CN107521639B - A kind of bathyscaph lays recycling butt-joint locking device and butt-joint locking method - Google Patents
A kind of bathyscaph lays recycling butt-joint locking device and butt-joint locking method Download PDFInfo
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- CN107521639B CN107521639B CN201710702503.7A CN201710702503A CN107521639B CN 107521639 B CN107521639 B CN 107521639B CN 201710702503 A CN201710702503 A CN 201710702503A CN 107521639 B CN107521639 B CN 107521639B
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- overhead
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- connecting rod
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Ocean & Marine Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention discloses a kind of bathyscaphs to lay recycling butt-joint locking device and butt-joint locking method.Device includes pedestal, butt-joint locking device and clamping overhead device；Butt-joint locking device includes box body, jam plate and elastic overhead device, and clamping overhead device includes the driving of clamping overhead, clamping overhead connecting rod, clamping overhead arm and clamping overhead wheel.Method includes that the mushroom head of (1) bathyscaph enters spliced eye, while the mushroom head of bathyscaph overcomes elastic overhead device to overturn by jam plate, and the mushroom head of bathyscaph enters in cavity, and elastic overhead device automatically resets by jam plate；(2) starting clamping overhead driving passes through the clamping of clamping overhead wheel and overhead bathyscaph.Using apparatus and method of the present invention, clamping overhead device can be allowed to be clamped to bathyscaph during recycling bathyscaph；During laying and recycling bathyscaph, giving pulling force, thrust and aid power, bathyscaph to bathyscaph will not be shaken, and stability is good.
Description
Technical field
The present invention relates to bathyscaphs to lay recycling butt-joint locking device and butt-joint locking method.
Background technique
Bathyscaph has the activity deep diving water installations of underwater observation and work capacity.It is mainly used to execute underwater investigation, sea
The tasks such as bottom exploration, sea bed exploitation and salvaging, lifesaving, and can be used as the movable underwater operation base of diver.
Present bathyscaph currently in use is mostly by the cable manipulation action coupled with naval vessel.It is distant using cable
The advantages of control manipulation bathyscaph, is:
(1) power can be provided for a long time.
(2) there is High-rate data transmission ability.
(3) contacting reliably between auxiliary vessel, not will receive radio or the interference of other signals.
Chinese Patent Application No. be 200810048696.X patent document in disclose it is a kind of can lay recycling it is a variety of
The universal of submersible lays recovery system, the hinged oscillating oil cylinder in two sides including swinging A shape frame, A shape frame, A shape frame
Upper end is hinged with swinging frame, installs attachment base in swinging frame lower end, the middle part of attachment base be equipped with hinging pin shaft, the two of attachment base
The hinged anti-rolling damper in side, attachment base is connected with the leading block of submersible docking head or Deep Sea Towing System, in swinging frame
Top be respectively equipped with hoisting gear and umbilical cables leading block.The structure makes to lay recycling dress by replacing submersible docking head
That sets the submersible that can be applied to multiple types lays recycling, so that the flight number utilization efficiency of lash ship is increased substantially, the knot
Compact and reasonable is arranged in structure, and function is strong, easy to use and operate.And the in stable condition of submersible is supported, in anti-rolling damper
Under effect, has and preferably only swing and anti-pendulum effect, to improve the applicable sea condition of submersible.
Although the technical solution of above-mentioned patent brings many benefits, in this configuration, using single swing
Oil cylinder drive A shape frame swing, swing angle be restricted, therefore, submersible lay and recycling is restricted.In the skill
In art, there is the swinging frame inwardly or backward bent by bearing hinge connection in the upper end floor beam of A shape frame, connected firmly in the lower end of swinging frame
The attachment base being unfolded to two sides, is provided with hinging pin shaft in the middle part of attachment base, the hinged anti-rolling damper in the two sides of attachment base,
Attachment base is hinged by the hinging pin shaft at middle part with submersible docking head, at the same the anti-rolling damper of connection seat both sides also with
Submersible connects both sides of head and is hinged.Although the structure can be laid and be recycled to submersible, which cannot basis
The position of submersible rotates submersible docking head automatically, causes submersible position in removal process uncertain, in addition, when diving
When device is connected in submersible docking head, the only thrust of pulling force and submersible docking head, and submersible cannot be clamped,
Therefore, submersible is easy to shake；Although and in the system be provided with anti-rolling damper, anti-rolling damper be hinged on it is latent
In hydrophone docking head, it can only be exerted a force by submersible docking head to submersible, and an overall structure of submersible docking head, because
This, anti-rolling damper does not have changeability to the power of submersible.
It discloses in the patent document that Chinese Patent Application No. is 201280056153.7 for submersible and other objects
The transmitting and recovery technology of money, and specifically disclose lock cell and pass through water for the seabed goods and materials in such as library AUV or AUV etc
It delivers from submarine site to goods and materials.Lock cell carries lifting line to goods and materials.Lock cell is then attached to goods and materials, Er Qieli
Goods and materials are promoted by the pulling force that lifting line applies with via lock cell.Lock cell is also used on lifting line to reduce object
Money, and then position discharges goods and materials under water.Lifting line is implemented the fluctuation on the surface ship of the z axis movement of lock cell
Compensate rocking handle support.Rocking handle keeps the pulling force on lifting line to prevent lifting line from falling on goods and materials.Lock cell is in x and y axis
On movement realized by propeller on plate.The technology can be realized the transmitting and recycling of goods and materials, but the technology cannot be according to object
The automatic spin locking unit in the position of money causes goods and materials position in removal process uncertain, in addition, when goods and materials are connected to locking
When on unit, only pulling force, and goods and materials cannot be clamped and given with thrust, therefore, goods and materials are easy to shake.
Summary of the invention
The object of the present invention is to provide a kind of bathyscaphs to lay recycling butt-joint locking device and butt-joint locking method.Utilize this
The device and method of invention can allow clamping overhead device to be clamped to bathyscaph during recycling bathyscaph；It is laying and is recycling
During bathyscaph, giving pulling force, thrust and aid power, bathyscaph to bathyscaph will not be shaken, and stability is good.
In order to achieve the above objectives, a kind of bathyscaph lay recycling butt-joint locking device, including pedestal, butt-joint locking device and
Clamp overhead device；The butt-joint locking device includes that box body, jam plate and elastic overhead device, box body are fixed on pedestal,
There is cavity, the bottom of box body is through-hole, is equipped on box body positioned at the two opposite sides side of through-hole and keeps out plate, two keep out in box body
Through slot is formed between plate, the top on the side wall of box body positioned at through-hole is articulated with two jam plates being oppositely arranged by drive-connecting shaft,
It is equipped with opening close to the side of adjacent locking plates on jam plate, two openings form spliced eye, and elastic overhead device is located at box body and lock
Between plate；The clamping overhead device includes the driving of clamping overhead, clamping overhead connecting rod, clamping overhead arm and clamping overhead
Wheel, the two opposite sides on pedestal relative to center are respectively fixed with clamping overhead driving, are articulated with two in clamping overhead driving
Root clamps overhead connecting rod, is articulated with clamping overhead arm in the lower end of each clamping overhead connecting rod, clamping overhead arm is articulated in pedestal
On, clamping overhead arm is arc-shaped, and the lower end of clamping overhead arm is equipped with clamping overhead wheel.
The butt-joint locking method that bathyscaph lays recycling butt-joint locking device includes the following steps:
(1) mushroom head of bathyscaph enters spliced eye, while the mushroom of bathyscaph under the action of the drag body of deep-sea
Head allows jam plate that elastic overhead device is overcome to overturn, and the mushroom head of bathyscaph enters in cavity, elastic overhead device by jam plate from
It is dynamic to reset, the mushroom head of bathyscaph is locked by butt-joint locking device；
(2) starting clamping overhead driving drives clamping overhead link motion by clamping overhead driving, clamps overhead connecting rod
Clamping overhead arm swing is driven, the clamping of clamping overhead wheel and overhead bathyscaph are passed through.
Above-mentioned apparatus and method such as need the mushroom head docking lock of bathyscaph setting docking for butt-joint locking device
In locking device, process are as follows: the mushroom head of bathyscaph enters spliced eye under the action of the drag body of deep-sea, and mushroom head exists
During spliced eye, the upper end diameter of mushroom head is greater than the diameter of spliced eye, in this way, the mushroom head of bathyscaph is by jam plate
It is flipped up, during jam plate is flipped up, the drive-connecting shaft of jam plate rotates, to drive elastic overhead device, the mushroom of bathyscaph
When mushroom head enters in cavity and annular slot is located at spliced eye, jam plate resets under the action of elastic overhead device, passes through
Jam plate and elastic overhead device lock the mushroom head holding of bathyscaph.It such as needs to discharge bathyscaph, starts elastic overhead device,
Jam plate is allowed to open, then mushroom head can be discharged out of butt-joint locking device.
Above-mentioned clamping overhead device, clamping overhead driving move downward, then drive clamping overhead connecting rod to swing out, pass through
Clamping overhead connecting rod drives clamping overhead arm to swing out, and clamping overhead wheel follows clamping overhead arm swing, releases bathyscaph
Clamping and overhead.Overhead driving counter motion is such as clamped, then drives clamping overhead connecting rod inwardly to swing, by clamping overhead connecting rod
Drive clamping overhead arm inwardly swing, clamping overhead wheel follow clamping overhead arm swing, by clamping overhead wheel to bathyscaph into
Row clamping and overhead.
In the present invention, when bathyscaph is clamped at clamping overhead wheel, the pulling force of deep-sea drag body is received,
The thrust and chucking power of clamping overhead wheel are received, in this manner it is possible to reliably hold bathyscaph, and will not rotate, put
It moves.
Further, the elastic overhead device includes overhead first connecting rod, overhead second connecting rod, overhead seat, overhead
Bar, overhead fixing seat, spring and oil cylinder are fixed with overhead first connecting rod on drive-connecting shaft, top are hinged on overhead first connecting rod
Second connecting rod is set, overhead second connecting rod is connected on overhead seat, and overhead bar is fixed on overhead seat, and overhead fixing seat is fixed on box
On body, overhead bar sliding pass through overhead fixing seat, spring pocket on the overhead bar between overhead seat and overhead fixing seat,
Oil cylinder is fixed on box body, and the piston rod of oil cylinder is connected on overhead bar.In a free state, spring is in compressive state and allows lock
Plate is in locking state；Cylinder efficient, oil cylinder drive overhead bar that the elastic force of spring is overcome to move, and overhead bar drives overhead seat fortune
Dynamic, overhead seat drives two overhead second connecting rods to move synchronously, so that overhead first connecting rod is driven to move, driving jam plate overturning；When
The power of oil cylinder releases, and jam plate resets under the action of the spring.
Further, two groups of positioning pin banks are fixed on pedestal, the axial direction of two groups of positioning pin banks is mutually perpendicular to, and every group fixed
Position pin includes two positioning pins, has gap between two positioning pins in every group of positioning pin bank, and it is fixed to be formed between all positioning pins
Position chamber, the armored cable of deep-sea drag body are passed through from positioning chamber.Armored cable can be carried out by the way that two groups of positioning pin banks are arranged
Limit reduces armored cable in the intracorporal swing angle of box, has guiding role to the movement of armored cable, in addition, armouring is electric
Cable is worn with positioning pin during the motion, will not may wear to pedestal, plays the purpose of protection pedestal.
Further, the clamping overhead wheel is air bag wheel.Certain flexible deformation can occur for air bag wheel, on the one hand right
The clamping of bathyscaph is more reliable, on the other hand can preferably protect bathyscaph.
Detailed description of the invention
Fig. 1 is the schematic diagram that bathyscaph lays recovery system.
Fig. 2 is another visual angle schematic diagram that bathyscaph lays recovery system.
Fig. 3 is the front schematic view that bathyscaph lays recovery system.
Fig. 4 is that bathyscaph lays schematic diagram of the recovery system bathyscaph on working mother boat.
Fig. 5 is the schematic diagram that bathyscaph lays that recovery system pulls bathyscaph.
Fig. 6 be swing arm, link mechanism, rotosyn and telescopic jib schematic diagram.
Fig. 7 be swing arm, link mechanism, rotosyn and telescopic jib exploded view.
Fig. 8 is the enlarged drawing of A in Fig. 1.
Fig. 9 is telescopic arm, swing mechanism, butt-joint locking device and the perspective view for clamping overhead device.
Figure 10 is telescopic arm, swing mechanism decomposition, butt-joint locking device and the perspective view for clamping overhead device.
Figure 11 is the not clamped overhead of telescopic arm, swing mechanism, butt-joint locking device, clamping overhead device and bathyscaph
Perspective view.
Figure 12 is that telescopic arm, swing mechanism, butt-joint locking device, clamping overhead device and bathyscaph are not clamped another view
The perspective view at angle.
Figure 13 is that telescopic arm, swing mechanism, butt-joint locking device, clamping overhead device and bathyscaph are clamped the vertical of overhead
Body figure.
Figure 14 is that telescopic arm, swing mechanism, butt-joint locking device, clamping overhead device and bathyscaph are clamped another visual angle
Perspective view.
Figure 15 is telescopic arm, swing mechanism, butt-joint locking device, clamping overhead device and bathyscaph decomposition diagram.
Figure 16 is telescopic arm, swing mechanism, butt-joint locking device, the schematic diagram for clamping overhead device.
Figure 17 is telescopic arm, swing mechanism, butt-joint locking device, the cross-sectional view for clamping overhead device.
Figure 18 is the perspective view of butt-joint locking device, clamping overhead device clamping overhead state.
Figure 19 is butt-joint locking device, the perspective view for clamping overhead device opening state.
Figure 20 is butt-joint locking device, the exploded view for clamping overhead device.
Figure 21 is the perspective view of butt-joint locking device.
Figure 22 is the exploded view of butt-joint locking device.
Figure 23 is the schematic diagram of butt-joint locking device jam plate overturning.
Specific embodiment
The present invention will be described in further detail with reference to the accompanying drawings and detailed description.
As shown in Figures 1 to 5, it includes that working mother boat 1, deep-sea drag body 2 and deep-sea are hung that bathyscaph, which lays recovery system,
Place system 10.
The deep-sea drag body 2 includes winch 21, armored cable 22 and pulley 23.Winch 21 is fixed on working mother boat
On 1, and it is located at one end of working mother boat 1；The one ends wound of armored cable 22 is on winch 21.
It includes swing arm 3, link mechanism 4, rotosyn 5, telescopic jib 6, revolution that the deep-sea, which hangs system 10,
Mechanism 7, butt-joint locking device 8 and clamping overhead device 9.
It includes pedestal, butt-joint locking device 8 and clamping overhead dress that bathyscaph of the invention, which lays recycling butt-joint locking device,
Set 9.
Hinged seat 101 is fixed on working mother boat 1, in the present embodiment, fixed there are two hinged seats 101, such as Fig. 2 institute
Show, hinged seat 101 includes lower support frame 1011, upper scaffold 1012, lower support plate 1013 and upper bearing plate 1014, lower branch
Support frame frame 1011 is formed by connecting by the lower transverse plate of lower longitudinal plate and two or more, and the bottom of lower support frame 1011 is fixed on work
Make on lash ship 1, lower support plate 1013 is fixed on the top surface of lower support frame 1011, upper scaffold 1012 by upper longitudinal plate and
Two or more upper transverse plates are formed by connecting, and the bottom of upper scaffold 1012 is fixed in lower support plate 1013, upper bearing plate
1014 are fixed on scaffold 1012.As shown in Figures 1 to 5, on upper bearing plate 1014 be equipped with the first hinged ear 102,
Second hinged ear 103 and third hinged ear 104, the first hinged ear 102 are arranged far from 21 side of winch, and third hinged ear 104 is leaned on
Nearly winch 21 is arranged, and the second hinged ear 103 is between the first hinged ear 102 and third hinged ear 104.In the first hinged ear
The first stiffener plate 105 is welded between 102 and upper bearing plate 1014, to improve the intensity of the first hinged ear, the second hinged ear
The second stiffener plate 106 is welded between 103 and upper bearing plate 1014, to improve the intensity of the second hinged ear, third hinged ear
Third stiffener plate 107 is welded between 104 and upper bearing plate 1014, to improve the intensity of third hinged ear.
As shown in Figure 6 and Figure 7, the swing arm 3 includes connection swing arm 31 and U-shaped swing arm 32, and connection swing arm 31 is provided with
Two, connection swing arm 31 is hinged in every one first hinged ear 102；U-shaped swing arm 32 connects swing arm two by flanged joint
The other end between so that swing arm constitute door frame.It connects after section of the swing arm 31 from one end to the other end is first gradually increased gradually
Reduce, in the present embodiment, the front and rear sides for connecting swing arm are parallel to each other, and the variation in section is the upside for connecting swing arm.
It is located at section maximum in connection swing arm 31 and is equipped with protrusion 311, the first engaging lug 312 is fixed in protrusion 311, first connects
The first gusset 313 is welded between lug 312 and protrusion 311.
As shown in Figures 1 to 5, the link mechanism 4 includes first connecting rod 41, second connecting rod 42 and driving rod drive
43.One end of first connecting rod 41 is hinged in the second hinged ear 103, and one end of second connecting rod 42 is hinged on the another of first connecting rod 41
On one end, second connecting rod 42 is shorter in length than first connecting rod 41, and the other end of second connecting rod 42 is hinged on the first engaging lug 312
On；Driving rod drive 43 is connecting rod drive cylinder, and the cylinder body of connecting rod drive cylinder is hinged in third hinged ear 104, connecting rod
The piston rod of drive cylinder is hinged on the tie point of first connecting rod and second connecting rod.If connecting rod drive cylinder works, using this
The connection linkage and link position of invention can drive swing arm to overturn in the angular range greater than 120 °, so that the model of operation
It encloses big.
As shown in Figure 6 and Figure 7, the rotosyn 5 includes support pad 51, rotation synchronizing shaft 52, rotation synchronization
Driving 53 and encoder (not shown).In the present embodiment, there are two the settings of support pad 51, as shown in figure 8, support pad 51 includes
First connecting plate 511, the first support plate 512, transverse slat 513, the second connecting plate 514 and the second support plate 515, the first connecting plate
511 one end is welded in U-shaped swing arm 32, and transverse slat 513 is welded on the first connecting plate 511, before and after the first connecting plate 511
Two sides are respectively welded the first support plate 512, and the first support plate 512 is welded with U-shaped swing arm 32 and transverse slat 513, the first support plate
512 is in a rectangular trapezoid, and the second connecting plate 514 is welded on transverse slat 513, and mounting hole 5141, In is equipped on the second connecting plate 514
The front and rear sides of second connecting plate 514 are respectively welded the second support plate 515, and one end of the second support plate 515 is welded on transverse slat
On 513, the other end of the second support plate 515 extends more than the mounting hole center of circle；The support pad 51 of the structure is connected by setting first
Fishplate bar 511 can increase the length of entire support pad, and due to being provided with the first support plate and the second support plate, Bu Huiying
Ring the intensity of support pad.As shown in fig. 7, the synchronous driving 53 of rotation includes rotating synchronous drive cylinder 531 and drive shaft 532, In
Drive shaft 532 is installed on each mounting hole 5141, the synchronous drive cylinder 531 of rotation is installed in each drive shaft 532.Rotation
Turn synchronizing shaft between two drive shafts, and one end of drive shaft is inserted into rotation synchronizing shaft, and is achieved a fixed connection.Coding
Device is mounted on support pad 51, and controller is connected on encoder.
In the present invention, telescopic jib 6, swing mechanism 7, butt-joint locking device 8 and clamping overhead device 9 are same by rotation
Axis 52 is walked to support, and support pad using the above structure, length and intensity are all guaranteed, thus it is not easy to rotate
The phenomenon that synchronizing shaft 52 and U-shaped swing arm are interfered, in addition, rotation synchronizing shaft is possible to by axis when laying and recycling bathyscaph
To power the change that front and back occurs for support pad 51 can effectively be reduced by setting the first support plate 512 and the second support plate 515
Shape, and the second connecting plate 514 is plate structure, the second support plate is extended to more than to the center location of mounting hole, to entire
The supporting force of drive shaft is strong, to further improve the intensity of support pad.
As shown in Figure 6 and Figure 7, pulley engaging lug 231 is welded on rotation synchronizing shaft 52, pulley 23 is located at pulley connection
On ear 231.
As shown in Figures 1 to 7, the telescopic jib 6 includes principal arm 61, frame 62, telescopic arm 63 and stretches driving (not
It shows).There are two the settings of principal arm 61, and principal arm 61 is mounted on rotation synchronizing shaft 52, and cavity is equipped in principal arm 61.The frame
62 include lantern ring 621 and connecting rod 622, is connected with lantern ring 621 in the top and bottom of two principal arms, main by two by lantern ring 621
Arm links together, and connecting rod 622 is connected between lantern ring 621, to improve the intensity of principal arm 61.The upper end of telescopic arm 63 is sliding
Dynamic grafting in the cavity, is equipped with the flexible driving that is connected on telescopic arm in the cavity, described flexible to be driven to flexible drive
Dynamic oil cylinder.
When flexible drive cylinder works, flexible drive cylinder driving telescopic arm 63 slides on principal arm 61, realizes telescopic arm
Laying and recycling to bathyscaph is realized in the elongation and shortening of frame 6.During the motion, principal arm 61 is to telescopic arm for telescopic arm 63
63 movement has guiding role, can prevent telescopic arm 63 from shaking during the motion.
As shown in Fig. 9 to Figure 17, swing mechanism 7 includes that revolution fixing seat 71, bearing (not shown), pedestal 72 and revolution are driven
Dynamic 73.
As shown in Figure 10 and Figure 15, revolution fixing seat 71 includes revolution fixed base frame 711, is welded on revolution fixed base frame
The upper flange 712 of 711 lower ends, the revolution driving fixing seat 713 for being connected to 712 side of upper flange and it is welded on revolution fixed base frame
The fixed gusset 714 of revolution between 711 and upper flange 712.First through hole up and down is equipped in revolution fixing seat 71
715, cylinder armored cable 22 passes through.
As shown in Figure 10 and Figure 15, pedestal 72 includes lower flange 721, the revolving drum 722 being connected on lower flange 721, connects
Connect the pedestal body 723 in 722 lower end of revolving drum.As shown in figure 17, pedestal body 723 includes gyration block 7231, is connected to gyration block
The cover board 7232 of 7231 upper ends, the back taper stage body 7233 for being connected to 7231 lower end of gyration block and it is connected to 7233 lower end of back taper stage body
Connector 7234；It is equipped with revolution cavity 72311 in gyration block 7231, thinks that opposite side is equipped with and cavity 72311 the two of gyration block
The side opening 72312 communicated has offered the second through-hole 72313 in the bottom of gyration block 7231；Third is equipped on cover board 7232
Through-hole 72321；Fourth hole 72331 is equipped in back taper stage body 7233；The 5th up and down is equipped in connector 7234
Through-hole 72341.Second through-hole, revolution cavity, third through-hole, fourth hole and fifth hole communicate, and pass through for armored cable 22.
As shown in Fig. 9 to Figure 17, the revolution driving 73 includes revolution driving motor 731, gear 732 and outer gear ring
733, revolution driving motor 731 is fixed in revolution driving fixing seat 713, and gear 732 is mounted on the defeated of revolution driving motor 731
On shaft；The inner ring of bearing is fixed on upper flange 712, and the outer ring of bearing is fixed on lower flange 721, and outer gear ring 733 is fixed
On the outer ring of bearing, gear 732 is engaged with outer gear ring 733.If revolution driving motor 731 works, revolution driving motor 731 is logical
Crossing gear 732 drives outer gear ring 733 to rotate, so that pedestal 72 be driven to rotate.
As shown in Figure 17, Figure 21 to Figure 23, butt-joint locking device 8 includes box body 81, jam plate 82 and elastic overhead device 83.
Box body 81 is fixed on the lower end of the connector 7234 on pedestal, has cavity 811, the top of box body 81 in box body 81
Portion is equipped with the 6th through-hole 812, and the bottom of box body 81 is through-hole, is equipped on box body 81 positioned at the two opposite sides side of through-hole and keeps out plate
813, through slot 814 is formed between the baffle that balances each other, and is passed through for armored cable 22, through slot is communicated with cavity 811, in the side wall of box body 81
It is upper that two jam plates 82 being oppositely arranged are articulated with by drive-connecting shaft 821 above through-hole, close to adjacent locking plates on jam plate 82
Side is equipped with opening 822, and two openings 822 form spliced eye.
The elastic overhead device 83 includes overhead first connecting rod 831, overhead second connecting rod 832, overhead seat 833, top
Set bar 834, overhead fixing seat 835, spring 836 and oil cylinder 837.It is fixed with overhead first connecting rod 831 on drive-connecting shaft 821, pushes up
It sets and is hinged with overhead second connecting rod 832 on first connecting rod 831, overhead second connecting rod 832 is hinged on overhead seat 833, overhead bar
834 are fixed on overhead seat 833, and overhead fixing seat 835 is fixed on box body 81, and what overhead bar 834 slided fixes across overhead
Seat 835,836 sets of spring on the overhead bar between overhead seat and overhead fixing seat, oil cylinder 837 is fixed on box body 81,
The piston rod of oil cylinder 837 is connected on overhead bar 834.
Above-mentioned elasticity overhead device 83, under the action of spring 836, as shown in figure 17, spring 836 is to overhead seat 833 1
Elastic force, overhead seat 833 give overhead second connecting rod 832 and overhead first connecting rod 831 1 overhead power, allow jam plate 82 to be in and close shape
State, the position that jam plate 82 downwardly turns over are limited by keeping out plate 813.If there is 200 overhead of mushroom head of external force such as bathyscaph 100
It is inserted into spliced eye and overhead jam plate, jam plate 82 overcomes the elastic force of spring to be flipped up, and mushroom head can enter in cavity, work as mushroom
Mushroom head upper end cross jam plate 82 after, jam plate resets under the action of the spring, by jam plate by mushroom head holding on jam plate.Such as
The holding to mushroom head 200 is released, oil cylinder 837 is started, oil cylinder 837 drives overhead bar 834 that the elastic force of spring 836 is overcome to push
Overhead seat 833 moves, and overhead seat 833 drives overhead second connecting rod and the movement of overhead first connecting rod, allows jam plate 82 to open, mushroom head
It can be detached from from jam plate.
The other end of armored cable 22 is extend into box body 81 through pulley 23, revolution fixing seat 71, bearing, pedestal 72, when
So, when laying bathyscaph 100, armored cable 22 can be across box body 81.As shown in Figure 15 and Figure 17, two are fixed on pedestal
Group positioning pin bank, the axial direction of two groups of positioning pin banks are mutually perpendicular to, and every group of positioning pin includes two positioning pins 80, wherein one group of positioning
Pin bank is mounted on back taper stage body, and another group of positioning pin bank is mounted on connector, between two positioning pins in every group of positioning pin bank
There is gap, form positioning chamber between all positioning pins, armored cable 22 is passed through from positioning chamber.By the way that two groups of positioning pin banks are arranged
Armored cable 22 can be limited, reduce armored cable 22 in the intracorporal swing angle of box, have to the movement of armored cable 22
There is guiding role, in addition, armored cable 22 is worn with positioning pin during the motion, pedestal will not be may wear to, play guarantor
The purpose of guard housing body.
As shown in Fig. 9 to Figure 20, the clamping overhead device 9 include clamping overhead driving 91, clamping overhead connecting rod 92,
Clamp overhead arm 93 and clamping overhead wheel 94.
Two opposite sides on pedestal 72 relative to center are respectively fixed with support pad 90, and folder is equipped on support pad 90
Overhead driving 91 is held, clamping overhead is driven to clamping overhead oil cylinder, clamps and is articulated with two clamping overhead connecting rods on overhead oil cylinder
92, center symmetric setting of the two clamping overhead connecting rods 92 that same clamping overhead drives relative to clamping overhead oil cylinder, In
The lower end of each clamping overhead connecting rod 92 is articulated with clamping overhead arm 93, and clamping overhead arm 93 is articulated on pedestal, clamps overhead
The position of arm and pedestal pivot joint is located at clamping overhead connecting rod and clamps the lower section of overhead arm articulated position, and clamping overhead arm 93 is in arc
Shape, clamping overhead arm 93 lower end installation there are two castor 931, clamping overhead wheel 94, the folder are installed on castor 931
Holding overhead wheel is air bag wheel, and with certain elasticity, when clamping bathyscaph 100, air bag wheel can occur certain elasticity and become
Shape, it is on the one hand more reliable to the clamping of bathyscaph, it on the other hand can preferably protect bathyscaph 100.
Above-mentioned clamping overhead device 9, clamping overhead oil cylinder piston rod move downward, then drive clamping overhead connecting rod 92 to
Outer swing drives clamping overhead arm 93 to swing out by clamping overhead connecting rod 92, and air bag wheel follows clamping overhead arm swing, solution
Clamping and overhead except bathyscaph.The piston rod for such as clamping overhead oil cylinder moves upwards, then drives clamping overhead connecting rod 92 inside
It swings, drives clamping overhead arm 93 inwardly to swing by clamping overhead connecting rod 92, air bag wheel follows clamping overhead arm swing, passes through
Air bag wheel carries out clamping and overhead to bathyscaph.
What the bathyscaph laid recovery system lays recovery method, lays method and bathyscaph including bathyscaph
Recovery method；
Wherein, the method that lays of bathyscaph includes:
(1) starting deep-sea drag body 2, i.e., starting winch 21, winch 21 drive armored cable 22 to move on pulley 23,
Armored cable 22 is connected on the mushroom head 200 of bathyscaph, and as shown in figure 15, the middle part of mushroom head 200 has annular slot
2001, the upper end of mushroom head 2001 is big, and has guiding plug surface 2002, and the mushroom head 200 of bathyscaph 100 is in armored cable 22
Under the action of enter spliced eye, for mushroom head during passing through spliced eye, the upper end diameter of mushroom head 200 is greater than spliced eye
Diameter, in this way, the mushroom head 200 of bathyscaph allows jam plate 82 to be flipped up, during jam plate 82 is flipped up, the pivot of jam plate 82
Spindle 821 rotates, so that overhead first connecting rod 831 be driven to swing, overhead first connecting rod 831 drives overhead second connecting rod 832 to transport
Dynamic, overhead second connecting rod 832 drives overhead seat 833 to move, and overhead seat 833 drives overhead bar 834 to overcome spring 836 solid in overhead
It is moved in reservation 835, when the mushroom head 200 of bathyscaph enters in cavity and annular slot 2001 is located at spliced eye, jam plate
82 reset under the action of spring 836, are locked the mushroom head holding of bathyscaph by jam plate 82 and elastic overhead device 83.
(2) stop winch 21 to work, starting clamping overhead oil cylinder, clamping overhead oil cylinder drives clamping overhead connecting rod 92 inside
It swings, drives clamping overhead arm 93 inwardly to swing by clamping overhead connecting rod 92, air bag wheel follows clamping overhead arm swing, passes through
Air bag wheel carries out clamping and overhead to bathyscaph, and as shown in Figure 13 and Figure 14, air bag wheel is clamped in the maximum gauge of bathyscaph
Top, air bag wheel have the function of outside clamping that air bag wheel also creates downward power to bathyscaph 100, and armour to bathyscaph 100
Dress cable 22 is connected on mushroom head 200, and mushroom head 200 allows mushroom head 200 without departing from lock by 82 holding of jam plate
Plate 82, but annular slot and jam plate can have certain axial gap after all, in this way, jam plate overturning could be allowed to realize to mushroom head
Holding and release, when air bag wheel to bathyscaph 100 have downward overhead power after, armored cable 22 has bathyscaph 100
Upward pulling force is formd to two opposing force of bathyscaph, in this manner it is possible to reliably hold bathyscaph 100, and will not be revolved
Turn, swing etc..
(3) start winch 21, while starting connecting rod drive cylinder, connecting rod drive cylinder is connected by first connecting rod 41 and second
Bar 42 drives swing arm 3 to flip outward, and simultaneous retractable cantilever crane 6 follows swing arm 3 to swing, and telescopic jib 6 drives swing mechanism 7, docking
Locking device 8 and clamping overhead device 9 move, and bathyscaph 100 follows movement, when bathyscaph 100 moves to outside working mother boat 1
After in working sea area, drives telescopic arm 63 to move downward along principal arm 61 by flexible drive cylinder, bathyscaph 100 is put into
In seawater.
(4) overhead oil cylinder reverse operation is clamped, clamping overhead oil cylinder drives clamping overhead connecting rod 92 to swing out, passes through folder
Holding overhead connecting rod 92 drives clamping overhead arm 93 to swing out, and clamping overhead arm 93 is allowed to open, and air bag wheel follows clamping overhead arm
It swings, releases clamping and overhead of the air bag wheel to bathyscaph 100.
(5) start oil cylinder 837, the elastic force that oil cylinder 837 drives overhead bar 834 to overcome spring 836 pushes overhead seat 833 to transport
Dynamic, overhead seat 833 drives overhead second connecting rod and the movement of overhead first connecting rod, and jam plate 82 is allowed to be flipped up opening, mushroom head 200
It is detached from from jam plate.
(6) winch 21 is allowed to be in free state, bathyscaph 100 enters marine operation.
The recovery method of bathyscaph 100 includes:
(a) start the winch 21 in the drag body of deep-sea, drive armored cable 22 to move by winch 22, bathyscaph is dragged
It moves near working mother boat 1.
(b) the synchronous drive cylinder 531 of the rotation of rotosyn is loaded into oil pressure, rotation the servo-actuated of synchronizing shaft 52 takes
Disappear, rotation synchronizing shaft 52 switchs to move synchronously.
(c) start revolution driving motor 731, revolution driving motor 731 is rotated with moving gear 732, and gear 732 drives external tooth
Circle 733 rotation, outer gear ring 733 drive pedestal 72 rotate, allow it is different clamping overheads driving on air bag wheel arragement directions with
The length direction of bathyscaph is consistent, that is, bathyscaph 100 is allowed to be located between the air bag wheel of two sides；Certainly, if bathyscaph 100 is located at
Between the air bag wheel of two sides, then starting revolution driving motor 731 is not needed.
(d) continue that winch 21 is allowed to work, the mushroom head 200 that armored cable 22 drags bathyscaph 100 overcomes the bullet of spring 836
Power passes through spliced eye and opens jam plate 82, and mushroom head 200 enters in cavity, and mushroom head 200 is during passing through spliced eye, mushroom
The upper end diameter of mushroom head 200 is greater than the diameter of spliced eye, in this way, the mushroom head 200 of bathyscaph allows jam plate 82 to be flipped up, jam plate
During 82 are flipped up, the drive-connecting shaft 821 of jam plate 82 rotates, so that overhead first connecting rod 831 be driven to swing, overhead first connects
Bar 831 drives overhead second connecting rod 832 to move, and overhead second connecting rod 832 drives overhead seat 833 to move, and overhead seat 833 drives top
Setting bar 834 overcomes spring 836 to move in overhead fixing seat 835, and the mushroom head 200 of bathyscaph enters in cavity and annular snap
When slot 2001 is located at spliced eye, jam plate 82 resets under the action of spring 836, will by jam plate 82 and elastic overhead device 83
The mushroom head holding of bathyscaph is locked.
(e) stop winch 21, starting clamping overhead oil cylinder, clamping overhead oil cylinder drives clamping overhead connecting rod 92 inwardly to put
It is dynamic, drive clamping overhead arm 93 inwardly to swing by clamping overhead connecting rod 92, air bag wheel follows clamping overhead arm swing, passes through gas
Capsule wheel carries out clamping and overhead to bathyscaph, and as shown in Figure 13 and Figure 14, air bag wheel is clamped in the upper of the maximum gauge of bathyscaph
Side, outside air bag wheel has the function of clamping to bathyscaph 100, air bag wheel also creates downward power to bathyscaph 100, and armouring
Cable 22 is connected on mushroom head 200, and mushroom head 200 allows mushroom head 200 without departing from jam plate by 82 holding of jam plate
82, but annular slot and jam plate can have certain axial gap after all, in this way, jam plate overturning could be allowed to realize to mushroom head
Holding and release, when air bag wheel to bathyscaph 100 have downward overhead power after, armored cable 22 to bathyscaph 100 have to
On pulling force, form to two opposing force of bathyscaph, in this manner it is possible to reliably hold bathyscaph 100, and will not revolve
Turn, swing etc..
(f) winch 21 is adjusted under constant-tension state.
(g) telescopic arm 63 is retracted into principal arm 61 under the action of flexible drive cylinder, and bathyscaph 100 is allowed to leave seawater.
(h) start connecting rod drive cylinder, connecting rod drive cylinder by first connecting rod 41 and second connecting rod 42 drive swing arm 3 to
Interior overturning, simultaneous retractable cantilever crane 6 follow swing arm 3 to swing, and telescopic jib 6 drives swing mechanism 7, butt-joint locking device 8 and clamping
Overhead device 9 moves, and bathyscaph 100 follows movement, bathyscaph 100 is taken on working mother boat 1.
(i) clamping overhead oil cylinder reverse operation, clamping overhead oil cylinder drive clamping overhead connecting rod 92 to swing out, pass through folder
Holding overhead connecting rod 92 drives clamping overhead arm 93 to swing out, and clamping overhead arm 93 is allowed to open, and air bag wheel follows clamping overhead arm
It swings, releases clamping and overhead of the air bag wheel to bathyscaph 100.
(j) start oil cylinder 837, the elastic force that oil cylinder 837 drives overhead bar 834 to overcome spring 836 pushes overhead seat 833 to transport
Dynamic, overhead seat 833 drives overhead second connecting rod and the movement of overhead first connecting rod, and jam plate 82 is allowed to be flipped up opening, mushroom head 200
It is detached from from jam plate.
The butt-joint locking method that bathyscaph lays recycling butt-joint locking device includes the following steps:
(1) mushroom head of bathyscaph enters spliced eye, while the mushroom of bathyscaph under the action of the drag body of deep-sea
Head allows jam plate that elastic overhead device is overcome to overturn, and the mushroom head of bathyscaph enters in cavity, elastic overhead device by jam plate from
It is dynamic to reset, the mushroom head of bathyscaph is locked by butt-joint locking device.
(2) starting clamping overhead driving drives clamping overhead link motion by clamping overhead driving, clamps overhead connecting rod
Clamping overhead arm swing is driven, the clamping of clamping overhead wheel and overhead bathyscaph are passed through.
In the present invention, link mechanism 4 drives swing arm 3 to swing, and the first engaging lug 312 will receive frequent all directions
Power, thus will connection 31 middle part section of swing arm setting it is larger, but also be equipped with a boss, allow connection swing arm 31 load ability
Enhancing.
In the present invention, two can be realized by rotating synchronous drive cylinder 531 and encoder, the rotosyn by setting
Kind function rotates synchronizing shaft 52 and is in the shape rotated freely if the oil pressure dump for rotating synchronous drive cylinder 531 fallen
State, in this way, regardless of swing arm 3 swing angle be it is much, telescopic jib can be allowed to be in vertical position, but under the state, stretch
Contracting cantilever crane, swing mechanism 7, butt-joint locking device 8 and clamping overhead device 9 can freely swing, the bad control in position.If revolving
Turn to load oil pressure in synchronous drive cylinder 531, then actively drives rotation synchronizing shaft 52 to revolve by rotating synchronous drive cylinder 531
Turn, in this way, can control telescopic jib in any angle, and the angle of telescopic jib can be detected by encoder, allow and stretch
Contracting swing arm frame and swing arm move synchronously.
Claims (5)
1. a kind of bathyscaph lays recycling butt-joint locking device, it is characterised in that: including pedestal, butt-joint locking device and clamping top
Set device；The butt-joint locking device includes box body, jam plate and elastic overhead device, and box body is fixed on pedestal, in box body
With cavity, the bottom of box body is through-hole, is equipped on box body positioned at the two opposite sides side of through-hole and keeps out plate, between the baffle that balances each other
Through slot is formed, the top on the side wall of box body positioned at through-hole is articulated with two jam plates being oppositely arranged by drive-connecting shaft, in jam plate
The upper side close to adjacent locking plates is equipped with opening, and two openings form spliced eye, and elastic overhead device is located between box body and jam plate；
The clamping overhead device includes the driving of clamping overhead, clamping overhead connecting rod, clamping overhead arm and clamping overhead wheel, in pedestal
On relative to center two opposite sides be respectively fixed with clamping overhead driving, clamping overhead driving on be articulated with two clamping overheads
Connecting rod is articulated with clamping overhead arm in the lower end of each clamping overhead connecting rod, and clamping overhead arm is articulated on pedestal, clamps overhead
Arm is arc-shaped, and the lower end of clamping overhead arm is equipped with clamping overhead wheel；
The elastic overhead device include overhead first connecting rod, overhead second connecting rod, overhead seat, overhead bar, overhead fixing seat,
Spring and oil cylinder are fixed with overhead first connecting rod on drive-connecting shaft, overhead second connecting rod, overhead are hinged on overhead first connecting rod
Second connecting rod is connected on overhead seat, and overhead bar is fixed on overhead seat, and overhead fixing seat is fixed on box body, the sliding of overhead bar
Pass through overhead fixing seat, for spring pocket on the overhead bar between overhead seat and overhead fixing seat, oil cylinder is fixed on box body
On, the piston rod of oil cylinder is connected on overhead bar.
2. bathyscaph according to claim 1 lays recycling butt-joint locking device, it is characterised in that: be fixed on pedestal
Two groups of positioning pin banks, the axial direction of two groups of positioning pin banks are mutually perpendicular to, and every group of positioning pin includes two positioning pins, every group of positioning pin bank
In two positioning pins between have gap, form positioning chamber between all positioning pins.
3. bathyscaph according to claim 1 lays recycling butt-joint locking device, it is characterised in that: the clamping overhead
Wheel is air bag wheel.
4. a kind of butt-joint locking method that bathyscaph described in claim 1 lays recycling butt-joint locking device, it is characterised in that:
Include the following steps:
(1) mushroom head of bathyscaph enters spliced eye under the action of the drag body of deep-sea, while the mushroom head of bathyscaph allows
Jam plate overcomes elastic overhead device to overturn, and the mushroom head of bathyscaph enters in cavity, and elastic overhead device is automatically multiple by jam plate
The mushroom head of bathyscaph is locked by butt-joint locking device in position；
(2) starting clamping overhead driving drives clamping overhead link motion by clamping overhead driving, and clamping overhead connecting rod drives
Overhead arm swing is clamped, the clamping of clamping overhead wheel and overhead bathyscaph are passed through.
5. the butt-joint locking method that bathyscaph according to claim 4 lays recycling butt-joint locking device, it is characterised in that:
The elastic overhead device includes overhead first connecting rod, overhead second connecting rod, overhead seat, overhead bar, overhead fixing seat, spring
And oil cylinder, it is fixed with overhead first connecting rod on drive-connecting shaft, overhead second connecting rod, overhead second are hinged on overhead first connecting rod
Connecting rod is connected on overhead seat, and overhead bar is fixed on overhead seat, and overhead fixing seat is fixed on box body, and the sliding of overhead bar is worn
Overhead fixing seat is crossed, on the overhead bar between overhead seat and overhead fixing seat, oil cylinder is fixed on box body spring pocket, oil
The piston rod of cylinder is connected on overhead bar；In a free state, spring is in compressive state jam plate is allowed to be in locking state；Oil cylinder
Work, oil cylinder drive overhead bar that the elastic force of spring is overcome move, and overhead bar drives the movement of overhead seat, two overheads of overhead seat drive the
Two connecting rods move synchronously, so that overhead first connecting rod is driven to move, driving jam plate overturning；When the power of oil cylinder releases, in spring
Lower locking plate is acted on to reset.
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| CN108397148B (en) * | 2018-02-07 | 2020-05-01 | 中国海洋石油集团有限公司 | Multi-degree-of-freedom adjustable flexible hoisting bolting structure |
| CN108591785A (en) * | 2018-06-28 | 2018-09-28 | 中国船舶重工集团公司第七0七研究所 | A kind of unmanned boat detection sonar automatic retraction device |
| CN109050840B (en) * | 2018-09-01 | 2020-05-22 | 哈尔滨工程大学 | Six-degree-of-freedom positioning underwater robot |
| NO345094B1 (en) | 2018-09-21 | 2020-09-28 | Usea As | A marine structure comprising a launch and recovery system |
| CN110466688B (en) * | 2019-08-27 | 2023-11-03 | 珠海云洲智能科技股份有限公司 | Navigation equipment cloth recycling system and navigation equipment cloth recycling method |
| CN110683022B (en) * | 2019-10-28 | 2023-07-21 | 中船华南船舶机械有限公司 | Armored cable deep submersible vehicle single rope recycling device and recycling method |
| CN111268071A (en) * | 2020-02-13 | 2020-06-12 | 重庆大学 | Split towing cable type water surface-underwater unmanned aircraft |
| CN111661772B (en) * | 2020-04-28 | 2022-10-04 | 武汉船用机械有限责任公司 | Diving equipment drags hoisting accessory |
| CN114932565B (en) * | 2022-05-16 | 2024-04-26 | 青岛海洋科学与技术国家实验室发展中心 | Underwater glider cloth and storage recovery system based on robot operation platform |
| CN115056924B (en) * | 2022-06-14 | 2023-06-09 | 广东智能无人系统研究院(南沙) | Autonomous deployment and recovery system device of submersible |
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| CN103183112B (en) * | 2011-12-28 | 2015-06-10 | 中国科学院沈阳自动化研究所 | Abutting and lifting device for recovering underwater robot |
| CN103183113B (en) * | 2011-12-28 | 2015-06-10 | 中国科学院沈阳自动化研究所 | Underwater robot recovery system and recovery method thereof |
| CN103318390B (en) * | 2013-07-03 | 2015-12-09 | 哈尔滨工程大学 | Underwater research vehicle space articulation device |
| CN105539782B (en) * | 2015-12-21 | 2017-04-12 | 中国船舶重工集团公司第七○二研究所 | Underwater automatic docking mechanism for ROV |
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