CN110816753B

Movatterモバイル変換

Info

Publication number: CN110816753B
Application number: CN201911158228.2A
Authority: CN
Inventors: 李诗杰; 李晨; 吴青; 刘佳仑; 严新平
Original assignee: Wuhan University of Technology WUT
Current assignee: Wuhan University of Technology WUT
Priority date: 2019-11-22
Filing date: 2019-11-22
Publication date: 2020-10-16
Anticipated expiration: 2039-11-22
Also published as: CN110816753A

Abstract

The invention discloses a shore end traction device for intelligent ship berthing, which is reasonable in structural design, drives a turbine worm through a second motor drive to drive a traction arm to swing by taking one end as an original point, drives a traction assembly to hook a traction ring on a shore side by using an electric push rod, and drives a sliding plate to move on a lead screw through a first motor drive, so that stable traction is realized, stable traction can be realized under the unmanned operation condition, the device is more convenient, can be adjusted according to the distance between a ship body and the shore side, and is strong in practicability. The invention is used for the technical field of intelligent ship berthing.

Description

Translated fromChinese

一种智能船舶靠泊用的岸端牵引装置A shore-side traction device for berthing of intelligent ships

技术领域technical field

本发明涉及智能船舶靠泊技术领域，特别是涉及一种智能船舶靠泊用的岸端牵引装置。The invention relates to the technical field of berthing of intelligent ships, in particular to a shore-side traction device for berthing of intelligent ships.

背景技术Background technique

随着智能船舶的迅速发展，船舶自主航行和无人化的实现逐步成为可能，船舶靠泊一直是航行过程中的难点，而智能船舶实现点到点、泊位到泊位的自主航行势必会面临靠泊无人操作和靠泊不够精准等问题。由于港区环境复杂，缺少港口工人的牵引和船上船员的协助，一旦操作不当会直接威胁到港口设施和港区工人的安全，所以需要考虑智能船舶靠泊的岸端牵引。With the rapid development of intelligent ships, the realization of autonomous navigation and unmanned ships has gradually become possible. Ship berthing has always been a difficult point in the navigation process, and the realization of autonomous navigation of intelligent ships from point to point and berth to berth is bound to face the problem of berthing. Problems such as unmanned operation of berthing and inaccuracy of berthing. Due to the complex environment of the port area and the lack of the towing of port workers and the assistance of the crew on board, improper operation will directly threaten the safety of port facilities and port workers. Therefore, it is necessary to consider the shore-side traction of smart ships berthing.

但现有的海船在港口水域实现靠港的牵引装置更多的是通过人工操作牵引设备，对于智能船舶所使用的牵引装置还未曾使用，或是技术不够成熟，简单的牵引装置无法根据船体与海岸的间距进一步牵扯，不够实用。However, the existing traction devices for sea-going ships to berth in port waters are mostly manually operated traction devices. The traction devices used for smart ships have not yet been used, or the technology is not mature enough, and simple traction devices cannot The distance from the coast is further involved, and it is not practical enough.

发明内容SUMMARY OF THE INVENTION

本发明的目的在于提供一种方便、实用的智能船舶靠泊用的岸端牵引装置。The purpose of the present invention is to provide a convenient and practical shore-side traction device for berthing of intelligent ships.

本发明所采取的技术方案是：The technical scheme adopted by the present invention is:

一种智能船舶靠泊用的岸端牵引装置，其包括：A shore-side traction device for intelligent ship berthing, comprising:

机座，所述机座可拆卸固定在船头；a machine base, the machine base can be detachably fixed on the bow;

一号电机，所述一号电机固定连接在机座的一侧，所述一号电机的输出端连接有丝杆，所述丝杆贯穿机座的一边，所述丝杆与机座长边平行设置；No. 1 motor, the No. 1 motor is fixedly connected to one side of the base, the output end of the No. 1 motor is connected with a lead screw, the lead screw runs through one side of the base, and the lead screw is connected to the long side of the base parallel setting;

滑板，所述滑板滑动连接在机座内，所述滑板可沿机座长边滑动，所述滑板与丝杆螺纹连接，所述滑板的上表面固定连接有二号电机；a sliding plate, the sliding plate is slidably connected in the machine base, the sliding plate can slide along the long side of the machine base, the sliding plate is threadedly connected with the screw rod, and the upper surface of the sliding plate is fixedly connected with the No. 2 motor;

一对一号支架，一对所述一号支架固定于滑板上表面，一对所述一号支架与二号电机的输出端垂直，一对所述一号支架之间活动连接有蜗杆，所述蜗杆一端贯穿对应的一号支架且与二号电机的输出端固定连接；A pair of No. 1 brackets, a pair of No. 1 brackets are fixed on the upper surface of the skateboard, a pair of No. 1 brackets are perpendicular to the output end of the No. 2 motor, and a worm is movably connected between the pair of No. 1 brackets, so One end of the worm penetrates the corresponding No. 1 bracket and is fixedly connected with the output end of the No. 2 motor;

一对二号支架，一对所述二号支架固定于滑板上表面，一对所述二号支架位于一对一号支架的相邻一侧，一对所述二号支架之间通过轮轴活动连接有蜗轮，所述蜗轮与蜗杆啮合连接；A pair of No. 2 brackets, a pair of No. 2 brackets are fixed on the upper surface of the skateboard, a pair of No. 2 brackets are located on the adjacent side of a pair of No. 1 brackets, and a pair of No. 2 brackets are movable through axles A worm wheel is connected, and the worm wheel is meshed and connected with the worm;

两个牵引臂，两个所述牵引臂的首端分别固定套设于蜗轮的轮轴两侧，两个所述牵引臂位于两个二号支架的相反一侧，两个所述牵引臂中间段之间固定连接有安装板；Two traction arms, the head ends of the two traction arms are respectively fixed and sleeved on both sides of the wheel shaft of the worm gear, the two traction arms are located on the opposite side of the two No. 2 brackets, and the middle section of the two traction arms A mounting plate is fixedly connected between them;

牵引组件，所述牵引组件包括齿轮、直齿条、转轴、两个牵引钩，所述转轴连接在两个牵引臂的末端，所述齿轮安装在转轴上，所述齿轮与直齿条啮合连接，所述转轴的两端连接牵引钩，所述牵引钩位于两牵引臂的相反侧；A traction assembly, the traction assembly includes a gear, a spur rack, a rotating shaft, and two traction hooks, the rotating shaft is connected to the ends of the two traction arms, the gear is mounted on the rotating shaft, and the gear is meshed with the spur rack , the two ends of the rotating shaft are connected with towing hooks, and the towing hooks are located on the opposite sides of the two towing arms;

电动推杆，所述电动推杆一端固定在安装板远离二号电机一侧，所述电动推杆另一端固定连接所述直齿条，所述电动推杆推动所述直齿条运动，从而带动所述牵引钩摆动。Electric push rod, one end of the electric push rod is fixed on the side of the mounting plate away from the No. 2 motor, the other end of the electric push rod is fixedly connected to the straight rack, and the electric push rod pushes the straight rack to move, thereby The traction hook is driven to swing.

进一步作为本发明技术方案的改进，所述机座的上表面设置有滑槽，所述滑板沿滑槽滑动，所述滑槽的长度大于滑板长度。As a further improvement of the technical solution of the present invention, the upper surface of the machine base is provided with a chute, the slide plate slides along the chute, and the length of the chute is greater than the length of the slide plate.

进一步作为本发明技术方案的改进，所述机座通过螺纹孔与螺栓可拆卸固定在船头。As a further improvement of the technical solution of the present invention, the machine base is detachably fixed to the bow of the ship through threaded holes and bolts.

进一步作为本发明技术方案的改进，所述一号电机通过支架安装在机座的短边的中间。As a further improvement of the technical solution of the present invention, the No. 1 motor is installed in the middle of the short side of the machine base through a bracket.

进一步作为本发明技术方案的改进，所述丝杆与一号电机的输出端通过联轴器固定连接。As a further improvement of the technical solution of the present invention, the lead screw is fixedly connected with the output end of the No. 1 motor through a coupling.

进一步作为本发明技术方案的改进，还包括控制器和测距仪，所述控制器和测距仪设置在岸边，所述控制器电性控制一号电机和二号电机。As a further improvement of the technical solution of the present invention, it also includes a controller and a distance meter, the controller and the distance meter are arranged on the shore, and the controller electrically controls the No. 1 motor and the No. 2 motor.

进一步作为本发明技术方案的改进，所述滑板上表面远离二号电机一侧且位于两个所述牵引臂的下方垂直固定连接有承重柱。As a further improvement of the technical solution of the present invention, a load-bearing column is vertically and fixedly connected to the upper surface of the slide plate away from the side of the No. 2 motor and below the two traction arms.

进一步作为本发明技术方案的改进，所述机座的外侧设有机罩，所述机罩的上表面和其中一侧的正中间设有通孔。As a further improvement of the technical solution of the present invention, the outer side of the machine base is provided with a hood, and the upper surface of the hood and the center of one side of the hood are provided with through holes.

本发明的有益效果：此智能船舶靠泊用的岸端牵引装置，其结构设计合理，通过二号电机驱动带动涡轮蜗杆驱动，从而带动牵引臂以一端为原点进行摆动，再利用电动推杆驱动牵引组件勾住岸边的牵引环，利用一号电机驱动带动滑板在丝杠上移动，从而实现稳定牵引，在无人操作情况下可以实现稳定牵引，更加方便，可以根据船体与岸边距离进行调节，实用性强。Beneficial effects of the present invention: the shore-side traction device used for berthing of intelligent ships has a reasonable structure design, and is driven by the No. 2 motor to drive the turbine worm drive, so as to drive the traction arm to swing with one end as the origin, and then use the electric push rod to drive The traction component hooks the traction ring on the shore, and the No. 1 motor is used to drive the slide plate to move on the lead screw, so as to achieve stable traction. It can achieve stable traction in the case of unmanned operation, which is more convenient and can be carried out according to the distance between the hull and the shore. Adjustable and practical.

附图说明Description of drawings

下面结合附图对本发明作进一步说明：The present invention will be further described below in conjunction with the accompanying drawings:

图1为本发明实施例结构示意图；1 is a schematic structural diagram of an embodiment of the present invention;

图2为本发明实施例的图1的A部分放大图；2 is an enlarged view of part A of FIG. 1 according to an embodiment of the present invention;

图3为本发明实施例牵引组件侧视图。FIG. 3 is a side view of a traction assembly according to an embodiment of the present invention.

具体实施方式Detailed ways

本部分将详细描述本发明的具体实施例，本发明之较佳实施例在附图中示出，附图的作用在于用图形补充说明书文字部分的描述，使人能够直观地、形象地理解本发明的每个技术特征和整体技术方案，但其不能理解为对本发明保护范围的限制。This part will describe the specific embodiments of the present invention in detail, and the preferred embodiments of the present invention are shown in the accompanying drawings. Each technical feature and overall technical solution of the invention should not be construed as limiting the protection scope of the invention.

在本发明的描述中，需要理解的是，涉及到方位描述，例如上、下、前、后、左、右等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。In the description of the present invention, it should be understood that the azimuth description, such as the azimuth or position relationship indicated by up, down, front, rear, left, right, etc., is based on the azimuth or position relationship shown in the drawings, only In order to facilitate the description of the present invention and simplify the description, it is not indicated or implied that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.

在本发明的描述中，若干的含义是一个或者多个，多个的含义是两个以上，大于、小于、超过等理解为不包括本数，以上、以下、以内等理解为包括本数。如果有描述到第一、第二只是用于区分技术特征为目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量或者隐含指明所指示的技术特征的先后关系。In the description of the present invention, the meaning of several is one or more, the meaning of multiple is two or more, greater than, less than, exceeding, etc. are understood as not including this number, above, below, within, etc. are understood as including this number. If it is described that the first and the second are only for the purpose of distinguishing technical features, it cannot be understood as indicating or implying relative importance, or indicating the number of the indicated technical features or the order of the indicated technical features. relation.

本发明的描述中，除非另有明确的限定，设置、安装、连接等词语应做广义理解，所属技术领域技术人员可以结合技术方案的具体内容合理确定上述词语在本发明中的具体含义。In the description of the present invention, unless otherwise clearly defined, words such as setting, installation, connection should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in the present invention in combination with the specific content of the technical solution.

参照图1-图3，一种智能船舶靠泊用的岸端牵引装置，其包括机座100、一号电机200、滑板300、一对一号支架500、一对二号支架600、两个牵引臂700、电动推杆800、牵引组件900。1-3, a shore-side traction device for berthing of an intelligent ship includes amachine base 100, a No. 1motor 200, asliding plate 300, a pair of No. 1brackets 500, a pair of No. 2brackets 600, two Thetraction arm 700 , theelectric push rod 800 , and thetraction assembly 900 .

其中，机座100通过螺纹孔与螺栓可拆卸固定在船头。Themachine base 100 is detachably fixed to the bow of the ship through threaded holes and bolts.

一号电机200通过支架202安装在机座100的短边的中间，一号电机200的输出端通过联轴器连接有丝杆201，丝杆201贯穿机座100的一边，丝杆201与机座100长边平行设置。The No. 1motor 200 is installed in the middle of the short side of themachine base 100 through thebracket 202. The output end of the No. 1motor 200 is connected with alead screw 201 through a coupling. Thelead screw 201 runs through one side of themachine base 100. The long sides of theseat 100 are arranged in parallel.

滑板300滑动连接在机座100内，滑板300可沿机座100长边滑动，滑板300与丝杆201螺纹连接，滑板300的上表面固定连接有二号电机400。参照附图1，滑板300上表面远离二号电机400一侧且位于两个牵引臂700的下方垂直固定连接有承重柱702，便于对牵引臂700起到支撑作用。具体地，机座100的上表面设置有滑槽101，滑板300沿滑槽101滑动，滑槽101的长度大于滑板300长度。通过一号电机200的驱动带动丝杆201转动，进一步带动滑板300在滑槽101内滑动，从而实现了牵引臂700的水平伸缩，起到牵引作用。Thesliding plate 300 is slidably connected in thebase 100 , thesliding plate 300 can slide along the long side of thebase 100 , thesliding plate 300 is threadedly connected with thescrew rod 201 , and thesecond motor 400 is fixedly connected to the upper surface of thesliding plate 300 . Referring to FIG. 1 , abearing column 702 is vertically and fixedly connected to the upper surface of thesliding plate 300 away from thesecond motor 400 and below the twotraction arms 700 , so as to support thetraction arms 700 . Specifically, the upper surface of themachine base 100 is provided with achute 101 , theslide 300 slides along thechute 101 , and the length of thechute 101 is greater than the length of theslide 300 . Driven by the No. 1motor 200, thelead screw 201 is driven to rotate, and theslide plate 300 is further driven to slide in thechute 101, thereby realizing the horizontal expansion and contraction of thetraction arm 700, which plays a traction role.

一对一号支架500固定于滑板300上表面，一对一号支架500与二号电机400的输出端垂直，一对一号支架500之间活动连接有蜗杆501，蜗杆501一端贯穿对应的一号支架500且与二号电机400的输出端固定连接。其中，在某些实施例中，在岸边设置有控制器和测距仪，控制器电性控制一号电机200和二号电机400。在无人操控的情况下，由测距仪与岸边的传感器感应，将信号传输给控制器，再由控制器定时启动一号电机200和二号电机400，保证牵引组件900可以准确钩住岸边的牵引环。A pair of No. 1brackets 500 are fixed on the upper surface of theslide plate 300. A pair of No. 1brackets 500 are perpendicular to the output end of the No. 2motor 400. Aworm 501 is movably connected between the pair of No. 1brackets 500, and one end of theworm 501 penetrates through a corresponding one. The No. 1bracket 500 is fixedly connected to the output end of the No. 2motor 400 . Wherein, in some embodiments, a controller and a distance meter are provided on the shore, and the controller electrically controls the No. 1motor 200 and the No. 2motor 400 . In the case of unmanned operation, the rangefinder and the sensor on the shore are sensed, and the signal is transmitted to the controller, and then the controller starts the No. 1motor 200 and No. 2motor 400 regularly to ensure that thetraction assembly 900 can be accurately hooked Tow ring on the shore.

一对二号支架600固定于滑板300上表面，一对二号支架600位于一对一号支架500的相邻一侧，一对二号支架600之间通过轮轴活动连接有蜗轮601，蜗轮601与蜗杆501啮合连接。A pair of No. 2brackets 600 are fixed on the upper surface of theskateboard 300 , a pair of No. 2brackets 600 are located on the adjacent side of a pair of No. 1brackets 500 , and aworm wheel 601 is movably connected between the pair of No. 2brackets 600 through an axle, and theworm wheel 601 Engaged with theworm 501.

两个牵引臂700的首端分别固定套设于蜗轮601的轮轴两侧，两个牵引臂700位于两个二号支架600的相反一侧，两个牵引臂700中间段之间固定连接有安装板701。The head ends of the twotraction arms 700 are respectively fixed and sleeved on both sides of the wheel shaft of theworm gear 601 , the twotraction arms 700 are located on the opposite sides of the two No. 2brackets 600 , and the middle sections of the twotraction arms 700 are fixedly connected.Board 701.

电动推杆800一端固定在安装板701远离二号电机400一侧，电动推杆800另一端固定有牵引组件900，电动推杆800推动牵引组件900运动。其中，在一个具体实施例中，牵引组件900包括齿轮901、直齿条902、转轴903、两个牵引钩904，转轴903连接在两个牵引臂700的末端，齿轮901安装在转轴903上，直齿条902安装在电动推杆800的末端，齿轮901位于直齿条902的下方，齿轮901与直齿条902啮合连接，转轴903的两端连接牵引钩904，牵引钩904位于两牵引臂700的相反侧。One end of theelectric push rod 800 is fixed on the side of the mountingplate 701 away from the No. 2motor 400 , the other end of theelectric push rod 800 is fixed with atraction assembly 900 , and theelectric push rod 800 pushes thetraction assembly 900 to move. Wherein, in a specific embodiment, thetraction assembly 900 includes agear 901, astraight rack 902, arotating shaft 903, and two traction hooks 904. Therotating shaft 903 is connected to the ends of the twotraction arms 700, and thegear 901 is mounted on therotating shaft 903. Thespur gear 902 is installed at the end of theelectric push rod 800, thegear 901 is located under thespur rack 902, thegear 901 is meshed with thespur rack 902, the two ends of therotating shaft 903 are connected to thetraction hook 904, and thetraction hook 904 is located on the two traction arms The opposite side of the 700.

在某些实施例中，机座100的外侧设有机罩，机罩的上表面和其中一侧的正中间设有通孔。机罩可以对一号电机和二号电机进行防潮，同时也不妨碍牵引臂700的转动。In some embodiments, the outer side of thebase 100 is provided with a hood, and the upper surface of the hood and the center of one side of the hood are provided with through holes. The hood can protect the No. 1 motor and No. 2 motor from moisture without hindering the rotation of thetowing arm 700 .

工作原理：使用时，当测距仪感应到智能船舶与岸边的间距达到牵引范围时，将信号传输给控制器，控制器启动二号电机400，输出轴转动带动蜗杆501转动，进一步带动蜗轮601旋转半圈，将垂直竖立在机座100上的牵引臂700顺时针摆动90°，然后电动推杆800伸缩，伸缩杆带动直齿条902向外移动，带动齿轮901转动一定的角度，从而带动两个牵引钩904摆动一定角度，直到牵引钩904钩住牵引环后电动推杆800停止驱动，另外可通过一号电机200驱动带动丝杆201转动，从而滑板300会在丝杆201上移动，可带动整个智能船舶向着岸边靠近，实现稳定牵引。Working principle: When in use, when the distance meter senses that the distance between the smart ship and the shore reaches the traction range, it transmits the signal to the controller, the controller starts the No. 2motor 400, and the output shaft rotates to drive theworm 501 to rotate, which further drives the worm gear. 601 rotates for half a circle, swings thetraction arm 700 vertically erected on themachine base 100 90° clockwise, then theelectric push rod 800 extends and retracts, the retractable rod drives thestraight rack 902 to move outward, and drives thegear 901 to rotate a certain angle, thereby Drive the two traction hooks 904 to swing at a certain angle until thetraction hook 904 hooks the traction ring and theelectric push rod 800 stops driving. In addition, the No. 1motor 200 can drive thelead screw 201 to rotate, so that theslide plate 300 will move on thelead screw 201 , which can drive the entire smart ship to approach the shore to achieve stable traction.

此岸端牵引装置，其结构设计合理，通过二号电机400驱动带动涡轮蜗杆驱动，从而带动牵引臂700以一端为原点进行摆动，再利用电动推杆800驱动牵引组件900勾住岸边的牵引环，利用一号电机200驱动带动滑板300在丝杆201上移动，从而实现稳定牵引，在无人操作情况下可以实现稳定牵引，更加方便，可以根据船体与岸边距离进行调节，实用性强。This shore-side traction device has a reasonable structure design. The No. 2motor 400 drives the turbine worm to drive, thereby driving thetraction arm 700 to swing with one end as the origin, and then uses theelectric push rod 800 to drive thetraction assembly 900 to hook the traction ring on the shore. , the No. 1motor 200 is used to drive theslide plate 300 to move on thescrew rod 201, so as to achieve stable traction, and stable traction can be achieved in the case of unmanned operation, which is more convenient, and can be adjusted according to the distance between the hull and the shore, and has strong practicability.

上面结合附图对本发明实施例作了详细说明，但是本发明不限于上述实施例，在所述技术领域普通技术人员所具备的知识范围内，还可以在不脱离本发明宗旨的前提下作出各种变化。The embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned embodiments. Within the scope of knowledge possessed by those of ordinary skill in the technical field, various modifications can be made without departing from the purpose of the present invention. kind of change.

Claims

1. A bank end draw gear that intelligent boats and ships berthed was used which characterized in that includes:

the engine base is detachably fixed at the bow;

the first motor is fixedly connected to one side of the base, the output end of the first motor is connected with a screw rod, the screw rod penetrates through one side of the base, and the screw rod is arranged in parallel with the long side of the base;

the sliding plate is connected in the machine base in a sliding mode and can slide along the long edge of the machine base, the sliding plate is in threaded connection with the screw rod, and a second motor is fixedly connected to the upper surface of the sliding plate;

the pair of first supports are fixed on the upper surface of the sliding plate and are perpendicular to the output end of the second motor, a worm is movably connected between the pair of first supports, and one end of the worm penetrates through the corresponding first support and is fixedly connected with the output end of the second motor;

the pair of second brackets are fixed on the upper surface of the sliding plate and positioned on one adjacent side of the pair of first brackets, a worm wheel is movably connected between the pair of second brackets through a wheel shaft, and the worm wheel is meshed with the worm;

the head ends of the two traction arms are fixedly sleeved on two sides of a wheel shaft of the worm wheel respectively, the two traction arms are positioned on opposite sides of the two second brackets, and an installation plate is fixedly connected between the middle sections of the two traction arms;

the traction assembly comprises a gear, a spur rack, a rotating shaft and two traction hooks, the rotating shaft is connected to the tail ends of the two traction arms, the gear is mounted on the rotating shaft and is in meshed connection with the spur rack, the two ends of the rotating shaft are connected with the traction hooks, and the traction hooks are located on the opposite sides of the two traction arms;

electric putter, electric putter one end is fixed and is kept away from No. two motor one side at the mounting panel, electric putter other end fixed connection the spur rack, electric putter promotes the spur rack motion to drive the hook swing of drawing.

2. The shore-end towing device for intelligent ship berthing according to claim 1, characterized in that: the upper surface of frame is provided with the spout, the slide slides along the spout, the length of spout is greater than slide length.

3. The shore-end towing device for intelligent ship berthing according to claim 1, characterized in that: the engine base is detachably fixed on the bow of the ship through the threaded hole and the bolt.

4. The shore-end towing device for intelligent ship berthing according to claim 1, characterized in that: the first motor is arranged in the middle of the short edge of the base through a support.

5. The shore-end towing device for intelligent ship berthing according to claim 4, characterized in that: the screw rod is fixedly connected with the output end of the first motor through a coupler.

6. The shore-end towing device for intelligent ship berthing according to any one of claims 1 to 5, characterized in that: still include controller and distancer, controller and distancer set up on the bank, No. one motor of controller electric control and No. two motors.

7. The shore-end towing device for intelligent ship berthing according to any one of claims 1 to 5, characterized in that: the upper surface of the sliding plate is far away from one side of the second motor and is positioned at two bearing columns which are vertically and fixedly connected below the traction arms.

8. The shore-end towing device for intelligent ship berthing according to any one of claims 1 to 5, characterized in that: the engine base is characterized in that a hood is arranged on the outer side of the engine base, and a through hole is formed in the middle of the upper surface of the hood and the middle of one side of the hood.