CN107399408B - A kind of ship connection and separated devices and methods therefor - Google Patents
A kind of ship connection and separated devices and methods therefor Download PDFInfo
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- CN107399408B CN107399408B CN201710634983.8A CN201710634983A CN107399408B CN 107399408 B CN107399408 B CN 107399408B CN 201710634983 A CN201710634983 A CN 201710634983A CN 107399408 B CN107399408 B CN 107399408B
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- ship
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- linking arm
- support arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/02—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement
- B63B1/10—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls
- B63B1/12—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/44—Floating buildings, stores, drilling platforms, or workshops, e.g. carrying water-oil separating devices
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- Ocean & Marine Engineering (AREA)
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Abstract
The present invention relates to a kind of connection of ship and separate devices and methods therefor, including central control system, several bindiny mechanisms, several tightening mechanisms, several bindiny mechanisms, several tightening mechanisms are all set in the two sides of ship, and the bindiny mechanism of any side of ship, tightening mechanism arrangement at equidistant intervals, and bindiny mechanism, tightening mechanism center are in same horizontal line；The central control system is made of PLC controller, Beidou Navigation System；The bindiny mechanism includes connecting plate, linking arm, support arm, bent lever, lifts arm, the tightening mechanism is made of fastening assembly, locating assembly, the locating assembly is installed on immediately below fastening assembly, when the fastening assembly, locating assembly installation, fastening the distance between assembly and locating assembly are greater than the outer diameter of the ball protrusion on the right of linking arm.Structure of the invention is reasonable, easy to use, the advanced science of method, by the invention it is possible to effectively realize ship connection and separate.
Description
Technical field
The present invention relates to a kind of connection of ship and devices and methods therefor is separated, is realized for ship quickly to be connect with ship
Operation, operation quickly separate after the completion and intelligent accurate control method.
Background technique
In ocean navigation technology, for the oil recovery of floating, storage and the vessels such as ship, drilling equipment and barge are unloaded,
When the operation ship of especially oceangoing voyage needs to convey provisions or other special operations, operation will cause many tired when ship separates
Difficulty, optimal situation are to connect ship and ship, and such operation is i.e. fast, steady, and can be by efficiency and power at geometry
The raising of grade.
In existing technology, have and " ship is anchored on seabed with chain using the anchor chain or anchor of pendency.For example, logical
It crosses boring tower to connect with ship or drilling machine, ship or drilling machine can be installed in around the boring tower to wind vane.In emergency or huge
In the case of wave and storm wind, the radio signal issued by cable connection with sound or electrically from ship, Ke Yihe are utilized
It is known to separate device action, thus dismantle such as hydraulic drive mechanism by the first part of the device and second part, example
Such as, the company of Nei Yang system house in Santiago just possesses the drilling machine anchor back-off assembly of the above this form."
Above separated device is the disadvantage is that they place the deeper place of the water surface or less, therefore are not easy maintenance, check, dimension
It repairs, it is especially not applicable to underway ship, it is necessary to which that inventing the device that one kind quickly connects connects ship, and in operation
The technology of separated intelligent accurate control afterwards.
Summary of the invention
The purpose of the present invention is in view of the above-mentioned problems of the prior art, a kind of connection of ship is provided and separate device and
Its method can quickly and reliably execute movement, and the device is readily inspected and drives.
The object of the present invention is achieved like this, a kind of ship connection and separated device, it is characterized in that: including central control system
And several bindiny mechanisms of ship two sides, several tightening mechanisms are set to, and the bindiny mechanism of any side of ship and tightening mechanism
Between arrangement at equidistant intervals (that is, ship two sides interval it is equidistant be equipped with bindiny mechanism, tightening mechanism, and spacing distance one
Cause), and bindiny mechanism, tightening mechanism center are in same horizontal line；The central control system is by PLC controller, Beidou
Navigation system composition, Beidou Navigation System connect with PLC controller signal, Beidou Navigation System offer ship positionning and observing and controlling ship and
Distance between ship；
The bindiny mechanism includes connecting plate, linking arm, support arm, bent lever, lifts arm, and connecting plate is fixedly connected on ship
On；The left end of the linking arm is connect with connecting plate hinge, is hinge joint, the right end of linking arm at linking arm and connecting plate hinge
Equipped with ball protrusion, ball protrusion front end is equipped with first laser range finding probe, and ball protrusion two sides are equipped with cylinder；The support
Arm is retractable supports arm, and support arm is located at the lower section of linking arm, and support arm one end is articulated on connecting plate, and the other end and song are dynamic
Bar is hinged；The song lever is located at below support arm, and one end is articulated with connecting plate, and the other end, which is articulated with, lifts arm；It is described to lift
Arm lifts arm to be scalable, lifts arm one end and bent lever is hinged, the other end is articulated with linking arm right end；The support arm and song
Lever is linkage structure connection, support arm and bent lever hinged place hinging pin shaft axis and lifts arm and song lever hinged place is hinged
On one wire or in parallel, linking arm left end and the connecting plate above support arm are hinged for pin shaft axis, installation shield above linking arm
Plate；
The tightening mechanism is made of fastening assembly, locating assembly, and fastening assembly includes hollow box-like shell, upper anvil
Plate, upper chopping block are placed in box-like shell；The box-like shell is fixedly connected aboard ship, is port, box-like shell below box-like shell
It is equipped with inner slide, external slideway in vivo, wherein inner slide is set to box-like shell at hull；Both sides are solid above box-like shell
Surely first servo motor, the second servo motor are connected with；The power output shaft of first servo motor is fixedly connected with the first screw rod,
Box-like case top is equipped with the first screw rod through-hole, and the first screw rod passes through the first screw rod through-hole, is equipped with spiral shell in first on the right of upper chopping block
Pit is threaded on the right of upper chopping block in the first internal thread hole across first screw rod one end of the first screw rod through-hole；Second servo motor
Power output shaft be fixedly connected with the second screw rod, box-like case top is equipped with the second screw rod through-hole, and the second screw rod passes through second
Screw rod through-hole, the upper chopping block left side are equipped with the second internal thread hole, and second screw rod one end across the second screw rod through-hole is threaded onto upper chopping block
In the second internal thread hole of the left side；First servo motor, the second servo motor respectively drive the first screw rod, the rotation of the second screw rod, make
The first screw rod is rotated in the first internal thread hole on the right of the upper chopping block, the second screw rod turns in upper the second internal thread hole of the chopping block left side
Dynamic, chopping block moves up and down in box-like shell in drive；The upper chopping block both sides are equipped with idler wheel, and idler wheel is placed in inner slide, outer cunning
In road, upper chopping block center is equipped with the first spherical pit, and the centre of the first spherical pit is equipped with pressure sensor, the first spherical pit
Center is longitudinally equipped with the upper cylindrical groove with the perforation of the first spherical pit, the cylinder of upper cylindrical groove and ball protrusion two sides
Match, box-like hull outside middle position is equipped with upper grooved breach, and the groove width of upper grooved breach is matched with linking arm right end width；
The locating assembly is installed on immediately below fastening assembly, and locating assembly includes chopping board frame, chopping block, and chopping board frame is fixed to be connected
It connects aboard ship, is port above chopping board frame, port two sides are equipped with notch, and bottom of the gap is equipped with third laser ranging probe, the 4th
Laser ranging probe, notch geometry are matched with the ball protrusion of linking arm right end, and the chopping block is fixedly installed below port, anvil
Plate center is equipped with the second spherical pit, and second laser range finding probe is equipped among the second spherical pit, in the second spherical pit
The heart is longitudinally equipped with the lower cylindrical groove to connect with the second spherical pit, the cylinder of lower cylindrical groove and ball protrusion two sides
Match, middle position is equipped with lower grooved breach on the outside of chopping board frame, and the groove width of lower grooved breach is matched with the width of linking arm right end；
When the fastening assembly, locating assembly installation, it is right that fastening the distance between assembly and locating assembly are greater than linking arm
The outer diameter of the ball protrusion on side, and the first spherical pit, the second spherical pit center are in same vertical line；First spherical female
It cheats, the radian of the second spherical pit is matched with linking arm right end ball protrusion；
Support arm is connect with support arm controller signals, is lifted arm and is connect with arm controller signal is lifted；First laser is surveyed
Away from probe, second laser range finding probe, pressure sensor, third laser ranging probe, the 4th laser ranging probe, the first servo
Motor, the second servo motor support arm controller, lift arm controller and connect with PLC controller through signal wire.
The shape of the connecting plate is plate rectangle.
The linking arm is cylinder barred body, and linking arm left end is equipped with hinge hole, and linking arm is cut with scissors by hinge hole and connecting plate
It connects.
The support arm is jack structure, using the flexible of hydraulic, electrical control or mechanically direct control support arm.
The song lever cross sectional shape is round or rectangular.
The arm of lifting is jack structure, directly controls it using hydraulic, electrical control or Mechanical course and lifts arm
It is flexible.
The connecting plate, box-like shell, chopping board frame are connected aboard ship by keel level.
The shape of the chopping board frame is " inversion " trapezoidal shape.
It a kind of connection of ship and separates device and ship is attached and separated method, it is characterized in that:
When normal, support arm in bindiny mechanism lifts arm withdrawal, and support arm lifts arm linkage for linking arm with hinge joint
Centered on rotate, turn downward the backplate on linking arm and linking arm slowly, until linking arm is in plumbness, linking arm
And the backplate on linking arm is close to the hull of ship, plays the role of protecting ship；
When needing to link together in ship and ship, PLC controller to support arm controller, lift arm controller sending and open
Instruction is opened, starting support arm lifts arm, and support arm lifts arm stretching, and support arm lifts arm linkage for linking arm with hinge joint
Centered on rotate, rotate backplate on linking arm and linking arm slowly towards horizontal process；Beidou navigation system in central control system
System provides distance between positioning and observing and controlling ship and ship, slowly close between ship and ship, makes to prop up in the bindiny mechanism of a ship side
The ball protrusion of brace right end is in the bindiny mechanism of another ship side, among tightening mechanism, first in ball protrusion
Signal of the laser ranging probe to PLC controller feedback ranging, the distance measuring signal received according to PLC controller, central control system
Control ship differential moves forward or back and keeps distance between ship and ship, then, slowly close between ship and ship, makes a ship
The ball protrusion of support arm right end is among the tightening mechanism of another ship in bindiny mechanism；Support arm is right in bindiny mechanism
The ball protrusion at end slow transits through third laser ranging probe or the 4th laser ranging probe, third laser ranging in tightening mechanism
Probe or the 4th laser ranging probe feedback signal keep opposing stationary between PLC controller control ship and ship to PLC controller
State；When ball projects through the second spherical pit in locating assembly, ball protrusion is captured by second laser range finding probe, the
Dual-laser range finding probe feedback signal is transferred to central control system to PLC controller, and PLC controller issues ship halt instruction, needs
The ship stop motion to link together；
At this point, PLC controller control first servo motor drives screw rod rotation, the second servo motor to drive in central control system
Screw rod rotation, moves downward chopping block, until ball protrusion is clamped by the first spherical pit, the matching of the second spherical pit, circle
The cylinder of ball protrusion two sides is clamped by upper cylindrical groove, the matching of lower cylindrical groove, at this time the first spherical pit, the second spherical pit
It is contacted with the matching of ball protrusion, upper cylindrical groove, lower cylindrical groove are contacted with the matching of the cylinder of ball protrusion two sides；Linking arm
It is just stuck between grooved breach, lower grooved breach at right end, simultaneously feedback pressure information gives PLC to control for pressure sensor work
Device is transferred to central control system, and after reaching the pressure of setting, PLC controller control first servo motor, the second servo motor stop
It only works, the ball protrusion of support arm right end is connected tightening mechanism in mechanism and locks and fasten, at this time a ship's side peace
The bindiny mechanism of dress is all locked and is fastened by the tightening mechanism that another ship's side is installed, and connect ship with ship；It connects at this time
Backplate on arm and linking arm is in a horizontal position, and forming one can be with the platform of accommodating sundries；
When needing to separate ship with ship, the sundries on horizontality backplate is removed, the ship to link together stops
It only moves, PLC controller control first servo motor, the second servo motor rotate backward, so that first servo motor drives silk
Bar rotates backward, and the second servo motor drives screw rod to rotate backward, and moves upwards chopping block；In the bindiny mechanism of one ship
Support arm right end ball protrusion slowly leave the second spherical pit in the locating assembly of another ship, in locating assembly
Support arm right end ball protrusion leave message feedback signal to PLC controller, is transferred to central control system by dual-laser range finding probe,
When ball projects through third laser ranging probe or four laser ranging probes, kept between PLC controller control ship and ship
Relative static conditions, when the ball protrusion that PLC controller receives first laser range finding probe feedback leaves tightening mechanism signal
Afterwards, PLC controller control ship and ship between slowly sails out of, PLC controller to support arm controller, lift arm controller issue receive
It refers to enable, support arm in bindiny mechanism lifts arm withdrawal, and support arm is lifted arm linkage and turned linking arm centered on hinge joint
It is dynamic, turn downward the backplate on linking arm and linking arm slowly, linking arm is in plumbness, on linking arm and linking arm
Backplate is close to hull, can protect ship.
Structure of the invention is reasonable, easy to use, the advanced science of method, and through the invention, the present invention provides a kind of ship and connects
Devices and methods therefor is connect and separated, can quickly and reliably execute movement, and the device is readily inspected and drives；The present invention
Also provide it is a kind of can control connection and separated method.The technical scheme is that including central control system, connecting with ship
Bindiny mechanism and the tightening mechanism that is connect with ship, ship two sides interval it is equidistant be equipped with bindiny mechanism, tightening mechanism, interval
Distance is consistent, and bindiny mechanism, tightening mechanism center are in same horizontal line.Central control system is led by PLC controller, Beidou
Boat system composition.
Bindiny mechanism by connecting plate, linking arm, support arm, bent lever, lift arm, backplate is constituted.The connecting plate is plate
Rectangle, connecting plate are connected on ship by keel level；The linking arm be cylinder barred body, left end be equipped with hinge hole with connect
Plate is hinged, and right end is equipped with ball protrusion, and ball protrusion front end is equipped with first laser range finding probe；The support arm is a jack knot
Structure, utilization is such as hydraulic or electrical control, or directly controls using Mechanical course that it is flexible, is located at below linking arm, one end hinge
Connect and connecting plate, the other end hingedly with bent lever upper end；The song lever cross sectional shape is preferably circle or rectangular, is located at support
Below arm, one end hingedly and connecting plate, the other end hingedly with lift arm；It is a jack structure that this, which lifts arm, utilizes such as liquid
Pressure or electrical control, or directly control it using Mechanical course and stretch, it lifts arm one end and bent lever upper end is hinged, other end hinge
It connects and linking arm right end；The support arm and song lever are linkage structure, support arm and bent lever hinged place and lift arm and song
Their hinging pin shaft axis of lever hinged place are on one wire or their hinging pin shaft axis are parallel, linking arm left end and support
Connecting plate above arm is hinged, and backplate is installed above linking arm, empty between backplate area and the bindiny mechanism being equipped with, tightening mechanism
Between it is area matched.
Tightening mechanism is made of fastening assembly, locating assembly, and fastening assembly includes hollow box-like shell, an outer cunning
Road, inner slide, upper chopping block, first servo motor, the second servo motor.Box-like shell is connected on ship by keel level,
It is port below box-like shell, the inside and outside both sides of box-like shell are equipped with inner slide, external slideway, and both sides are fixed above box-like shell connects
First servo motor, the second servo motor are connect, and sets through-hole across screw rod, first servo motor output shaft and silk at output shaft
Bar one end is fixedly connected, and is connect and is able to rotate, the second servo motor output shaft and screw rod one on the right of the screw rod other end and upper chopping block
End is fixedly connected, and the screw rod other end connect and is able to rotate with the upper chopping block left side, upper chopping block shape and box-like shell hollow shape
Match, both sides are equipped with idler wheel, and idler wheel is placed in external slideway, in inner slide, and upper chopping block center is the first spherical pit, set pressure among it
Sensor, the first spherical pit center are longitudinally equipped with cylindrical groove and mutually pass through therewith, and cylindrical groove shape, size are matched with cylinder,
The box-like hull outside middle position is equipped with grooved breach, and groove width is matched with the width on 12 the right of linking arm.
Locating assembly is installed on immediately below fastening assembly, and locating assembly includes chopping board frame, chopping block, and chopping board frame is flat by keel
Face is connected on ship, and chopping board frame is " inversion " trapezoidal shape, and top is port, and port two sides are equipped with notch, and bottom of the gap is equipped with
Third laser ranging probe, the 4th laser ranging probe, notch geometry are matched with the ball protrusion of linking arm right end, solid under port
Determine chopping block, chopping block center is the second spherical pit, sets second laser range finding probe among it, the second spherical pit center is longitudinally set
There is cylindrical groove mutually to pass through therewith, cylindrical groove shape, size are matched with cylinder, and middle position is lacked equipped with groove profile on the outside of chopping board frame
Mouthful, groove width is matched with the width on the right of linking arm；
The ball protrusion for guaranteeing that certain distance T, distance T are greater than on the right of linking arm when fastening assembly, locating assembly installation is big
It is small, and guarantee that the first spherical pit, the second spherical pit line of centres are unified on vertical line, the first spherical pit, second
Spherical pit radian is matched with linking arm right end ball protrusion.
First laser range finding probe, second laser range finding probe, pressure sensor, third laser ranging probe, the 4th swash
Ligh-ranging probe, first servo motor, the second servo motor connect PLC controller through signal wire, and Beidou Navigation System provides fixed
Apart from observing and controlling between position and ship, PLC controller, Beidou Navigation System composition central control system make.
The present invention is vessels, the especially oceangoing voyages such as the oil recovery, storage and unloading ship, drilling equipment and barge of floating
When operation ship needs to convey provisions or other special operations, ship and ship are connected, a platform is formed, does so
Industry is i.e. fast, steady, and can be by efficiency and power at the raising of geometry grade.
The ship division step method of connection can be such that ship one one of connection separates by the present invention；It can also make
The ship of connection is performed simultaneously separated movement, and realization is quickly broken the whole up into parts.
Detailed description of the invention
Fig. 1 is schematic cross-section of the present invention.
Fig. 2 is bindiny mechanism's schematic diagram of the present invention.
Fig. 3 is bindiny mechanism's schematic elevation view.
Fig. 4 is tightening mechanism schematic diagram of the present invention.
Fig. 5 is tightening mechanism schematic elevation view of the present invention.
Fig. 6 is a kind of service condition schematic diagram of the present invention.
In figure: 1 bindiny mechanism, 2 ships, 3 tightening mechanisms, 4 balls protrusion, 5 linking arm right ends, 6 backplates, 7 linking arm right ends
Below, 8 arm, 9 bent lever upper ends, 10 support arms, 11 bent lever one end, 12 linking arms, 13 hinge joints, 14 connecting plates, 15 are lifted
Bent lever, 16 bent lever lower ends, 17 first laser range finding probes, 18 chopping board frames, 19 locating assemblies, 20 chopping blocks, 21 second spherical shapes
Pit, 22 second laser range finding probes, 23 idler wheels, 24 inner slides, 25 pressure sensors, the first screw rod of 26-1,26-2 second
It is bar, 27-1 first servo motor, the second servo motor of 27-2,28 box-like shells, 29 external slideway, chopping block on 30,31 first spherical
Pit, cylindrical groove on 32,33 fastening assemblies, grooved breach on 34,35 lower cylindrical grooves, 36-1 third laser ranging probe,
The 4th laser ranging probe of 36-2,37 lower grooved breach, 38 cylinders.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings:
A kind of ship connection and separated device, including central control system, several bindiny mechanisms 1, several tightening mechanisms 3, it is several
Bindiny mechanism 1, several tightening mechanisms 3 are all set in the two sides of ship 2, and the bindiny mechanism 1 close to each other of any side of ship 2 with
Spacing distance is all the same between tightening mechanism 3, i.e., what ship two sides interval was equidistant is equipped with bindiny mechanism, tightening mechanism, and interval distance
From consistent.And bindiny mechanism 1,3 center of tightening mechanism are in same horizontal line；Central control system is by PLC controller, Beidou
Navigation system composition, Beidou Navigation System connect with PLC controller signal, Beidou Navigation System offer ship positionning and observing and controlling ship and
Distance between ship.
Wherein, bindiny mechanism 1 includes connecting plate 14, linking arm 12, support arm 10, bent lever 15, lifts arm 8, connecting plate
14 are fixedly connected on ship 2；The left end of linking arm 12 is connect with 14 hinge of connecting plate, is at linking arm 12 and 14 hinge of connecting plate
Hinge joint 13 installs ball protrusion 4 in the right end of linking arm 12, and first laser range finding probe 17 is arranged in raised 4 front ends of ball,
In ball raised 4 two sides, cylinder 38 is set.
Support arm 10 is retractable supports arm, and support arm 10 is located at the lower section of linking arm 12, and 10 one end of support arm is articulated with
On connecting plate 14, the other end and bent lever 15 are hinged；Bent lever 15 is located at 10 lower section of support arm, and bent 15 one end of lever is articulated with company
Fishplate bar 14, the other end, which is articulated with, lifts arm 8.It lifts arm 8 and lifts arm to be scalable, lift 8 one end of arm and bent lever 15 is hinged, separately
One end is articulated with 12 right end of linking arm.
In the present embodiment, support arm 10 is that linkage structure connects with bent lever 15,15 hinged place of support arm 10 and bent lever
Hinging pin shaft axis and lift arm 8 and bent 15 hinged place hinging pin shaft axis of lever is on one wire or parallel, linking arm 12 is left
The connecting plate 14 at end and 10 top of support arm is hinged, and backplate 6 is installed above linking arm 12；The tightening mechanism 3 is by fastening assembly
33, locating assembly 19 is constituted, and fastening assembly 33 includes hollow box-like shell 28, upper chopping block 30, and upper chopping block 30 is placed in box-like shell
In body 28；The box-like shell 28 is fixedly connected on ship 2, is port below box-like shell 28, in box-like shell 28 in setting
Slideway 24, external slideway 29, wherein inner slide 24 is set to box-like shell 28 at hull；28 top both sides of box-like shell are solid
Surely first servo motor 27-1, the second servo motor 27-2 are connected with；The power output shaft of first servo motor 27-1 is fixed to be connected
It is connected to the first screw rod 26-1, the first screw rod through-hole is provided at the top of box-like shell 28, the first screw rod 26-1 is logical across the first screw rod
Hole is provided with the first internal thread hole on the right of upper chopping block 30, and first one end screw rod 26-1 across the first screw rod through-hole is threaded onto upper anvil
In 30 the first internal thread hole of the right of plate；The power output shaft of second servo motor 27-2 is fixedly connected with the second screw rod 26-2, box
The second screw rod through-hole is provided at the top of shape shell 28, the second screw rod 26-2 passes through the second screw rod through-hole, upper 30 left side of chopping block setting
There is the second internal thread hole, is threaded onto upper 30 the second internal thread hole of the left side of chopping block across second one end screw rod 26-2 of the second screw rod through-hole
It is interior；First servo motor 27-1, the second servo motor 27-2 respectively drive the first screw rod 26-1, the second screw rod 26-2 rotation, make
It obtains the first screw rod 26-1 to rotate in upper 30 the first internal thread hole of the right of chopping block, the second screw rod 26-2 is on upper 30 left side second of chopping block
It is rotated in internal thread hole, chopping block 30 moves up and down in box-like shell 28 in drive.
Upper 30 both sides of chopping block are provided with idler wheel 23, idler wheel 23 is placed in inner slide 24, in external slideway 29, upper 30 center of chopping block
First spherical pit 31 is set, and pressure sensor 25,31 center of the first spherical pit is arranged in intermediate in the first spherical pit 31
The longitudinally disposed upper cylindrical groove 32 with the perforation of the first spherical pit 31, the cylinder of upper cylindrical groove 32 and raised 4 two sides of ball
38 matchings, 28 outside middle position of box-like shell are equipped with upper grooved breach 34, and the groove width and linking arm 12 of upper grooved breach 34 are right
Hold width matching.
It is installed on immediately below fastening assembly 33 in locating assembly 19, locating assembly 19 includes chopping board frame 18, chopping block 20, chopping block
Frame 18 is fixedly connected on ship 2, and the shape of chopping board frame 18 is " inversion " trapezoidal shape, is port, port two sides above chopping board frame 18
Equipped with notch, bottom of the gap is equipped with third laser ranging probe 36-1, the 4th laser ranging probe 36-2, notch geometry with connect
The ball protrusion 4 of 12 right end of arm matches, and chopping block 20 is fixedly installed below port, and the second spherical pit is arranged in 20 center of chopping block
21, and second laser range finding probe 22 is arranged among the second spherical pit 21,21 center of the second spherical pit is longitudinally disposed with the
The lower cylindrical groove 35 that two spherical pits 21 connect, lower cylindrical groove 35 are matched with the cylinder 38 of raised 4 two sides of ball, chopping block
18 outside middle position of frame is equipped with lower grooved breach 37, and the groove width of lower grooved breach 37 is matched with the width of 12 right end of linking arm.
When fastening assembly 33, the installation of locating assembly 19, fastening the distance between assembly 33 and locating assembly 19 are greater than connection
The outer diameter of the ball protrusion 4 on 12 the right of arm, and the first spherical pit 31,21 center of the second spherical pit are in same vertical line；
First spherical pit 31, the second spherical pit 21 12 right end ball protrusion 4 of radian and linking arm match.
Support arm 10 is connect with support arm controller signals, is lifted arm 8 and is connect with arm controller signal is lifted, first laser
Range finding probe 17, second laser range finding probe 22, pressure sensor 25, third laser ranging probe 36-1, the 4th laser ranging
Probe 36-2, first servo motor 27-1, the second servo motor 27-2, support arm controller, lift arm controller with PLC control
Device electrical connection processed.
Further, in the present embodiment, the shape of the connecting plate 14 is plate rectangle.Linking arm 12 is cylindrical rod
Body, 12 left end of linking arm are equipped with hinge hole, and linking arm 12 is hinged by hinge hole and connecting plate 14.Support arm 10 is jack knot
Structure, using the flexible of hydraulic, electrical control or mechanically direct control support arm 10.Song 15 cross sectional shape of lever is circle
Or it is rectangular.The arm 8 of lifting is jack structure, directly controls it using hydraulic, electrical control or Mechanical course and lifts arm 8
It is flexible.The connecting plate 14, box-like shell 28, chopping board frame 18 are connected on ship 2 by keel level.
As shown in figure 1, figure 2, figure 3, figure 4 and figure 5, feature according to the present invention is to calculate through overload torsiometer at 2 liang of ship
Sufficient amount of bindiny mechanism 1, tightening mechanism 3 are installed in side interval, and bindiny mechanism 1,3 spacing distance of tightening mechanism are consistent, connection
Mechanism 1 is connect by connecting plate 14 with 2 keel of ship, and tightening mechanism 3 is connect by box-like shell 28 with 2 keel of ship, first laser
Range finding probe 17, second laser range finding probe 22, pressure sensor 25, third laser ranging probe 36-1, the 4th laser ranging
Probe 36-2, first servo motor 27-1, the second servo motor 27-2 connect PLC controller through signal wire.Machine is connected when normal
Support arm 10 in structure 1 lifts the withdrawal of arm 8, and support arm 10 is lifted the linkage of arm 8 and rotated linking arm 12 centered on hinge joint 13,
Make linking arm 12 and backplate 6 slowly turns downward above, linking arm 12 is in plumbness, linking arm 12 and backplate above at this time
6 are close to hull, can protect ship 2, when the operation ship for ship especially oceangoing voyage needs to convey provisions or other special operations
When, ship and ship are connected, such operation is i.e. fast, steady, and can be by efficiency and power at the raising of geometry grade.Specific step
Rapid method is as follows:
(1) ship is connect with ship
Under the stable situation of milder metocean conditions, especially stormy waves rank is lower than 4 grades, and the ship 2 for needing to connect slowly leans on
Closely, support arm 10 in PLC controller bindiny mechanism 1, lift the stretching of arm 8, support arm 10, lift the linkage of arm 8 by linking arm 12 with
It is rotated centered on hinge joint 13, makes linking arm 12 and backplate 6 slowly rotates upward above, linking arm 12 is in vertical configuration at this time
State, makes linking arm 12 and backplate 6 is slowly rotated towards horizontal process above；
Central control system make Beidou Navigation System provide positioning and ship between apart from observing and controlling, ship 2 continue slowly it is close, will connect
For 10 ball of support arm protrusion 4 among tightening mechanism 3, the work of first laser range finding probe 17 is anti-to PLC controller in mechanism 1
Feedback signal, central control system control 2 differential of ship move forward or back and keep distance between ship 2,10 ball of support arm in bindiny mechanism 1
Protrusion 4 slow transits through third laser ranging probe 36-1 or the 4th laser ranging probe 36-2, and feedback signal is controlled to PLC at this time
Device；When ball protrusion 4 is by the second spherical pit 21 in locating assembly 19, is captured and fed back by second laser range finding probe 22
Signal is transferred to central control system to PLC controller；
Central control system provides Beidou Navigation System between positioning and ship apart from observing and controlling, and 2 stop motion of ship, central control system makes
PLC controller controls first servo motor 27-1 and drives screw rod 26-1 rotation, the second servo motor 27-2 that screw rod 26-2 is driven to turn
It is dynamic, move downward chopping block 30, until the first spherical pit 31 and the second spherical pit 21, upper cylindrical groove 32, lower cylinder
Groove 35 and ball protrusion 4 and the matching of cylinder 38 contact, 12 right end of linking arm 5 at be just stuck in grooved breach 34, lower slot
Between type notch 37, the work of pressure sensor 25 at this time and feedback information is to PLC controller is transferred to central control system, when reaching
After certain pressure, central control system makes PLC controller control first servo motor 27-1, the second servo motor 27-2 stop working,
The raised 4 connected mechanisms 1 of the ball of 10 right end of support arm, tightening mechanism 3 are locked and are fastened, 2 side interval of ship installation at this time
All bindiny mechanisms 1 are all locked and are fastened by tightening mechanism 3, connect ship with ship.
As shown in fig. 6, linking arm 12 and backplate 6 above are in a horizontal position at this time, a platform is formed, for adopting for floating
The operation ship of oil, storage and vessels, the especially oceangoing voyage such as unloading ship, drilling equipment and barge need to convey provisions or its
When its special operation, ship and ship are connected, such operation is i.e. fast, steady, and can be by efficiency and power at geometry grade
It improves.
(2) more ship connections
Beidou Navigation System provide positioning and ship between apart from observing and controlling, the present invention on the basis of ship is connect with ship,
Being sequentially connected for more ships may be implemented, realize the more large platform of needs.
(3) ship and ship separate
The sundries on the horizontality backplate 6 is removed, under the stable situation of milder metocean conditions, especially stormy waves grade
Di Yu not be 4 grades, Beidou Navigation System is provided between positioning and ship apart from observing and controlling, connects ship stop motion, central control system makes PLC
Controller control first servo motor 27-1 drives screw rod 26-1 to rotate backward, the second servo motor 27-2 drives screw rod 26-2 anti-
To rotation, move upwards chopping block 30, until upper chopping block 30 returns to origin-location；Central control system control 2 differential of ship advance or
Distance between ship 2 is retreated and keeps, the ball protrusion 4 of 10 right end of support arm slowly leaves locating assembly 19 in bindiny mechanism 1
In second spherical pit 21, and by second laser range finding probe 22 by leave message feedback signal to PLC controller, be transferred to
Control system, when by third laser ranging probe 36-1 or the 4th laser ranging probe 36-2, Beidou Navigation System provides positioning
And apart from observing and controlling between ship, central control system controls 2 hold mode of ship, when PLC controller receives first laser range finding probe 17
Feedback leave signal after, central control system control ship 2 slowly sails out of, and support arm 10 in bindiny mechanism 1 lifts the withdrawal of arm 8, support
Arm 10 is lifted the linkage of arm 8 and is rotated linking arm 12 centered on hinge joint 13, makes linking arm 12 and backplate 6 is slowly downward above
Rotation, linking arm 12 is in plumbness at this time, and linking arm 12 and the above abutting of backplate 6 hull can protect ship 2.
(4) more ships separate
By the ship division step method of connection, Beidou Navigation System is provided between positioning and ship apart from observing and controlling the present invention,
The ship of connection successively operating procedure method (3) can be such that ship one one of connection separates by central control system control；
When external and weather condition is urgent, Beidou Navigation System is provided between positioning and ship apart from observing and controlling, central control system
The ship of connection while operating procedure method (3) can be made the ship of connection be performed simultaneously separated movement by control, be realized quick
Break the whole up into parts.
Claims (9)
1. a kind of connection of ship and separate device, it is characterized in that: include central control system and be set to ship (2) if two sides involvement
Connection mechanism (1), several tightening mechanisms (3), and the bindiny mechanism (1) of any side of ship (2) and tightening mechanism (3) interval are equidistant
From arrangement, and bindiny mechanism (1), tightening mechanism (3) center are in same horizontal line；The central control system is controlled by PLC
Device processed, Beidou Navigation System composition, Beidou Navigation System are connect with PLC controller signal, Beidou Navigation System offer ship positionning
And distance between observing and controlling ship and ship；
The bindiny mechanism (1) includes connecting plate (14), linking arm (12), support arm (10), bent lever (15), lifts arm (8),
Connecting plate (14) is fixedly connected on ship (2)；The left end of the linking arm (12) is connect with connecting plate (14) hinge, linking arm
It (12) and is hinge joint (13) at connecting plate (14) hinge, the right end of linking arm (12) is equipped with ball protrusion (4), ball protrusion
(4) front end is equipped with first laser range finding probe (17), and ball protrusion (4) two sides are equipped with cylinder (38)；The support arm (10)
For retractable supports arm, support arm (10) is located at the lower section of linking arm (12), and support arm (10) one end is articulated with connecting plate (14)
On, the other end and bent lever (15) are hinged；The song lever (15) is located at below support arm (10), and one end is articulated with connecting plate
(14), the other end, which is articulated with, lifts arm (8)；It is described lift arm (8) be it is scalable lift arm, lift arm (8) one end and bent lever
(15) hingedly, the other end is articulated with linking arm (12) right end；The support arm (10) is that linkage structure connects with bent lever (15),
Support arm (10) and bent lever (15) hinged place hinging pin shaft axis and lift arm (8) and song lever (15) hinged place hinging pin shaft
Axis on one wire or in parallel, the connecting plate (14) above linking arm (12) left end and support arm (10) hingedly, linking arm
(12) backplate (6) are installed in top；
The tightening mechanism (3) is made of fastening assembly (33), locating assembly (19), and fastening assembly (33) includes hollow box-like
Shell (28), upper chopping block (30), upper chopping block (30) are placed in box-like shell (28)；The box-like shell (28) is fixedly connected on ship
(2) on, it is port below box-like shell (28), is equipped with inner slide (24), external slideway (29) in box-like shell (28), wherein interior
Slideway (24) is set to box-like shell (28) at hull；Both sides are fixedly connected with the first servo electricity above box-like shell (28)
Machine (27-1), the second servo motor (27-2)；The power output shaft of first servo motor (27-1) is fixedly connected with the first screw rod
(26-1), box-like shell (28) top are equipped with the first screw rod through-hole, and the first screw rod (26-1) passes through the first screw rod through-hole, upper chopping block
(30) the right is equipped with the first internal thread hole, is threaded onto upper chopping block (30) right side across one end the first screw rod (26-1) of the first screw rod through-hole
In the first internal thread hole of side；The power output shaft of second servo motor (27-2) is fixedly connected with the second screw rod (26-2), box-like
The second screw rod through-hole is equipped at the top of shell (28), the second screw rod (26-2) passes through the second screw rod through-hole, and upper chopping block (30) left side is set
There is the second internal thread hole, one end the second screw rod (26-2) across the second screw rod through-hole is threaded onto spiral shell in upper chopping block (30) left side second
In pit；First servo motor (27-1), the second servo motor (27-2) respectively drive the first screw rod (26-1), the second screw rod
(26-2) rotation, so that the interior rotation of the first screw rod (26-1) first internal thread hole on the right of upper chopping block (30), the second screw rod (26-
2) it is rotated in the second internal thread hole of upper chopping block (30) left side, chopping block (30) moves up and down in box-like shell (28) in drive；
Upper chopping block (30) both sides are equipped with idler wheel (23), and idler wheel (23) is placed in inner slide (24), in external slideway (29), upper chopping block (30)
Center is equipped with the first spherical pit (31), and the centre of the first spherical pit (31) is equipped with pressure sensor (25), the first spherical female
Hole (31) center is longitudinally equipped with the upper cylindrical groove (32) with the first spherical pit (31) perforation, upper cylindrical groove (32) and ball
Cylinder (38) matching of raised (4) two sides, box-like shell (28) outside middle position are equipped with upper grooved breach (34), and upper groove profile lacks
The groove width of mouth (34) is matched with linking arm (12) right end width；
The locating assembly (19) is installed on immediately below fastening assembly (33), and locating assembly (19) includes chopping board frame (18), chopping block
(20), chopping board frame (18) is fixedly connected on ship (2), is port above chopping board frame (18), and port two sides are equipped with notch, under notch
Side is equipped with third laser ranging probe (36-1), the 4th laser ranging probe (36-2), notch geometry and linking arm (12) right end
Ball raised (4) matching, the chopping block (20) is fixedly installed below port, and chopping block (20) center is equipped with the second spherical pit
(21), second laser range finding probe (22) and among the second spherical pit (21) are equipped with, the second spherical pit (21) center is longitudinal
Equipped with the lower cylindrical groove (35) to connect with the second spherical pit (21), lower cylindrical groove (35) and raised (4) two sides of ball
Cylinder (38) matching, middle position is equipped with lower grooved breach (37) on the outside of chopping board frame (18), the groove width of lower grooved breach (37)
It is matched with the width of linking arm (12) right end；
When the fastening assembly (33), locating assembly (19) installation, the distance between assembly (33) and locating assembly (19) are fastened
Greater than the outer diameter of the ball raised (4) on the right of linking arm (12), and the first spherical pit (31), the second spherical pit (21) center
In same vertical line；First spherical pit (31), the radian of the second spherical pit (21) and linking arm (12) right end ball are convex
Play (4) matching；
Support arm (10) is connect with support arm controller signals, is lifted arm (8) and is connect with arm controller signal is lifted；First laser
Range finding probe (17), second laser range finding probe (22), pressure sensor (25), third laser ranging probe (36-1), the 4th
Laser ranging probe (36-2), the second servo motor (27-2), supports arm controller, lifts arm first servo motor (27-1)
Controller is connected with PLC controller through signal wire.
2. a kind of ship connection according to claim 1 and separately device, it is characterized in that: the shape of the connecting plate (14)
For plate rectangle.
3. a kind of ship connection according to claim 1 and separately device, it is characterized in that: the linking arm (12) is cylinder
Barred body, linking arm (12) left end are equipped with hinge hole, and linking arm (12) is hinged by hinge hole and connecting plate (14).
4. a kind of ship connection according to claim 1 and separately device, it is characterized in that: the support arm (10) is very heavy
Roof construction, utilization is hydraulic, electrical control or mechanically direct control support arm (10) it is flexible.
5. a kind of ship connection according to claim 1 and separately device, it is characterized in that: described song lever (15) section shape
Shape is round or rectangular.
6. a kind of ship connection according to claim 1 and separately device, it is characterized in that: described lift arm (8) are very heavy
Roof construction directly controls it using hydraulic, electrical control or Mechanical course and lifts the flexible of arm (8).
7. a kind of ship connection according to claim 1 and separately device, it is characterized in that: the connecting plate (14), box-like
Shell (28), chopping board frame (18) are connected on ship (2) by keel level.
8. a kind of ship connection according to claim 1 and separately device, it is characterized in that: the shape of the chopping board frame (18)
For " inversion " trapezoidal shape.
9. a kind of ship according to any one of claims 1 to 8 connects and separates device and ship is attached and is separated
Method, it is characterized in that:
When normal, support arm (10) in bindiny mechanism (1) lifts arm (8) withdrawal, support arm (10), lift arm (8) linkage will be even
It connects arm (12) to rotate centered on hinge joint (13), turns the backplate (6) on linking arm (12) and linking arm (12) slowly downward
Dynamic, until linking arm (12) are in plumbness, the backplate (6) on linking arm (12) and linking arm (12) is close to the ship of ship (2)
Body plays the role of protecting ship (2)；
When needing to link together in ship and ship, PLC controller to support arm controller, lift arm controller and issue to open and refer to
It enables, starting support arm (10) is lifted arm (8), and support arm (10) lifts arm (8) stretching, and support arm (10) lifts arm (8) linkage
Linking arm (12) is rotated centered on hinge joint (13), makes backplate (6) slow court on linking arm (12) and linking arm (12)
Horizontal process rotation；Beidou Navigation System in central control system provides distance between positioning and observing and controlling ship and ship, delays between ship and ship
It is slow close, so that the ball raised (4) of support arm (10) right end in the bindiny mechanism (1) of a ship side is in another ship side
Bindiny mechanism (1), between tightening mechanism (3), first laser range finding probe (17) in ball protrusion (4) is to PLC controller
The signal of ranging, the distance measuring signal received according to PLC controller are fed back, central control system controls ship (2) differential and moves forward or back
And distance between ship and ship is kept, and it is then, slowly close between ship and ship, make support arm in the bindiny mechanism (1) of a ship
(10) ball of right end raised (4) is among the tightening mechanism (3) of another ship；Support arm (10) is right in bindiny mechanism (1)
The ball at end raised (4) slow transits through third laser ranging probe (36-1) or the 4th laser ranging probe in tightening mechanism (3)
(36-2), third laser ranging probe (36-1) or the 4th laser ranging probe (36-2) feedback signal are to PLC controller, PLC
Relative static conditions are kept between controller control ship and ship；When ball raised (4) is spherical by locating assembly (19) second
When pit (21), ball protrusion (4) is captured by second laser range finding probe (22), second laser range finding probe (22) feedback signal
To PLC controller, it is transferred to central control system, PLC controller issues ship halt instruction, and the ship for needing to link together stops fortune
It is dynamic；
At this point, PLC controller control first servo motor (27-1) drives screw rod (26-1) rotation, the second servo in central control system
Motor (27-2) drives screw rod (26-2) rotation, moves downward chopping block (30), until ball raised (4) is by the first spherical female
Cheat (31), the second spherical pit (21) matching clamp, ball protrusion (4) two sides cylinder (38) by upper cylindrical groove (32), under
Cylindrical groove (35) matching clamps, and the first spherical pit (31), the second spherical pit (21) are matched with ball raised (4) and connect at this time
Touching, upper cylindrical groove (32), lower cylindrical groove (35) are contacted with cylinder (38) matching of raised (4) two sides of ball；Linking arm
(12) it is just stuck at right end between grooved breach (34), lower grooved breach (37), pressure sensor (25) work is simultaneously anti-
Feed voltage force information is transferred to central control system to PLC controller, and after reaching the pressure of setting, PLC controller controls the first servo
Motor (27-1), the second servo motor (27-2) stop working, and the ball raised (4) of support arm (10) right end is connected mechanism
(1) tightening mechanism (3) is locked and is fastened in, and the bindiny mechanism (1) of shipboard face installation at this time is all pacified by another shipboard face
The tightening mechanism (3) of dress is locked and is fastened, and connect ship with ship；Backplate (6) on linking arm (12) and linking arm (12) at this time
It is in a horizontal position, forming one can be with the platform of accommodating sundries；
When needing to separate ship with ship, the sundries on horizontality backplate (6) is removed, the ship to link together stops
Movement, PLC controller control first servo motor (27-1), the second servo motor (27-2) rotate backward, thus the first servo
Motor (27-1) drives screw rod (26-1) to rotate backward, and the second servo motor (27-2) drives screw rod (26-2) to rotate backward, and makes
Upper chopping block (30) moves upwards；Support arm (10) right end ball raised (4) in the bindiny mechanism (1) of one ship slowly leaves another
Second spherical pit (21) in the locating assembly (19) of one ship, the second laser range finding probe (22) in locating assembly (19) will
Support arm (10) right end ball protrusion (4) leave message feedback signal is transferred to central control system, ball protrusion to PLC controller
(4) when passing through third laser ranging probe (36-1) or the 4th laser ranging probe (36-2), PLC controller control ship and ship it
Between keep relative static conditions, when the ball raised (4) that PLC controller receives first laser range finding probe (17) feedback leaves
After tightening mechanism (3) signal, slowly opposite between PLC controller control ship and ship to sail out of, PLC controller is controlled to support arm
Device is lifted arm controller and is issued and withdraws instruction, and support arm (10) in bindiny mechanism (1) lifts arm (8) withdrawal, support arm (10),
It lifts arm (8) linkage to rotate linking arm (12) centered on hinge joint (13), make on linking arm (12) and linking arm (12)
Backplate (6) slowly turns downward, and linking arm (12) is in plumbness, the backplate (6) on linking arm (12) and linking arm (12)
It is close to hull, can protect ship.
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| CN201710634983.8A CN107399408B (en) | 2017-07-30 | 2017-07-30 | A kind of ship connection and separated devices and methods therefor |
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| CN201710634983.8A CN107399408B (en) | 2017-07-30 | 2017-07-30 | A kind of ship connection and separated devices and methods therefor |
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| CN112046708B (en) * | 2020-09-16 | 2023-01-31 | 中国石油大学(华东) | Hyperstatic-prevention lifting device and offshore platform lifting method |
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| US10118678B2 (en) * | 2014-12-13 | 2018-11-06 | Rodolpho B. Dias | Collapsible and portable rack for storing boardsport equipment |
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| US6327992B1 (en) * | 2001-02-01 | 2001-12-11 | General Hydraulic Solutions, Inc. | Hydraulic lift for small watercraft mounted to a boat transom |
| US7707955B1 (en) * | 2007-08-07 | 2010-05-04 | Sealift, Inc. | Transom platform lifting apparatus and method |
| CN101209747A (en) * | 2007-12-25 | 2008-07-02 | 中国人民解放军总后勤部军事交通运输研究所 | Offshore buoyancy tank combination type adjustable fitting |
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