CN105947113A - Mechanical adsorbing device for improving ship abreast supply stability - Google Patents
Mechanical adsorbing device for improving ship abreast supply stability Download PDFInfo
- Publication number
- CN105947113A CN105947113A CN201610268361.3A CN201610268361A CN105947113A CN 105947113 A CN105947113 A CN 105947113A CN 201610268361 A CN201610268361 A CN 201610268361A CN 105947113 A CN105947113 A CN 105947113A
- Authority
- CN
- China
- Prior art keywords
- mechanical
- mechanical arm
- hydraulic
- arm
- adsorption device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
-
- 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
-
- 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
- B63B2021/003—Mooring or anchoring equipment, not otherwise provided for
- B63B2021/006—Suction cups, or the like, e.g. for mooring, or for towing or pushing
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Hooks, Suction Cups, And Attachment By Adhesive Means (AREA)
Abstract
The invention provides a mechanical adsorbing device for improving ship abreast supply stability. The mechanical adsorbing device for improving the ship abreast supply stability mainly comprises vacuum suckers (1), a hydraulic buffering mechanism (2) and a mechanical arm (3), wherein during working, the mechanical adsorbing device provides restraining forces, buffering forces and pushing forces for two ships at supplying work and can exert the abreast supply process of the two ships to be smoothly finished. According to the invention, by using the double-face suckers to adsorb and fix ship bodies, the supply is stable; due to adoption of the hydraulic buffering mechanism between the suckers, the ship abreast buffering and pushing forces can be provided so that the ship abreast supply stability and safety are improved; and through adoption of a folding type mechanical arm design, the device is easy to mount and operate and deck spaces are saved.
Description
Technical field
The present invention is a kind of for improving boats and ships and by feeding the Mechanical Adsorption device of stability.
Background technology
Seaborne supply is that off-lying sea escorts and the requisite logistical support mean of open-ocean operations, is also to weigh a naval persistently to fight
The important evidence of ability.Seaborne supply utilizes various replenishment device that naval vessel is at sea implemented supplementing of weapons and ammunitions and goods and materials etc.,
To expand the combat radius on naval vessel, extend the naval vessel afloat time of staying, reduce naval vessel and base is directly relied on degree, from
And improve the survival ability on naval vessel, ocean, strengthen the fighting capacity of combat vessel.Due to sealift importance, each naval of the world
Power all pays much attention to the development of seaborne supply technology, the U.S., Britain, Russia, France, mouth this etc. state at sea feed skill
Art and the development of equipment aspect are very fast, technically maintain the leading position.In recent years, made due to Diaoyu Island event, South China Sea etc.
China I marine problem is increasingly paid attention to, this will make increasingly to increase sealift demand, and requires the most more to come
The highest.
Seaborne supply mode mainly has underway replenishment (including abeam replenishment at sea and longitudinal replenishment) and by (by tying up) supply with straight at present
Rise machine inflow etc..And by supply as one of sealift main supply pattern, have that replenishment device is simple, supply speed
The features such as degree is fast, and communicate and operate also than underway replenishment simplicity；For the object that supply demand is bigger, generally use and by (leaning on
Tie up) supply.When military boats and ships at sea carries out the supply of the high-risk articles such as heavy objects and missile armament such as container, use more
And relatively reliable supply pattern is and leans on supply.And take to carry out oil plant, fresh water and the vegetable of 3-5 hour by side supply mode
Deng material supply, not single goal, but carry out meeting, escort mission investigation by many warships other time by supply simultaneously,
And after using for a long time, take " cross-check " for Ship Equipment, it is ensured that equip intact.Can also be delayed by cultural activity simultaneously
Solve the pressure that officers and men are the most on duty.
But naval vessel at sea and uses crane sea situation to be had certain requirement, at tender when carrying out material supply by (by tying up)
Berthing with taken-over vessel or implement during lowsteaming, sea situation is generally below 3 grades.But owing to being affected and between two ships by stormy waves stream
What Hydrodynamic adjustment can produce six degree of freedom sways motion, makes tender produce relative motion with receiving ship, makes the goods in transferring
Collide with the hull risen, or let-down sinks to the most unsettled phenomenon occur due to hull to the goods on deck, this
Will to and cause serious threat by feeding the particularly dangerous materials such as ammunition supply.Existing compensation of undulation formula crane has been avoided that
The impact brought due to heave wave, but the control on transverse movement impact yet suffers from bigger problem.
Existing and by using hawser to fix during supply, the mode of air bag buffering, there is following shortcoming in it: poor stability,
There is bigger hidden danger in the dangerous substances such as two ships are separated by too near, transport ammunition；Poor stability, tender is relative with taken-over vessel to be swayed relatively
Greatly, the easy landing of goods, particularly lateral displacement are easily caused two ship superstructures collisions；Efficiency is low, and supply process is loaded down with trivial details,
Need to rely on a large amount of manpower that two ships are fixed before carrying out supply transport.
Summary of the invention
Problem to be solved by this invention is: provide a kind of for improving boats and ships and by feeding the Mechanical Adsorption device of stability, with
Solve the problems such as safety, poor stability and efficiency is low that above-mentioned prior art exists.
The present invention solves its technical problem and uses following technical scheme:
What the present invention provided is used for improving boats and ships and by feeding the Mechanical Adsorption device of stability, is mainly delayed by vacuum cup, hydraulic pressure
Punch mechanism, mechanical arm three part form；This Mechanical Adsorption device work time, its be supply work in two ships provide restraining forceies,
Cushion effect and thrust, make two ships alongside supply process to smoothly complete.
Described vacuum cup, has two, lays respectively at the two ends of hydraulic buffering mechanism.
Two described vacuum cups, all use many lip formula structure, and during work, lip is formed multi-layer sealed, makes adaptability and suction
Attached power is more preferable, and its lip is mainly made up of polyurethane, nitrile rubber or the polymer containing vinyl；With corrugated tube in sucker,
This corrugated tube is formed by connecting along folding retractable direction by Multilayer foldable wrinkle sheet, and Main Function is to reduce sudden change load to very
Suction dish and the impact of topside.
Described hydraulic buffering mechanism, is provided with hydraulic connecting bar, its body of rod two ends be provided be attached thereto for connecting vacuum cup
Ball-type hinged, be cased with multilamellar disk spring outside its body of rod and equipped with mechanical arm and hydraulic buffering mechanism attachment structure, its body of rod
Internal equipped with motor, oil pump, energy storage piston and energy storage lifting arm, main provide supply to terminate after two ships away from time thrust, and
Give the support force of multilamellar disk spring, promote the stiffness coefficient of spring.
It is also equipped with pressure transducer in the inside of hydraulic connecting bar, is mainly used in monitoring stressing conditions between two ships, it is to avoid burst feelings
Condition pontoon is to the destruction of Mechanical Adsorption device and the Mechanical Adsorption device destruction to side plate.
Described mechanical arm and hydraulic buffering mechanism attachment structure, it is positioned at multilamellar disk spring position after a while, and externally it is
One circle, toward the structure of outer lug, matches with the arm on mechanical arm, bar and rotation buffer unit, vacuum cup and the liquid to lower end
Pressure buffer gear has rotation cushioning effect；When Mechanical Adsorption device folding and unfolding, the connecting portion of this cooperation is in rigidity locking state,
Release constraint during work, makes vacuum cup and hydraulic buffering mechanism that mechanical arm to cause load minimum.
Described mechanical arm, for folding type mechanical arm, mainly by the rotation buffer unit being sequentially connected, mechanical arm hypomere, machinery
Arm stage casing, stage casing hydraulic-driven axle, arm cylinder, mechanical arm epimere one saves arm, mechanical arm epimere two saves arm, base composition, wherein:
The power that stage casing hydraulic-driven axle and arm cylinder make hydraulic pump provide is delivered to stage casing mechanical arm from epimere mechanical arm；Mechanical arm epimere two
Joint arm is rotatable two joint arms, and it can rotate around base；During use, base is fixed on the deck of boats and ships.
Described rotation buffer unit is buffer structure, is mainly made up of spiral spring, its underpart and the machine of hydraulic buffering mechanism
Mechanical arm is connected with hydraulic buffering mechanism attachment structure, makes hydraulic connecting bar freely can turn in little scope around mechanical arm hypomere during work
Dynamic, spiral spring can provide cushion effect when its angle reaches rotational limitation and during vibration bursts, it is to avoid mechanical arm and liquid
Pressure connecting rod stress is excessive.
Described Mechanical Adsorption device is also equipped with control system, this control system mainly by sensor, single-chip microcomputer, safety alarm,
Mechanism's execution unit composition, wherein: described sensor includes pressure transducer device, displacement transducer, angular transducer, rises
The relevant information data of collection machinery equipment, and then feed back to single-chip microcomputer, sensor signal is converted to circuit signal by single-chip microcomputer,
Then circuit signal feeds back to operate interface, and vessel operation personnel carry out corresponding operation, so that crewman can understand dress in real time
Putting situation, can carry out automatic butt absorption under the intervention of crewman, its process nature is input control signal, processing controls signal
And output control signal；Single-chip microcomputer is in order to realize automatically controlling and actively controlling of Mechanical Adsorption device, and control model uses three
Mould redundant fashion realizes, and is automatically performed the docking of vacuum cup according to the sequential of regulation and separates, and is equipped with the fault detect of necessity
Signal and emergency processing instruction, in the case of making high sea, this Mechanical Adsorption device is unlikely to destroy hull, then by operator during work
Member regulates and controls according to practical situation, processing controls signal；Perform structure output control signal, this execution structure be mechanical arm with
Fluid pressure drive device (hydraulic pump) in hydraulic buffering mechanism and the driving means (vacuum pump) of vacuum cup.
Described pressure transducer is installed in multilamellar disc spring, and displacement transducer is installed on boats and ships topside and mechanical arm extendable temple members
Inside, angular transducer is installed on that ball-type is hinged and mechanical arm each segmentation junction；These three sensor input control signal,
This control signal include sucker stress size, two board spacing, hydraulic spring grease cup stressing conditions, mechanical arm height and angle, two
Relative acceleration between ship, suspension rod are relative to the acceleration signal on deck；It is indoor that safety alarm is contained in ship control, between two ships
Power (mainly pulling force) when exceeding marginal value, alarm is sounded, and vacuum cup automatically disengages adsorbed state, at this moment Mechanical Adsorption
Device provides only thrust or support force, does not reoffer absorption affinity, and operator then utilize control system to carry out subsequent operation.
The present invention compared with prior art has a following main advantage:
1. utilizing vacuum cup and hydraulic spring grease cup to replace traditional hawser, air bag, structure is safer reliably, according to selected
Sucker estimate its suction being provided that up to tens tons, the power that hydraulic spring grease cup can bear is the biggest.
2. folding type mechanical arm controls the folding and unfolding of device, manually carries out loaded down with trivial details operation without crewman, reduces boats and ships and by institute's used time
Between.
3. single machinery can be unified regulation and control in conjunction with the most ripe automatic control technology, thus greatly reduces people
The use of power.
4. bringing higher supply improved efficiency with relatively low cost, through online enquiries and contact businessman on the spot, we estimate
The price of single set Mechanical Adsorption system is substantially in 4-5 is ten thousand yuan.
Western medium once assessed the cost of a present supply ship substantially more than 2,000,000,000 yuan, and the country such as Britain, the U.S. is about supply ship
Order every time substantially more than 1,000,000,000 dollars.China's the most only 6 comprehensive supply ships, and all cost is high.This
This set Mechanical Adsorption device of bright design, after being extended to the whole series and leaning on system, cost is anticipated is also no more than million, with
Whole several centesimal price of ship is transformed assembling or is directly equipped with when building resupplies warship, its to and by feeding the effect brought
Benefit will be far above its cost expenses.
Domestic the most relevant and during being concentrated mainly on the Gulf of Aden escort mission by supply report.When, sea situation big in amount of dry good is good,
More tendency is by side supply mode, and it can feed by multiple spot, and relatively transverse replenishment mode, efficiency is significantly improved.We institute
Design part for and by supply efficiency raising, its meaning essentially consists in 2 points: one is the raising to two ship relative stabilitys,
Two is the use reducing a large amount of manpowers.In long-term ocean, and typically can carry out 3-5 hour by supply, owing to can vacate more
Many crewman participate in and go in multiple spot supply to promote the raising causing conevying efficiency with stability, can make same goods and materials according to a preliminary estimate
Haulage time reduces 10%-20%, improves safety simultaneously, decreases manpower consumption.
In a word, the present invention uses Double-face sucking disk to adsorb fixed hull, makes supply more stability；Interambulacrum hydraulic damping device carries
For buffering and thrust, boats and ships stability, safety by supply is made to be improved；Use the design of folding type mechanical arm, make
Obtain device to be easily installed and manipulate, and save deck space.
Accompanying drawing explanation
Fig. 1 is apparatus of the present invention partial schematic diagrams when carrying out replenishment operation.
Fig. 2 is structural representation during apparatus of the present invention expansion.
Fig. 3 is the structural representation that apparatus of the present invention regain when placing.
Fig. 4 is apparatus of the present invention hydraulic buffering mechanism local structural graphs.
Fig. 5 is the mounting arrangements schematic diagram of apparatus of the present invention.
Fig. 6 is apparatus of the present invention overall schematic when carrying out replenishment operation.
Fig. 7 is apparatus of the present invention workflow diagram.
In figure: 1. vacuum cup；2. hydraulic buffering mechanism；3. mechanical arm；4. tender；5. taken-over vessel；6. hydraulic pressure is even
Extension bar；7. ball-type is hinged；8. rotate buffer unit；9. mechanical arm hypomere；10. mechanical arm stage casing；11. stage casing hydraulic pressure drive
Moving axis；12. arm cylinders；13. mechanical arm epimeres one save arm；14. mechanical arm epimeres two save arm；15. bases；16. expansion
Mechanical Adsorption device；17. regain the Mechanical Adsorption device being positioned over deck；18. compensation of undulation formula cranes；Lip more than 19.
Formula structure；20. multilamellar disk springs；21. mechanical arms and hydraulic buffering mechanism attachment structure.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the present invention is further illustrated, but does not limit the present invention.
What the present invention provided is used for improving boats and ships and by feeding the Mechanical Adsorption device of stability, as it is shown in figure 1, main by vacuum
Sucker 1, hydraulic buffering mechanism 2, mechanical arm 3 three part form；As it is shown in figure 5, it is in supply work during the work of this device
Two ships restraining forceies, cushion effect and thrust are provided.
(1) vacuum cup part:
Vacuum cup is also known as vacuum lifting tool, typically, it is a kind of band seals lip, forms one after contacting with absorbate body
Individual provisional sealing space, by the air taken away or inside thin sealing space, produces external and internal pressure difference and is operated
A kind of pneumatic element.
Based on the vacuum cup 1 that the present invention provides is the large-scale vacuum sucker in commercial production and new many lip formula structure
Carry out repacking design, mainly realize it and can adsorb tender and object ship, retrain two ship distances in certain scope (work
Time be 1.3m-1.4m) in fluctuation function.
Described vacuum cup 1, as in figure 2 it is shown, use many lip formula structure 19, therefore claims many lip formula vacuum cup.It is inhaled
Dish diameter 1.2m can be adsorbed on irregular rough surface (has the heavy work of the defects such as obvious pit, flange, sand holes for surface
Part), sucker lip material mainly selects polyurethane, nitrile rubber or the polymer etc. containing vinyl to manufacture, with ripple inside it
Stricture of vagina pipe, can avoid the surface of topside to be scratched, and reduces the sudden change load destruction to vacuum cup 1, and waterproof and oilproof, adsorptivity
High, it is adaptable to the topside of boats and ships.Described corrugated tube is mainly formed by connecting along folding retractable direction by Multilayer foldable wrinkle sheet
's.
This many lip formula high-adaptability vacuum cup 1 used, it is achieved the cardinal principle of its function has: (1) is due to many lips
The existence of limit formula structure 19, can form independent sealing range between each lip, wherein some sealing range occurs leakage not
Affect the adsorption effect of remaining scope；(2) soft elastomeric material makes lip can change according to Surface Flaw so that it is shape
Shape and surface of the work complete preferably to fit, and sealing effectiveness is more preferable；(3) many lip formula structure 19 increases connecing of sucker and topside
Contacting surface is amassed, thus improves absorption affinity.
Above-mentioned vacuum cup 1, its sucker end and following hydraulic buffering mechanism 2 two ends matching design globulate hinged 7,
Making sucker have a range of anglec of rotation, when ship comes alongside, it is provided that certain impulsive force, it can be automatic according to side of a ship side plane
Regulation angle makes sucker fit completely the topside with tender 4 with taken-over vessel 5, and control system receives pressure transducer feedback coefficient
According to afterwards, operator control device and start evacuation, and wherein the connected mode of globular hinge 7 can also make certain shearing force
For pressure, when pulling force exceedes marginal value, sucker blasts air, device release pulling force, only prevents two ships close to each other, no
Retrain two ship outward displacement again.
(2) hydraulic buffering mechanism part:
The hydraulic buffering mechanism 2 that the present invention provides is a kind of device for retraining boats and ships motion and applies to and lean on supply field,
Its principle is principle based on hydraulic spring mechanism and Curve guide impeller, and realizes the function of three aspects: buffer, fixing and boosting.
This hydraulic buffering mechanism has compact conformation, reliability is higher, maintenance is simple, install the advantages such as easy to operate.Main principle
It is the elastic deformation by hydraulic fluid and disk spring, makes the position of hydraulic connecting bar 6 can change in certain scope.
This hydraulic buffering mechanism 2 is to be reequiped by existing AHMA type hydraulic spring grease cup, and it can be at two ships mutually by providing certain
Cushion effect, and stop two ships close to each other when replenishment operation, it is that it has certain constraint, after supply terminates, hydraulic means is given
Giving thrust makes two ships to sail out of safely.
Described hydraulic buffering mechanism 2, as shown in Figure 4, is designed with ball-joint 7 structure connected for sucker at its two ends,
It can make to be attached to topside sucker rotate within the specific limits, and to convert a part of shearing force be pressure, makes sucker institute
The shearing force being subject to is less (can automatically disconnect when exceeding marginal value)；There is the hydraulic connecting bar 6 connecting left and right vacuum cup 1 centre,
Have the parts such as motor, oil pump, energy storage piston and energy storage lifting arm in it, main provide supply to terminate after two ships away from time thrust,
And give the outside certain support force of spring, promote the stiffness coefficient of spring；Middle buffer spring part uses multilamellar dish
Shape spring 20 structure, its rigidity is big, and buffering vibration absorption ability is strong, can bear big load with small deformation；At disk spring 20 after a while
The position in face is the structure 21 being connected with mechanical arm, is externally the circle structure toward evagination, turns with the arm on mechanical arm, bar
Dynamic buffer unit 8 matches, and when device folding and unfolding, this connecting portion is in rigidity locking state, and during work, release constraint, makes
The device of hydraulic connecting bar 6 and lower end is minimum on the impact of mechanical arm, and mechanical arm is not the most by moment of flexure；At multilamellar disk spring
It is also equipped with pressure transducer in 20, is mainly used in monitoring stressing conditions between two ships, it is to avoid device is broken by emergency case pontoon
Go bad and the device destruction to side plate.This hydraulic spring grease cup major parameter is shown in Table 1.
(3) mechanical arm part:
Its mechanism of industrial machine mechanical arm is typically made up of a series of components being hinged or relatively slide.It generally has several freedom
Degree, in order to capture or mobile object (instrument or workpiece).This mechanical arm mechanism compares with general crane, has following features: rise
Weighing arm (telescopic arm) is folding, is divided into principal arm (upright arm) and auxiliary (horizontal arm and oblique arm) two parts, and both (lock with locking
Tightly) pin is connected with oil cylinder.
The present invention designs mechanical arm 3 according to foldable arm crane and industrial machine mechanical arm, to realize a carrying implement mechanical arm
Function, for controlling the regulation of the release of device, withdrawal and position, during supply transport, it is not subject to outer load substantially.
Described mechanical arm 3 is folding type mechanical arm, and its structure as shown in Figure 2 and Figure 3, is mainly buffered by base 15, rotation
Parts 8 and four sections of poles composition, four sections of poles are that mechanical arm hypomere 9, mechanical arm stage casing 10, mechanical arm epimere one save arm respectively
13, rotatable two joint arms 14, wherein: base 15 is fixing above deck；Mechanical arm epimere two saves arm 14 and saves arms for rotatable two,
It can rotate around base 15；Mechanical arm stage casing 10, mechanical arm epimere one are saved arm 13 and are mainly used in release regulation and control whole machine
The folding of mechanical arm, makes this adsorbent equipment overlay topside, saves space；Fall in the mechanical arm hypomere 9 of topside can stretch up and down and (stretch
Contracting scope is in 2-2.5m), its bottom is connected with hydraulic buffering mechanism 2, has rotation buffer unit 8 around its through hole,
Matching with the attachment structure 21 on hydraulic connecting bar 6, it is mainly made up of spiral spring, completes to adsorb it at vacuum cup
Before be in guard mode, for rigid structure, complete release constraint after absorption, make the hydraulic connecting bar 6 can be around mechanical arm hypomere 9
In little scope freely rotatable, spiral spring can provide cushion effect when its angle reaches rotational limitation and during vibration bursts,
Avoid mechanical arm 2 and hydraulic connecting bar 6 stress excessive；After vacuum cup 1 completes absorption, stretching of mechanical arm hypomere 9
Drive mechanism release constraint, makes whole mechanical arm the most not by adsorbent equipment (vacuum cup 1 and the hydraulic buffering mechanism of its lower end
2) load transmitted.
After supply terminates, the adsorbent equipment of lower end is received by mechanical arm 3 and overlays topside, and its process is, first vacuum is inhaled
Dish 1 blasts air, and mechanical arm hypomere 9 is retracted, and the hydraulic pump in arm cylinder 12 provides power to make mechanical arm stage casing 10, mechanical arm
Epimere one saves arm 13 and is folded back, and mechanical arm epimere two saves arm 14 and rotates 900, and now the adsorbent equipment of lower end is placed in topside,
And the Mechanical Adsorption device 16 launched becomes withdrawal and is positioned over the Mechanical Adsorption device 17 on deck, as shown in Figure 2 to Figure 3.Its
In, stage casing hydraulic-driven axle 11 is the structure connecting mechanical arm stage casing 10 with arm cylinder 12, makes the power that hydraulic pump is provided from upper
Section mechanical arm is delivered to stage casing.
According to the function realized needed for current crane and the present invention, it is provided that the technical parameter shown in table 2.
(4) control system:
Above-mentioned control system is made up of sensor, single-chip microcomputer, mechanism's execution unit etc., our major design realize its monitoring with
The function controlled, and it is certain intelligent to make it have.Wherein our the safety alarm function of design is exactly a critically important part,
Its main cause is that marine situation is changeable, is difficult to control, when the power (particularly shearing force) between two ships exceedes marginal value, and will
This device and ship may there be is certain infringement, so devising the second state: when pulling force exceedes marginal value, alarm is sounded,
Sucker automatically disengages adsorbed state, at this moment will provide only thrust or support force, and not reoffer absorption affinity.
Described sucker is installed corresponding sensor (such as pressure transducer device, displacement transducer, angular transducer etc.), adopts
The relevant information data of collection plant equipment, and then feed back to single-chip microcomputer, sensor signal is converted to circuit signal by single-chip microcomputer, so
Rear circuit signal feeds back to operate interface, and vessel operation personnel carry out corresponding operation, so that crewman can understand device in real time
Situation, can carry out automatic butt absorption under the intervention of crewman.Its process nature for input control signal, processing controls signal with
And output control signal.
Wherein, pressure transducer is installed in multilamellar disc spring 20, and displacement transducer is installed on boats and ships topside and mechanical arm hypomere (9)
In, angular transducer is installed on ball-type hinged 7 and mechanical arm each segmentation junction.Control signal mainly by sucker stress size,
Between two board spacing, hydraulic spring grease cup stressing conditions, mechanical arm height and angle, two ships, relative acceleration, suspension rod are relative to deck
The signal such as acceleration composition.Single-chip microcomputer is in order to realize automatically controlling and actively controlling of this device.Control model uses three moulds superfluous
Remaining mode realizes, and is automatically performed the docking of vacuum cup 1 according to the sequential of regulation and separates, and is equipped with the fault detect letter of necessity
Number and emergency processing instruct, make this device in the case of high sea be unlikely to destroy hull, during work then by operator according to reality
Situation regulates and controls, processing controls signal.Performing structure is then mechanical arm and the fluid pressure drive device (liquid in hydraulic buffering mechanism
Press pump) and the driving means (vacuum pump) of vacuum cup, receive signal and also export control signal.
Described Mechanical Adsorption device combines this control system and makes and abandoned conventional wasting time and energy by supply, poor stability
Deficiency, ship operation personnel can make according to the information of sensor feedback and adjusting timely and effectively, such as in time adjusting mechanical arm
Height and angle, the size etc. of force of suction cup, supply process has had relatively reliable guarantee, thus and has become more by supply
Intelligent, efficient, improve safety and reliability simultaneously.
(5) Mechanical Adsorption device is installed and layout design:
The present invention provide above-mentioned Mechanical Adsorption device, mounting arrangements and entirety as shown in Figure 5, Figure 6, its technical parameter and
Concrete deployment scenarios on boats and ships and influence of ship-body is calculated as follows:
Apparatus of the present invention space scale: retrain two beam 1.3-1.4m during work, whole device is stacked on deck and is taken up space
It is 2.5 × 1 × 3m (length × width × height).
Using " Fuqing " level supply ship when above-mentioned device designs is that parent ship is designed, as simplified tender in Fig. 5
4, device can be reequiped by concrete application according to ship shape parameter.This parent ship superstructure is divided in two parts, for traditional cloth
Office.Warship is provided with a large-scale bridge, and the both sides of its front cargo hold are equipped with 2 polar cranes, warship body midships section platform thereafter
Place is provided with 2 liquid goods replenishment gantries and 1 dried food and nuts replenishment gantry, and aftercastle rear end is provided with helicopter landing platform, it is possible to achieve hang down
Direct subsidy is given.And it is equipped with and heave wave is had the compensation of undulation formula crane 18 compensating function.Boats and ships major parameter is shown in Table 3.
Having been carried out, by this parent ship, the calculating that boats and ships are affected by this device, deck space shared by single covering device is 2.5 × 1 × 3m=7.5
M, so left and right arranges that 10 these devices of set need 75m altogether altogether on ship3Space.Device is arranged in the parallel (middle) body part of ship, and one
As tender all to leave certain space, i.e. device in the both sides, deck of this section little on the impact in ship space.
Described single covering device, the part such as including vacuum cup 1, hydraulic buffering mechanism 2, mechanical arm 3, its weight is
300+291+140 × 2=871kg, so arranging that the gross weight of whole system 10 covering device is 8710kg (8.71t), due to
Shipful draining is two tons, according to tones per centimeter immersion TPC curve (being about 25t/cm during drinking water 9m), it is known that right
Drauht is substantially without impact.Again due to symmetrical, when side device works, both sides device center of gravity disembarkation center line identity distance from
Respectively may be about 10.5m, 11.2m, then according to formula simple computation such as heeling moment, restoring moment, Angle of Heels, it will be appreciated that
Impact on boats and ships heel:
MH=p (y2-y1)cosα
MR=Δ GMsin α
In formula: p is side installation weight 5x0.871 (t), y1=10.5 (m), y2=11.2 (m), α is Angle of Heel (°),
△ is displacement (t), and GM is metacentric height (m) (scope 2 3.5m), MHFor heeling moment (t*m), MRFor restoring
Moment (t*m), tan α is heel tangent of an angle.
The Angle of Heel calculated by above-mentioned formula is much smaller than 1 °, and its order of magnitude is close to 10-5, so apparatus of the present invention are installed aboard ship
Time the most negligible on the impact of ship rolling.
By above-mentioned calculating and in view of the situations such as boats and ships and the stress of device, boats and ships size, the impact of stormy waves stream, the present embodiment
Each layout five covering devices about boats and ships.
(6) apparatus of the present invention workflow:
What the present invention provided is used for improving boats and ships and by feeding the Mechanical Adsorption device of stability, and its work process is as follows:
Seeing Fig. 7, the work process of whole device is broadly divided into system start-up, device launches regulation and makees by absorption, supply
Industry, withdraw withdrawal.
(a) system start-up: when taken-over vessel near time, open system control switch, start and control interface；
B () launches regulation: chassis rotates and mechanical arm and adsorption-buffering device forward to topside, and sensor Real-time Monitoring Data feeds back
To system；
C () crewman controls adjusting apparatus to correct position；
(d) and by absorption: taken-over vessel is near tender, and shell is close to by sucker, and vacuum equipment is bled, and adsorbs；
E () replenishment operation: sucker and hydraulic spring grease cup device, retrains the mutual motion between two ships, makes two ships tend to relatively and stablize ship
On.Make-up system on ship proceeds by transport；
F () withdraws withdrawal: sucker blasts air, departs from adsorbed state, and hydraulic means is started working, and is pushed open by taken-over vessel, connects
Receive ship to withdraw forward simultaneously.Control device to regain, fold and be put in side, deck.
Table 1 hydraulic spring grease cup design parameter
Table 2 mechanical arm design parameter situation
Table 3 parent form tender design parameter situation
Claims (10)
1. for improving boats and ships the Mechanical Adsorption device by supply stability, it is characterized in that main by vacuum cup (1),
Hydraulic buffering mechanism (2), mechanical arm (3) three part form；During the work of this Mechanical Adsorption device, it is in supply work
Two ships restraining forceies, cushion effect and thrust are provided, make two ships alongside supply process to smoothly complete.
Mechanical Adsorption device the most according to claim 1, it is characterised in that described vacuum cup (1), has two,
Lay respectively at the two ends of hydraulic buffering mechanism (2).
Mechanical Adsorption device the most according to claim 2, it is characterised in that two described vacuum cups (1), all adopts
By many lip formula structure (19), during work, lip is formed multi-layer sealed, makes adaptability more preferable with absorption affinity, and its lip is main
It is made up of polyurethane, nitrile rubber or the polymer containing vinyl；With corrugated tube in sucker, this corrugated tube is can by multilamellar
Fold wrinkle sheet to be formed by connecting along folding retractable direction, Main Function be reduce sudden change load to vacuum cup (1) and
The impact of topside.
Mechanical Adsorption device the most according to claim 1, it is characterised in that described hydraulic buffering mechanism (2), is provided with
Hydraulic connecting bar (6), its body of rod two ends be provided be attached thereto for connecting the ball-type of vacuum cup hinged (7), its body of rod
Outside is cased with multilamellar disk spring (20) and equipped with mechanical arm and hydraulic buffering mechanism attachment structure (21), inside its body of rod
Equipped with motor, oil pump, energy storage piston and energy storage lifting arm, main provide supply to terminate after two ships away from time thrust, and give
Give the support force of multilamellar disk spring, promote the stiffness coefficient of spring.
Mechanical Adsorption device the most according to claim 4, is characterized in that being also equipped with in the inside of hydraulic connecting bar (6)
Pressure transducer, is mainly used in monitoring stressing conditions between two ships, it is to avoid Mechanical Adsorption device is broken by emergency case pontoon
Go bad and the Mechanical Adsorption device destruction to side plate.
Mechanical Adsorption device the most according to claim 4, it is characterised in that described mechanical arm is with hydraulic buffering mechanism even
Access node structure (21), it is positioned at multilamellar disk spring (20) position after a while, and externally it is the circle structure toward outer lug,
Match with the arm on mechanical arm (3), bar and rotation buffer unit (8), vacuum cup (1) and the hydraulic pressure to lower end
Buffer gear (2) has rotation cushioning effect；When Mechanical Adsorption device folding and unfolding, the connecting portion of this cooperation is in rigidity lock
Death situation state, during work, release constraint, makes vacuum cup (1) and hydraulic buffering mechanism (2) cause mechanical arm (3)
Load is minimum.
Mechanical Adsorption device the most according to claim 1, it is characterised in that described mechanical arm (3), for collapsible machine
Mechanical arm, mainly by the rotation buffer unit (8) being sequentially connected, mechanical arm hypomere (9), mechanical arm stage casing (10), stage casing
Hydraulic-driven axle (11), arm cylinder (12), mechanical arm epimere one save arm (13), mechanical arm epimere two saves arm (14), base
(15) composition, wherein: the power that stage casing hydraulic-driven axle (11) and arm cylinder (12) make hydraulic pump provide is mechanical from epimere
Arm is delivered to stage casing mechanical arm；It is rotatable two joint arms that mechanical arm epimere two saves arm (14), and it can rotate around base (15)；
During use, base (15) is fixed on the deck of boats and ships.
Mechanical Adsorption device the most according to claim 7, it is characterised in that described rotation buffer unit (8) is slow
Rushing structure, be mainly made up of spiral spring, the mechanical arm of its underpart and hydraulic buffering mechanism is connected knot with hydraulic buffering mechanism
Structure (21) be connected, make during work hydraulic connecting bar (6) can around mechanical arm hypomere (9) in little scope freely rotatable, spiral shell
Rotating spring can provide cushion effect when its angle reaches rotational limitation and during vibration bursts, it is to avoid mechanical arm (3) and
Hydraulic connecting bar (6) stress is excessive.
Mechanical Adsorption device the most according to claim 1, it is characterised in that described Mechanical Adsorption device is also equipped with control
System processed, this control system is mainly made up of, wherein sensor, single-chip microcomputer, safety alarm, mechanism's execution unit: institute
The sensor stated includes pressure transducer device, displacement transducer, angular transducer, plays the relevant information number of collection machinery equipment
According to, and then feeding back to single-chip microcomputer, sensor signal is converted to circuit signal by single-chip microcomputer, and then circuit signal feeds back to operation
Interface, vessel operation personnel carry out corresponding operation, so that crewman can understand device situation in real time, can doing crewman
Pre-lower implementation automatic butt is adsorbed, and its process nature is input control signal, processing controls signal and output control signal；
Single-chip microcomputer is in order to realize automatically controlling and actively controlling of Mechanical Adsorption device, and control model uses triplication redundancy mode to realize,
Be automatically performed the docking of vacuum cup (1) according to the sequential of regulation and separate, and be equipped with necessity fault detection signal and should
Anxious processing instruction, in the case of making high sea, this Mechanical Adsorption device is unlikely to destroy hull, during work then by operator according to
Practical situation regulates and controls, processing controls signal；Performing structure output control signal, this execution structure is mechanical arm and hydraulic pressure
The driving means of the fluid pressure drive device in buffer gear and vacuum cup, described fluid pressure drive device is hydraulic pump, described very
The driving means of suction dish is vacuum pump.
Mechanical Adsorption device the most according to claim 9, it is characterised in that described pressure transducer is installed on many
In layer disc spring (20), displacement transducer is installed on boats and ships topside and mechanical arm hypomere (9) is internal, and angular transducer is pacified
It is loaded on ball-type hinged (7) and mechanical arm each segmentation junction；These three sensor input control signal, this control signal
Including relative between sucker stress size, two board spacing, hydraulic spring grease cup stressing conditions, mechanical arm height and angle, two ships
Acceleration, suspension rod are relative to the acceleration signal on deck；Safety alarm is contained in the control room of boats and ships, the power between two ships
When mainly pulling force exceedes marginal value, alarm is sounded, and vacuum cup automatically disengages adsorbed state, and at this moment Mechanical Adsorption device is only
Thering is provided thrust or support force, do not reoffer absorption affinity, operator then utilize control system to carry out subsequent operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610268361.3A CN105947113B (en) | 2016-04-27 | 2016-04-27 | For improving ship and the Mechanical Adsorption device by feeding stability |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610268361.3A CN105947113B (en) | 2016-04-27 | 2016-04-27 | For improving ship and the Mechanical Adsorption device by feeding stability |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105947113A true CN105947113A (en) | 2016-09-21 |
| CN105947113B CN105947113B (en) | 2018-07-17 |
Family
ID=56915624
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610268361.3A Active CN105947113B (en) | 2016-04-27 | 2016-04-27 | For improving ship and the Mechanical Adsorption device by feeding stability |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105947113B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106965907A (en) * | 2017-03-20 | 2017-07-21 | 武汉理工大学 | A kind of solid unmanned boat collaboration of automatic system is formed into columns and securing method |
| CN107089300A (en) * | 2017-04-26 | 2017-08-25 | 中国人民解放军海军潜艇学院 | A kind of controllable electric spiral adsorbent equipment under water |
| CN108798494A (en) * | 2018-06-26 | 2018-11-13 | 福建省新能海上风电研发中心有限公司 | A kind of offshore wind turbine foundation is stepped on by system and its application method |
| CN108839781A (en) * | 2018-05-31 | 2018-11-20 | 李圣辉 | A kind of seperated escape submarine |
| CN109229046A (en) * | 2018-09-27 | 2019-01-18 | 华东交通大学 | A kind of anti-automobile crash device |
| CN109270222A (en) * | 2018-10-22 | 2019-01-25 | 长沙开元仪器有限公司 | A kind of elemental analyser automatically opening and closing laying out apparatus |
| CN112026580A (en) * | 2020-08-05 | 2020-12-04 | 武汉理工大学 | Shipborne container type battery replacement system |
| CN113682422A (en) * | 2021-10-27 | 2021-11-23 | 南通飞利明船舶配套有限公司 | Docking device for improving stability of ship parallel-connection and supply |
| CN114261473A (en) * | 2021-12-09 | 2022-04-01 | 武汉理工大学 | Connector mechanism for butt joint of unmanned boat |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3322091A (en) * | 1965-10-01 | 1967-05-30 | Stanwick Corp | Method and apparatus for maneuvering ships |
| JPS6175112A (en) * | 1984-09-20 | 1986-04-17 | Ishikawajima Harima Heavy Ind Co Ltd | Installation for mooring ship alongside pier |
| US5676085A (en) * | 1996-07-08 | 1997-10-14 | Northern Pacific Development Corp. | Vacuum operated boat mooring device |
| CN2753665Y (en) * | 2004-11-16 | 2006-01-25 | 郭伟明 | Ship mooring-leaving apparatus |
| CN204139558U (en) * | 2014-06-27 | 2015-02-04 | 宁夏澍侍信息科技有限公司 | A kind of basket-hanging external wall of high-rise building flush coater |
-
2016
- 2016-04-27 CN CN201610268361.3A patent/CN105947113B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3322091A (en) * | 1965-10-01 | 1967-05-30 | Stanwick Corp | Method and apparatus for maneuvering ships |
| JPS6175112A (en) * | 1984-09-20 | 1986-04-17 | Ishikawajima Harima Heavy Ind Co Ltd | Installation for mooring ship alongside pier |
| US5676085A (en) * | 1996-07-08 | 1997-10-14 | Northern Pacific Development Corp. | Vacuum operated boat mooring device |
| CN2753665Y (en) * | 2004-11-16 | 2006-01-25 | 郭伟明 | Ship mooring-leaving apparatus |
| CN204139558U (en) * | 2014-06-27 | 2015-02-04 | 宁夏澍侍信息科技有限公司 | A kind of basket-hanging external wall of high-rise building flush coater |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106965907A (en) * | 2017-03-20 | 2017-07-21 | 武汉理工大学 | A kind of solid unmanned boat collaboration of automatic system is formed into columns and securing method |
| CN107089300A (en) * | 2017-04-26 | 2017-08-25 | 中国人民解放军海军潜艇学院 | A kind of controllable electric spiral adsorbent equipment under water |
| CN108839781A (en) * | 2018-05-31 | 2018-11-20 | 李圣辉 | A kind of seperated escape submarine |
| CN108798494A (en) * | 2018-06-26 | 2018-11-13 | 福建省新能海上风电研发中心有限公司 | A kind of offshore wind turbine foundation is stepped on by system and its application method |
| CN109229046A (en) * | 2018-09-27 | 2019-01-18 | 华东交通大学 | A kind of anti-automobile crash device |
| CN109229046B (en) * | 2018-09-27 | 2023-05-23 | 华东交通大学 | Automobile collision prevention device |
| CN109270222A (en) * | 2018-10-22 | 2019-01-25 | 长沙开元仪器有限公司 | A kind of elemental analyser automatically opening and closing laying out apparatus |
| CN109270222B (en) * | 2018-10-22 | 2024-02-27 | 长沙开元仪器有限公司 | Automatic cover opening and closing lofting device of element analyzer |
| CN112026580A (en) * | 2020-08-05 | 2020-12-04 | 武汉理工大学 | Shipborne container type battery replacement system |
| CN113682422A (en) * | 2021-10-27 | 2021-11-23 | 南通飞利明船舶配套有限公司 | Docking device for improving stability of ship parallel-connection and supply |
| CN114261473A (en) * | 2021-12-09 | 2022-04-01 | 武汉理工大学 | Connector mechanism for butt joint of unmanned boat |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105947113B (en) | 2018-07-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105947113A (en) | Mechanical adsorbing device for improving ship abreast supply stability | |
| CN107521623B (en) | Five degree of freedom becomes cell type multi-purpose vessel berthing device | |
| JP5139571B2 (en) | Ship vibration reduction and levitation equipment | |
| KR101572395B1 (en) | Vertically-variable ocean sail system | |
| CN104229092B (en) | Ship rolling balance automatic control system and method | |
| CN202193170U (en) | Ship, naval vessel or submarine with speed reducing and turn damping board device | |
| CN104229094A (en) | Aircraft carriers, warships, submarines and offshore platforms with efficient load-eliminating swing-stopping capsizing-resisting correction devices | |
| CN102658858A (en) | Aircraft carrier, warship, submarine and offshore platform each with correcting device with high efficiency, load removal, swing stoppage and turnover resistance | |
| CN110329442A (en) | It is a kind of with compensation step on by function wind-powered electricity generation O&M ship and its step on by method | |
| CN105035260B (en) | The method that platform upper chunk is thrown aside at support overall pulling down sea is floated using double ships | |
| CN109533230A (en) | A kind of rescue at sea unmanned boat and its rescue mode | |
| WO2014189425A1 (en) | A ship anti-rolling device | |
| WO2013135845A1 (en) | An offshore wind turbine | |
| CN206231586U (en) | A kind of sea situation high and by isolation floating body | |
| EP1819585A2 (en) | Ocean-going vessels | |
| CN106314704A (en) | Ship capsizing preventing device | |
| CN103395477A (en) | Semi-submersible ships capable of being combined and combined type semi-submersible ship | |
| CN204726636U (en) | A kind of boats and ships with balancing device | |
| CN202147830U (en) | Ship, naval vessel or submarine with system of outer inlaying counterweight iron devices and outer suspending counterweight iron devices | |
| CN113979333B (en) | Shipborne self-balancing water crane for rescue of large-scale water plane and method | |
| CN210455129U (en) | Wind power operation and maintenance ship with compensation climbing function | |
| CN103231782B (en) | Laterally lower buoyancy aid semisubmersible platform | |
| CN117508519A (en) | Island sea area rescue robot and rescue method | |
| CN206427239U (en) | A kind of coastal wind power plant transport maintenance is speedily carried out rescue work operation ship | |
| CN205801451U (en) | A kind of ocean platform tender |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |