end of the berth support 2 is connected to the elliptical suction cup holder 3 via an elastic hinge 242 and an electromagnetic brake 5;
- the magnetic suction cup 4 is located at the front end of the elliptical suction cup holder 3, and is connected to the elliptical suction cup holder 3 by a joint hinge;
- the installed ship 6 is also provided with a controller 7 for collecting sensor information mounted on the magnetic suction cup 4 and the parallel berth support 2, and controlling the parallel berth support 2, the magnetic suction cup 4 and the electromagnetic brake 5.
- An electromagnetic reversing valve and a safety valve are also provided on the mounting seat 1.
- Two symmetrically arranged swinging rods 31 are provided at the rear end of the elliptical suction cup holder 3, and a suction cup connecting lug 32 is disposed at the front end of the elliptical suction cup holder 3.
- a rubber protective layer is disposed on the front end surface of the magnetic chuck 4 to prevent damage to the hull coating when contacting the docking dock, the offshore platform or the hull surface, and the rubber The thickness of the protective layer is 0.5-3 mm, and the rubber protective layer can also prevent direct contact between the magnetic suction cup 4 pier or the mooring steel plate on the offshore platform, causing magnetization.
- the number of the magnetic chucks 4 is 10-30, and each of the magnetic chucks 4 and the elliptical chuck holder 3 are connected by a separate connecting hinge, and the axes of the connecting hinges cross each other.
- the magnetic chuck 4 and the electromagnetic brake 5 are respectively connected to the power supply device in the ship 6 by a cable.
- the parallel docking bracket 2 is a four-degree-of-freedom parallel mechanism of a 3RPUR structure, including a left support chain 21 , a middle 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 middle support chain 22, and the right support chain 23 are respectively fixed to the movable connecting plate 24 and the mounting seat 1.
- the left support chain 21, the middle support chain 22, and the right support chain 23 have the same structure, and all adopt the RPUR structure.
- Two symmetrically disposed binaural seats 241 are disposed on the front end surface of the movable connecting plate 24, and are connected to the swinging lever 31 on the elliptical chucking seat 3 via an elastic hinge 242 and an electromagnetic brake 5, A three-dimensional force sensor is also disposed on the movable plate 24.
- the left support chain 21 includes 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 seat 1 by screws.
- the rear end of the left telescopic cylinder 212 is fixedly connected to the front end of the left rear hinge 211, and the front end of the left telescopic cylinder 212 is left.
- the rear end of the universal joint 213 is fixedly connected, and the front end of the left universal joint 213 is connected to the movable joint plate 24 through the left front hinge 214.
- the middle support chain 22 includes a middle rear hinge 221, a middle telescopic cylinder 222, and a middle joint 223.
- the rear end of the middle rear hinge 221 is fixedly mounted on the mounting seat 1 by screws.
- the rear end of the middle telescopic cylinder 222 is fixedly connected to the front end of the middle rear hinge 221, and the front end of the middle telescopic cylinder 222 is middle and middle.
- the rear end of the universal joint 223 is fixedly connected, and the front end of the middle joint 223 is connected to the movable joint plate 24 through the center front hinge 224.
- the right support chain 23 includes 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 seat 1 by screws.
- the rear end of the right telescopic cylinder 232 is fixed to the front end of the right rear hinge 231, and the front end and the right side of the right telescopic cylinder 232 are fixed.
- the rear end of the universal joint 233 is fixedly connected, and the front end of the right universal joint 233 is connected to the movable joint plate 24 via the right front hinge 234.
- the left telescopic cylinder 212, the middle telescopic cylinder 222, and the right telescopic cylinder 232 adopt a double-acting cylinder or a double-acting hydraulic cylinder, and rubber ripples are disposed on the outside of the left telescopic cylinder 212, the middle telescopic cylinder 222, and the right telescopic cylinder 232.
- Protective tube is provided to the front end of the right rear hinge 231, and the front end and the right side of the right telescopic cylinder 232 are fixed.
- the rear end of the universal joint 233 is fixedly connected, and the front end of
- the axes of the left rear hinge 211 and the right rear hinge 231 are parallel to each other in the parallel docking bracket 2, and the axes of the left rear hinge 211 and the middle rear hinge 221 are perpendicular to each other;
- the axis of the left front hinge 214 and the front front hinge 224 and the right front hinge 234 are parallel to each other, and the axis of the left front hinge 214 is perpendicular to the two axes of the cross shaft of the left universal joint 213;
- one axis of the left universal joint 213 cross shaft is parallel to one axis of the central joint 223 and the right universal joint 233, and the other axis of the left universal joint 213 cross shaft is The other axis of the cross joint of the middle joint 223 and the right joint 233 is parallel;
- the axis of the left rear hinge 211 is parallel to an axis of the cross of the left joint 213.
- a laser distance measuring sensor 33 for detecting the berthing speed and distance of the ship is further provided on the front end surface of the elliptical chuck holder 3,
- the signal output terminals of the laser ranging sensor 33 and the three-dimensional force sensor are connected to the computer and the controller 7, and data acquisition and analysis processing is performed by a computer in the ship 6.
- the mooring steel plate When berthing at a wharf or an offshore platform, it is necessary to fix the mooring steel plate for berthing at the pier in advance, the mooring steel plate It has high magnetic permeability and can be adjusted with the change of water level.
- the laser distance measuring sensor 33 mounted on the front end surface of the elliptical chuck holder 3 transmits the distance and speed signals of the ship 6 to the processor of the computer, and then the computer processor controls whether the magnetic chuck 4 is powered by the controller 7, according to Different working distances realize the double-acting left telescopic cylinder 212, the middle telescopic cylinder 222, and the right telescopic cylinder 232 to perform a telescopic movement.
- the double-acting left telescopic cylinder 212, the middle telescopic cylinder 222, and the right telescopic cylinder 232 operate in advance; the electromagnetic brake 5 is energized, so that the elliptical suction cup holder 3 moves
- the connecting plate 24 maintains a rigid connection state, eliminating the degree of freedom of rotation between the elliptical chucking seat 3 and the movable connecting plate 24; when the magnetic chuck 4 contacts the mooring plate or other ship of the dock or the offshore platform, the magnetic chuck 4 is energized to generate a magnetic force.
- the magnetic chuck 4 is tightly adsorbed together with the mooring plate or other ship, and then the electromagnetic brake 5 is powered off, so that the rotating pair between the elliptical chuck base 3 and the movable plate 24 is released; then, the parallel berth support 2
- the ship 6 is slowly approached to the dock or offshore platform or other ships, and finally berthing is smoothly achieved, which greatly reduces the berthing of the ship 6 to the pier or the sea.
- the impact force of the platform or other ship 8 ensures the safety of the berthing operation.
- the ship 6 When the ship 6 is berthed, the ship 6 will have a relatively significant lateral force on the berth side of the dock or offshore platform or other ships 8 due to wind, waves and water flow, especially in the offshore waters where the offshore deep water pier is moored.
- the double-acting left telescopic cylinder 212, the middle telescopic cylinder 222, and the right telescopic cylinder 232 in the parallel berth support 2 play a role of pressure-preserving and damping, and secondarily relieve the force of the ship, and the released elliptical suction cup holder 3
- the degree of freedom of rotation with the movable platen 24 and the cushioning and damping effect of the elastic hinge 242 allow the ship 6 to generate a space within a certain range of up to two translations and three rotations with a total of five degrees of freedom of motion relative to small amplitudes of shaking,
- the rigidity of the present invention is avoided, and the damage to the present invention is reduced.
- the power supply of the magnetic chuck 4 is disconnected, and the electromagnet in the magnetic chuck 4 loses the magnetic force to cause the magnetic chuck 4 to leave the mooring plate or other ship 8.
- the parallel berth support 2 together with the oval suction cup The seat 3 and the magnetic chuck 4 can be contracted into the hull of the ship 6 so as not to cause travel resistance to the normal running of the ship 6.
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Abstract
Description
Claims (8)
- 一种五自由度变胞式多用途船舶靠泊装置,包括安装座、并联靠泊支架、椭圆吸盘座、磁力吸盘和电磁制动器,其特征在于:所述的安装座固定安装在船舶船体的两侧;所述的并联靠泊支架的后端固定安装在安装座上,并联靠泊支架的前端与椭圆吸盘座通过弹性铰链和电磁制动器相连接;所述的磁力吸盘位于椭圆吸盘座的前端,且与椭圆吸盘座通过连接铰链相连接;在被安装的船舶船体上还设有控制器;在所述的磁力吸盘的前端面上设有橡胶保护层,且所述的橡胶保护层的厚度为0.5-3mm;所述的并联靠泊支架为3RPU结构的并联机构,包括左支撑链、中支撑链、右支撑链和动连板,所述的左支撑链、中支撑链、右支撑链的前后两端分别与动连板、安装座固连;所述的左支撑链包括左后铰链、左伸缩缸、左万向节和左前铰链,所述的左后铰链的后端通过螺钉固定安装在安装座上,所述的左伸缩缸的后端与左后铰链的前端固连,左伸缩缸的前端与左万向节的后端固连,所述的左万向节的前端与动连板通过左前铰链相连接;所述的中支撑链包括中后铰链、中伸缩缸、中万向节和中前铰链,所述的中后铰链的后端通过螺钉固定安装在安装座上,所述的中伸缩缸的后端与中后铰链的前端固连,中伸缩缸的前端与中万向节的后端固连,所述的中万向节的前端与动连板通过中前铰链相连接;所述的右支撑链包括右后铰链、右伸缩缸、右万向节和右前铰链,所述的右后铰链的后端通过螺钉固定安装在安装座上,所述的右伸缩缸的后端与右后铰链的前端固连,右伸缩缸的前端与右万向节的后端固连,所述的右万向节的前端与动连板通过右前铰链相连接。
- 根据权利要求1所述的一种五自由度变胞式多用途船舶靠泊装置,其特征在于:所述的并联靠泊支架中左后铰链与右后铰链的轴线相互平行,左后铰链与中后铰链的轴线相互垂直;所述的左前铰链与中前铰链、右前铰链的轴线相互平行,且所述的左前铰链的轴线与左万向节的十字轴的两条轴线均垂直;在并联靠泊支架初始装配时,左万向节十字轴的一条轴线均与中万向节、右万向节的十字轴的一条轴线相平行,左万向节十字轴的另一条轴线均与中万向节、右万向节的十字轴的另一条轴线相平行;左后铰链的轴线与左万向节的十字轴的一条轴线相平行。
- 根据权利要求1所述的一种五自由度变胞式多用途船舶靠泊装置,其特征在于:所述的左支撑链、中支撑链、右支撑链的结构完全相同,均采用RPUR结构。
- 根据权利要求1所述的一种五自由度变胞式多用途船舶靠泊装置,其特征在于:在所述的安装座上还设有电磁换向阀和安全阀。
- 根据权利要求2所述的一种五自由度变胞式多用途船舶靠泊装置,其特征在于:所述的左伸缩缸、中伸缩缸、右伸缩缸采用双作用气缸或双作用液压缸或双作用电液缸。
- 根据权利要求1所述的一种五自由度变胞式多用途船舶靠泊装置,其特征在于:所述 的磁力吸盘的数量为10-30,每个磁力吸盘与椭圆吸盘座之间通过单独的连接铰链相连接,且各连接铰链的轴线之间相互交叉。
- 根据权利要求1所述的一种五自由度变胞式多用途船舶靠泊装置,其特征在于:在左伸缩缸、中伸缩缸、右伸缩缸的外部均设有橡胶波纹防护管。
- 根据权利要求1所述的一种五自由度变胞式多用途船舶靠泊装置,其特征在于:在所述的椭圆吸盘座的前端面上还设有用以检测船舶靠泊速度和距离的激光测距传感器,所述的激光测距传感器的信号输出端与计算机和控制器相连接,由船舶内的计算机进行数据采集和分析处理。
Priority Applications (2)
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EP4056463A1 (en) * | 2021-03-11 | 2022-09-14 | 3MAR Oy | A mooring device and a method for operating a mooring device |
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CN114212219A (zh) * | 2021-11-17 | 2022-03-22 | 北京航天控制仪器研究所 | 一种紧凑型水下并联稳定平台及其工作方法 |
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GB2571895A (en) | 2019-09-11 |
CN107521623B (zh) | 2018-05-29 |
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