CN105239545A - Multifunctional water clean-up and salvage ship - Google Patents
Multifunctional water clean-up and salvage ship Download PDFInfo
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- CN105239545A CN105239545A CN201510728031.3A CN201510728031A CN105239545A CN 105239545 A CN105239545 A CN 105239545A CN 201510728031 A CN201510728031 A CN 201510728031A CN 105239545 A CN105239545 A CN 105239545A
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Abstract
The invention provides a multifunctional water clean-up and salvage ship which comprises a ship body and a clean-up and salvage device arranged on the ship body. The clean-up and salvage device comprise a base, a mechanical arm structure installed on the base and a gripper structure installed on the mechanical arm structure. The mechanical arm structure comprises a hinge support, a first hinge arm, a second hinge arm, a first drive cylinder and a second drive cylinder. The hinge support is fixedly arranged on a ship deck. The first hinge arm is hinged to the hinge support and drives the first hinge arm to swing through the first drive cylinder. The second hinge arm is hinged to the tail end of the first hinge arm. The second drive cylinder is arranged on the first hinge arm. The second drive cylinder drives the second hinge arm to swing and rotate. The gripper structure is arranged at the tail end of the second hinge arm and comprises at least one clamping jaw block and a clamping jaw driving mechanism driving the clamping jaw block to move. According to the multifunctional water clean-up and salvage ship, dirt clean-up work such as water surface clean-up and salvage, illegal building demolishing and water surface float salvage can be conveniently implemented.
Description
Technical field
The present invention relates to operation at sea technical field of tools, particularly relate to a kind of Multifunctional overwater ship for collecting.
Background technology
Multifunctional overwater ship for collecting is applicable to remove, remove inland river, the abandon of reservoir area and the water surface such as coastal or the surface facility such as fishing net, net cage arranged violating the regulations, and the water surface such as pumped surface floating thing is removed contamination engineering.Existing Multifunctional overwater ship for collecting function singleness, spininess for the weeds of removing in the lake arm of stream, water plant, or is directed to the salvaging of floater.Helpless for outcast cleaning, the projects manually arranging thing or the violating the regulations surface facility such as fishing net, net cage arranged of the water surface, be difficult to meet thisly waterbornely to drag for clearly, the special requirement of engineering of demolishing squatter buildings.
Summary of the invention
The present invention be directed to prior art Problems existing, its object is to provide a kind of operation dexterous, the various separated needs tearing engineering open dragging for clearly, particularly break rules and regulations to arrange thing waterborne can be met.
A kind of Multifunctional overwater ship for collecting, comprise hull and be arranged on and hull drags for device clearly, drag for clearly device and comprise base, be arranged on the mechanical arm structure on base and be arranged on the structural gripping structure of mechanical arm, base is arranged on hull, mechanical arm structure comprises articulated stand, first articulated jib, second articulated jib, first driving cylinder and the second driving cylinder, articulated stand is installed on chassis, first articulated jib to be hinged on articulated stand and to drive the first articulated jib to swing around its hinged place by the first driving cylinder, second articulated jib is hinged on the end of the first articulated jib, and the first articulated jib is provided with the second driving cylinder, second driving cylinder drives the second articulated jib around its hinged place rotation, gripping structure is arranged on the end of the second articulated jib, at least one jaw block of gripping structure bag and the jaw driving mechanism driving jaw block to move.
Further, described gripping structure comprises three pairs of jaw blocks, every a pair jaw block comprises upper and lower two jaw blocks, three gripper blocks of top to be connected on one on block bar side by side, three gripper blocks of below are connected on block bar side by side, three gripper blocks of top and three corresponding cooperations of gripper block of below, upper piece bar is hinged to the second articulated jib end by a upper connecting rod, lower piece of bar is hinged to the second articulated jib end by a lower connecting rod, described jaw driving mechanism comprises two cylinders, wherein a cylinder is connected between the second articulated jib and upper connecting rod, another cylinder is connected between the second articulated jib and lower connecting rod.
Further, the jaw block above described gripping structure removal and only retain below jaw block.
Further, the jaw block below described gripping structure removal and only retain top jaw block.
Further, described gripping structure selects handgrip, annular saw or the string bag.
Further, described gripping structure adopts induction type handgrip, jaw driving mechanism comprises upper frame, driven unit and press down an induction installation, described upper frame comprises a base plate, be arranged on two sidewalls of base plate and be connected to the roof on two sidewall tops, described driven unit comprises driving grip block in opposite directions or the driving cylinder of rightabout movement, described driving cylinder to be arranged on base plate and between two side, the described sensor pressing down an induction installation and comprise induction controller and coordinate with induction controller, induction controller comprises sleeve, pin rod, press block, inductive disks and spring, sleeve is installed on upper frame, the top of pin rod is provided with inductive disks, pin rod is through sleeve, the bottom of pin rod is provided with press block, spring fitting maintains pin rod for elastic force and supports state downwards in sleeve, sensor is arranged on sidewall, the press block that external force holds the bottom of pin rod makes pin rod respond to sensor together with the inductive disks rising on its top, to drive driven unit action.
Further, relative two sidewalls in both sides of described base plate stretch out and form outside bearing wall accordingly, and driven unit comprises the slide block be connected with driving cylinder telescopic end, slide block be arranged on two outside on bearing wall, slide block is separately installed with jaw block.
Further, described induction controller comprises paddle, the section of supporting that described pin rod comprises a cooperation section and is connected with cooperation section, the diameter of the section of supporting is large compared with the diameter of the section of cooperation, described sleeve is the body of one end open one end block, comprise end wall and perisporium, perisporium and end wall surround a central channel, central channel is step trough structure, there is the first groove section of adjacent notch side and the second groove section of abutment end wall side, the diameter of the first groove section is large compared with the diameter of the second groove section, described end wall is offered centre bore to be communicated with described central channel, the diameter of centre bore is suitable with the diameter of the section of cooperation, described paddle is set in the cooperation section of pin rod, the diameter of paddle is suitable with the diameter of the first groove section, described spring housing is located in the cooperation section of pin rod, pin rod is set in sleeve, it coordinates section to pass through the centre bore on end wall, paddle and spring retention are in central channel, paddle coordinates the first groove section, spring-compressed is between paddle and end wall.
Further, described induction controller comprises spacing adjustment block, and described cooperation section side face is formed with screw thread, and described spacing adjustment block is screwed onto and coordinates the outside of Duan Shangyu end wall to support.
Further, described cooperation section arranges a nut, it is set in and coordinates in section and support described spacing adjustment block.
Compared with prior art, Multifunctional overwater ship for collecting of the present invention drags for device clearly by arranging, and drags for clearly apparatus structure simple, uses dexterity, be convenient to the cloth position of gripping structure, can implement easily to drag for clearly, demolish squatter buildings and the work of removing contamination such as pumped surface floating thing.
Accompanying drawing explanation
Fig. 1 is the schematic front view of present pre-ferred embodiments Multifunctional overwater ship for collecting;
Fig. 2 is the top view of the Multifunctional overwater ship for collecting shown in Fig. 1;
The gripping structure that Fig. 3 is the Multifunctional overwater ship for collecting shown in Fig. 1 is only the schematic diagram of jaw block;
The gripping structure that Fig. 4 is the Multifunctional overwater ship for collecting shown in Fig. 1 is only the schematic diagram of a upper gripper jaw block;
Fig. 5 is another preferred embodiment structural representation of gripping structure of Multifunctional overwater ship for collecting of the present invention;
Fig. 6 is the stereogram of the induction controller on the gripping structure shown in Fig. 5;
Fig. 7 is the sectional view of the induction controller shown in Fig. 6.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments, when not conflicting, the embodiment in the application and the feature in embodiment can combine mutually, below with reference to the accompanying drawings and describe the present invention in detail in conjunction with the embodiments.
As shown in Figure 1 and Figure 2, a kind of Multifunctional overwater ship for collecting, comprises hull 10 and is arranged on and hull 10 drags for clearly device 20.Drag for clearly device 20 and comprise base 21, the gripping structure 40 being arranged on the mechanical arm structure 30 on base 21 and being arranged in mechanical arm structure 30.Base 21 comprises rotating disk, is arranged on rotationally on hull 10.Mechanical arm structure 30 comprises articulated stand 31, first articulated jib 32, second articulated jib 33, first driving cylinder 34 and the second driving cylinder 35.Articulated stand 31 is installed on rotating disk, first articulated jib 32 to be hinged on articulated stand 31 and to drive the first articulated jib 32 to swing around its hinged place by the first driving cylinder 34, second articulated jib 33 is hinged on the end of the first articulated jib 32, and the first articulated jib 32 being provided with the second driving cylinder 35, second driving cylinder 35 drives the second articulated jib 33 around its hinged place rotation.Gripping structure 40 is arranged on the end of the second articulated jib 33, and gripping structure 40 wraps at least one jaw block 41 and drives the jaw driving mechanism of jaw block motion.
In Fig. 1, Fig. 2, shown gripping structure 40 comprises three pairs of jaw blocks 41, and every a pair jaw block 41 comprises upper and lower two jaw blocks 41, and upper and lower two jaw blocks 41 relatively clamp or open, and realize the gripping to object or release.Particularly, three gripper blocks 41 of top to be connected on one on block bar 42 side by side, three gripper blocks 41 of below are connected on block bar side by side, and three corresponding cooperations of gripper block 41 of three of top gripper blocks 41 and below, upper piece bar 42 is hinged to the second articulated jib 33 end by a upper connecting rod 43, and lower piece of bar is hinged to the second articulated jib 33 end by a lower connecting rod.Jaw driving mechanism selects two cylinders, and wherein a cylinder is connected between the second articulated jib 33 and upper connecting rod 43, and another cylinder is connected between the second articulated jib 33 and lower connecting rod.So, drive upper connecting rod 43, lower connecting rod 43 around respective hinged place rotation respectively by two cylinders, the relative clamping of upper and lower jaw block 41 can be realized or open.Be appreciated that in the present embodiment, gripping structure 40 is three pairs of jaw blocks 41, and gripping structure 40 also can be a pair clamping rest shoe 41, or other quantity logarithms.Further, consult Fig. 3, gripping structure 40 also can jaw block 41 above removal and only retain the jaw block 41 of below, and so, gripping structure 40 can be used for upwards fishing for.Consult Fig. 4, gripping structure 40 also can jaw block 41 below removal and only retain the jaw block 41 of top, and so, gripping structure 40 can be used for climbing downwards.
Refer to Fig. 5, be depicted as the gripping structure of another better embodiment, be a kind of induction type handgrip, comprise jaw driving mechanism and jaw block 60, jaw driving mechanism comprises upper frame 51, driven unit 52 and presses down an induction installation 53.
Described upper frame 51 is for carrying and install driven unit 52 and press down an induction installation 53.Upper frame 51 comprises a base plate 511, is built up in two sidewalls 512 on base plate 511 and is connected to the roof 513 on two sidewall 512 tops abreast, is equipped with control system or other necessary assemblies between sidewall 512.
Relative two sidewalls 512 in described base plate 511 both sides stretch out and form outside bearing wall 514, press down an induction installation 53 described in outside two, bearing wall 514 being installed respectively.The bottom surface of described base plate 511 is provided with several guide and limit axles 122, and guiding when guide and limit axle 122 clamps for driven unit 2 also supports spacing to object, prevent gripping structure from excessively pressing down, press down an induction installation 53 described in damage.
The slide block 521 that driven unit 52 comprises driving cylinder (not shown) and is connected with driving cylinder telescopic end, driving cylinder is arranged between the two side 512 on base plate 511; Slide block 521 be arranged on two outside on bearing wall 514, the telescopic end of driving cylinder passes sidewall 512 and is connected with slide block 521, drives slide block 521 to slide on outside bearing wall 514.Jaw block 60 to be arranged on respectively on slide block 521 and to lay respectively at the side of outside bearing wall 514.Two driving cylinders drive two slide blocks 521 to move respectively, thus drive gripper block 60 relative to or move in opposite directions thus gripping objects or release object.Gripping structure captures different objects, replaceable different gripper block 60.
Press down an induction installation 53 and be arranged on position upper frame 51 being used for detecting relative gripping objects after induction type handgrip presses down, make jaw block 60 action with triggering signal.The described sensor 80 pressing down an induction installation 53 and comprise induction controller 70 and coordinate with induction controller.Induction controller 70 comprises sleeve 71, pin rod 72 and press block 73.Described sleeve 71 passes and is fixed on the bearing wall 514 of outside, and pin rod 72 to be set in sleeve 71 and to be combined with the spring reset structure (not shown) be arranged in sleeve 71, the state that spring reset structure provides elastic force to maintain pin rod 72 to support downwards.Described press block 73 is arranged on sleeve 71 bottom and is connected with pin rod 72 bottom, and can move along sleeve 71 together with pin rod 72, and the height of sleeve 71 is highly identical or lower slightly with guide and limit axle 122.Pin rod 72 upper end is arranged with inductive disks 74.
Sensor 80 is arranged on sidewall 512, for coordinating the inductive disks 74 of pin rod 72 upper end, to sense the position of pin rod 72 after compressing, thus starts driven unit 52 accordingly.Sensor 80 senses signal and is sent to control system, and control system sends signal and stops upper frame 51 to press down, and starts driven unit 52, and two gripper blocks 60 move in opposite directions, realize the crawl to object.
Refer to Fig. 6, Fig. 7, in the present embodiment, described induction controller 70 structure is specially, and comprises sleeve 71, pin rod 72, press block 73, inductive disks 74, paddle 75, spring 76 and spacing adjustment block 77.Described pin rod 72 comprise a cooperation section 721 and with coordinate the section of supporting 722 that is connected of section 721, the diameter of the diameter of the section of the supporting 722 comparatively section of cooperation 721 is large thus support end face (not shown) in junction formation one.Coordinate on section 721 side face and be formed with screw thread (not shown).Described sleeve 71 is the body of one end open one end block, comprise end wall 711 and perisporium 722, perisporium 722 and end wall 711 surround a central channel 713, central channel 713 is in step groove structure, the diameter with the first groove section 714 of adjacent notch side and the second groove section 715, first groove section 714 of abutment end wall side is large compared with the diameter of the second groove section 715.Described end wall 711 is offered centre bore (figure does not mark) to be communicated with described central channel 713, the diameter of centre bore is suitable with the diameter of the section of cooperation 721.Described paddle 75 is set in the cooperation section 721 of pin rod 72, and the diameter of paddle 75 is suitable with the diameter of the first groove section 714.Described spring 76 is set in the cooperation section 721 of pin rod 72, the external diameter of spring 76 is suitable with the diameter of the second groove section 715, pin rod 72 is set in sleeve 71, it coordinates section 721 to pass through the centre bore on end wall 711, paddle 75 and spring 76 are contained in central channel 713, paddle 75 coordinates the first groove section 714, and spring 76 is compressed between paddle 75 and end wall 711.Described spacing adjustment block 77 is screwed onto to coordinate in section 721 and supports with the outside of end wall 711.Inductive disks 74 and press block 73 are arranged on the end of the section of cooperation 721 and the section of supporting 722 respectively, inductive disks 74 is in order to match with sensor 80, press block 73 is supported movement and then pin bar 72 moves, spring 76 is further compressed, pin rod 72 drives inductive disks 74 to be shifted, thus trigger sensor 80, drive two gripper blocks 60 to move, realize the crawl to object.Press block 73 is not by when supporting, and spring 76 is upheld, and under the effect of elastic force, pin rod 72 and inductive disks 74 return back to original position.
In addition, the stability in section 721 is being coordinated in order to strengthen spacing adjustment block 77, cooperation section 721 arranges a nut 78 further, and it is set in and coordinates in section 721 and support described spacing adjustment block 77, thus strengthens the positional stability of spacing adjustment block 77 in cooperation section 721.
Be appreciated that, the gripping structure that Multifunctional overwater ship for collecting of the present invention drags for clearly device is not limited to two kinds of gripping structure described in above two embodiments, according to different construction objects, also replacing handgrip or change annular saw into or be changed to the multiple special manipulators such as the string bag, multiplely to drag for clearly to meet, needs of demolishing squatter buildings.Multifunctional overwater ship for collecting of the present invention drag for clearly device dexterity, being convenient to the cloth position of gripping structure, is the extraordinary water project ship of a multipurpose.
Above content combines concrete enforcement embodiment further description made for the present invention, can not assert that specific embodiment of the invention is confined to these explanations.For general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, some simple deduction or replace can also be made, all should be considered as belonging to protection scope of the present invention.
Claims (10)
1. a Multifunctional overwater ship for collecting, comprise hull (10) and be arranged on and hull (10) drags for clearly device (20), it is characterized in that: drag for clearly device (20) and comprise base (21), the gripping structure (40) being arranged on the mechanical arm structure (30) on base (21) and being arranged in mechanical arm structure (30), base (21) is arranged on hull (10), mechanical arm structure (30) comprises articulated stand (31), first articulated jib (32), second articulated jib (33), first driving cylinder (34) and the second driving cylinder (35), articulated stand (31) is installed in deck in ship structure, first articulated jib (32) is hinged on articulated stand (31) and goes up and drive the first articulated jib (32) to swing around its hinged place by the first driving cylinder (34), second articulated jib (33) is hinged on the end of the first articulated jib (32), and the first articulated jib (32) is provided with the second driving cylinder (35), second driving cylinder (35) drives the second articulated jib (33) around its hinged place rotation, gripping structure (40) is arranged on the end of the second articulated jib (33), the jaw driving mechanism that gripping structure (40) wraps at least one jaw block (41) and drives jaw block (41) to move.
2. Multifunctional overwater ship for collecting according to claim 1, it is characterized in that: described gripping structure (40) comprises three pairs of jaw blocks (41), every a pair jaw block (41) comprises upper and lower two jaw blocks (41), three gripper blocks (41) of top to be connected on one on block bar side by side, three gripper blocks (41) of below are connected on block bar side by side, three gripper blocks (41) of top and the corresponding cooperation of three gripper blocks (41) of below, upper piece bar is hinged to the second articulated jib (33) end by a upper connecting rod, lower piece of bar is hinged to the second articulated jib (33) end by a lower connecting rod, described jaw driving mechanism comprises two cylinders, wherein a cylinder is connected between the second articulated jib (33) and upper connecting rod, another cylinder is connected between the second articulated jib (33) and lower connecting rod.
3. Multifunctional overwater ship for collecting according to claim 2, is characterized in that: the jaw block (41) above described gripping structure (40) removal and only retain below jaw block (41).
4. Multifunctional overwater ship for collecting according to claim 2, is characterized in that: the jaw block (41) below described gripping structure (40) removal and only retain top jaw block (41).
5. Multifunctional overwater ship for collecting according to claim 1, is characterized in that: described gripping structure (40) selects handgrip, annular saw or the string bag.
6. Multifunctional overwater ship for collecting according to claim 1, it is characterized in that: described gripping structure (40) adopts induction type handgrip, jaw driving mechanism comprises upper frame (51), driven unit (52) and press down an induction installation (53), described upper frame (51) comprises a base plate (511), be arranged on two sidewalls (512) of base plate (511) and be connected to the roof (513) on two sidewalls (512) top, described driven unit (52) comprises driving jaw block in opposite directions or the driving cylinder of rightabout movement, described driving cylinder is arranged on base plate (511) and goes up and be positioned between two side (512), the described sensor (80) pressing down an induction installation (53) and comprise induction controller (70) and coordinate with induction controller (70), induction controller (70) comprises sleeve (71), pin rod (72), press block (73), inductive disks (74) and spring (76), sleeve (71) is installed on upper frame (51), the top of pin rod (72) is provided with inductive disks (74), pin rod (72) is through sleeve (71), the bottom of pin rod (72) is provided with press block (73), spring (76) is arranged in sleeve (71) and supports state downwards for elastic force maintenance pin rod (72), sensor (80) is arranged on sidewall (512), the press block (73) that external force holds the bottom of pin rod makes pin rod (72) respond to sensor (80) together with inductive disks (74) rising on its top, to drive described driven unit (52) action.
7. Multifunctional overwater ship for collecting according to claim 6, it is characterized in that: relative two sidewalls (512) in both sides of described base plate (511) are stretched out and form outside bearing wall (514) accordingly, driven unit (52) comprises the slide block (521) be connected with driving cylinder telescopic end, slide block (521) be arranged on two outside on bearing wall (514), (521) are separately installed with jaw block to slide block.
8. Multifunctional overwater ship for collecting according to claim 6, it is characterized in that: described induction controller (70) comprises paddle (75), the section of supporting (722) that described pin rod (72) comprises a cooperation section (721) and is connected with cooperation section (721), the diameter of the section of supporting (722) is large compared with the diameter of the section of cooperation (721), the body that described sleeve (71) is the block of one end open one end, comprise end wall (711) and perisporium (722), perisporium (722) and end wall (711) surround a central channel (713), central channel (713) is in step trough structure, there is the first groove section (714) of adjacent notch side and the second groove section (715) of abutment end wall side, the diameter of the first groove section (714) is large compared with the diameter of the second groove section (715), described end wall (711) is offered centre bore to be communicated with described central channel (713), the diameter of centre bore is suitable with the diameter of the section of cooperation (721), described paddle (75) is set in the cooperation section (721) of pin rod (72), the diameter of paddle (75) is suitable with the diameter of the first groove section (714), described spring (76) is set in the cooperation section (721) of pin rod (72), pin rod (72) is set in sleeve (71), it coordinates section (721) to pass through the centre bore on end wall (711), paddle (75) and spring (76) are contained in central channel (713), paddle (75) coordinates the first groove section (714), spring (76) is compressed between paddle (75) and end wall (711).
9. Multifunctional overwater ship for collecting according to claim 8, it is characterized in that: described induction controller (70) comprises spacing adjustment block (77), described cooperation section (721) side face is formed with screw thread, and described spacing adjustment block (77) is screwed onto and coordinates section (721) outside that is upper and end wall (711) to support.
10. Multifunctional overwater ship for collecting according to claim 9, it is characterized in that: described cooperation section (721) arranges a nut (78), it is set in and coordinates section (721) go up and support described spacing adjustment block (77).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510728031.3A CN105239545B (en) | 2015-10-29 | 2015-10-29 | Multifunctional overwater ship for collecting |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510728031.3A CN105239545B (en) | 2015-10-29 | 2015-10-29 | Multifunctional overwater ship for collecting |
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| Publication Number | Publication Date |
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| CN105239545A true CN105239545A (en) | 2016-01-13 |
| CN105239545B CN105239545B (en) | 2016-10-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510728031.3A Active CN105239545B (en) | 2015-10-29 | 2015-10-29 | Multifunctional overwater ship for collecting |
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| CN106827248A (en) * | 2017-03-30 | 2017-06-13 | 金银萍 | A kind of concrete production line |
| CN108267127A (en) * | 2018-03-07 | 2018-07-10 | 中国葛洲坝集团第工程有限公司 | Bathymetric surveying system and method |
| CN108286248A (en) * | 2018-03-09 | 2018-07-17 | 长江武汉航道局 | A kind of clear bleaching device of manipulator |
| WO2021017005A1 (en) * | 2019-08-01 | 2021-02-04 | 唐山哈船科技有限公司 | System and method for cleaning up animal carcasses in flooded area |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| Publication number | Publication date |
|---|---|
| CN105239545B (en) | 2016-10-05 |
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