CN107794926A - Inclined rock-throwing pipe-dropping mechanism with position compensation function and operation method thereof - Google Patents
Inclined rock-throwing pipe-dropping mechanism with position compensation function and operation method thereof Download PDFInfo
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- CN107794926A CN107794926A CN201610870583.2A CN201610870583A CN107794926A CN 107794926 A CN107794926 A CN 107794926A CN 201610870583 A CN201610870583 A CN 201610870583A CN 107794926 A CN107794926 A CN 107794926A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 31
- 238000000034 method Methods 0.000 title claims abstract description 20
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 12
- 230000033001 locomotion Effects 0.000 description 33
- 238000010586 diagram Methods 0.000 description 11
- 230000000694 effects Effects 0.000 description 9
- 239000004575 stone Substances 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 238000000465 moulding Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 230000011514 reflex Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D15/00—Handling building or like materials for hydraulic engineering or foundations
- E02D15/10—Placing gravel or light material under water inasmuch as not provided for elsewhere
-
- 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
- B63B35/28—Barges or lighters
- B63B35/30—Barges or lighters self-discharging
- B63B35/305—Barges or lighters self-discharging discharging by mechanical means
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Mining & Mineral Resources (AREA)
- Paleontology (AREA)
- Civil Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Transmission Devices (AREA)
- Control Of Position Or Direction (AREA)
- Earth Drilling (AREA)
Abstract
The invention provides an inclined riprap pipe dropping mechanism with a position compensation function and an operation method thereof.
Description
Technical field
The present invention relates to a kind of oblique jackstone Luo Guan mechanisms and its operation method for having position compensation function, more particularly to one
Rolling (Rolling) of the kind with compensation carrier, pitching (Pitching) are with lifting the frees degree such as (Heaving), and hollow tube
End outlet position also Z can be continuously maintained the tool position compensation function of operating within the specific limits in carrier under the influence of by stormy waves
Oblique jackstone Luo Guan mechanisms and its operation method.
Background technology
For needing the facility of operation at sea, it is often necessary to first carried out in the part of sea bed as drive piles or it is fixed,
The additional processings such as locating support, just it is able to implement follow-up underwater and water surface engineering.In recent years, these job engineerings mainly with
Based on the erection of bridging, offshore work platform and offshore wind turbine.
Wherein, in the part of fixed sea bed pedestal, jackstone is carried out using stone dumper, allows stone to be stacked on sea bed to prop up
Support part separation structure has been fairly common idea and technology.Traditional jackstone method is divided into two kinds of skills of flexible pipe and hard tube mostly
Art.Generally performed in deeper marine site with flexible pipe, and the marine site of common-depth then with hard tube for it.
However, the stability that would is that pedestal that jackstone This move has influence on.Traditional jackstone system has and can not positioned
Effect, be only capable of throwing stone into general position.In addition, stone dumper is also easily influenceed by ocean current, wave and wind, make
Riprap work is not accurate.Cause stone dumper to waste other raw materials such as building stones, turned out for work except increase is extra in addition to number, it is more time-consuming and
Expenses Cost.
The content of the invention
Based on the problems of prior art, the invention provides a kind of oblique jackstone for having position compensation function to fall pipe
Mechanism and its operation method, including a hollow tube, a sliding module, a swing pipe module and a weave control module.
Hollow tube is connected provided with least one first sawtooth, sliding module with hollow tube, and swing pipe module is connected with hollow tube, and
Weave control module is connected with sliding module.Weave control module controls the swing of hollow tube, sliding module control hollow tube
Slide.
One embodiment of the present of invention is a kind of operation method for the oblique jackstone Luo Guan mechanisms for having position compensation function.
Step (a) is first carried out, a hollow tube is increased to the focus point of hollow tube by a sliding module, makes hollow tube perpendicular to a carrier
Deck level；Then step (b) is performed, a weave control module rotates sliding module, makes sliding module and hollow tube and load
The deck level of tool is parallel；Step (c), weave control module lifting sliding module and hollow tube are finally performed to the deck of carrier
In plane.
In addition, another embodiment of the present invention is, a kind of running for the oblique jackstone Luo Guan mechanisms for having position compensation function
Method.Step (first) is first carried out, a carrier produces the skew of an angle, then performs step (second), a weave control module
One instant opposing angular signal is produced according to the angle, finally performs step (third), weave control module is according to instant reflex angle
Signal one sliding module of adjustment, a hollow tube, a swing pipe module or its combination in real time are spent, makes the oblique throwing of tool position compensation function
Shi Luoguan mechanisms maintain the position of script.
Above to the present invention summary, it is therefore intended that to the present invention it is several towards and technical characteristic make a basic explanation.
The invention summary not detailed statement to the present invention, therefore its purpose is not enumerating the key or important set of the present invention especially
Part, nor for defining the scope of the present invention, several concepts of the present invention are only presented in a manner of concise.
Brief description of the drawings
Fig. 1 (a) is the structural representation of the embodiment of the present invention.
Fig. 1 (b) is the stretching motion schematic diagram of the embodiment of the present invention.
Fig. 1 (c) is the oscillating motion schematic diagram of the embodiment of the present invention.
Fig. 2 (a) is the structural representation of weave control module of the embodiment of the present invention.
Fig. 2 (b) is the dimensional structure diagram of weave control module of the embodiment of the present invention.
The structural representation of Fig. 3 systems sliding module of the embodiment of the present invention.
Fig. 4 (a)~Fig. 4 (h) is the detailed construction change schematic diagram that the embodiment of the present invention folds mode.
Fig. 5 systems embodiment of the present invention folds the simple schematic diagram of mode.
The motion schematic diagram of Fig. 6 systems swing pipe module of the embodiment of the present invention.
The flow chart of Fig. 7 systems one operation method embodiment of the present invention.
The flow chart of another operation method embodiment of Fig. 8 systems present invention.
Reference：
B：Carrier；
A1~A11：Arrow；
(a)~(c)：Step；
(first)~(third)：Step；
100：Hollow tube；101：First sawtooth；
200：Sliding module；201：Fixed mount；202：Rotate gear；203：Second sawtooth；204：Fixed actuator；
300：Swing pipe module；301：Expansion actuator；302：Teeter actuators；303：Ramming head；304：Wave hinge；305：
Main swing pipe；
400：Weave control module；401：Pedestal；402：Console；403：Slide rail；404：Trip sliding block；405：Rotate
Frame；406：First power source；407：Second power source；408：Hinge support；409：Control actuator.
Embodiment
In the description of the invention, it is to be understood that term " " center ", " on ", " under ", "front", "rear", " left side ",
The orientation or position relationship of the instruction such as " right side ", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " are based on shown in the drawings
Orientation or position relationship, be for only for ease of the description present invention and simplify description, rather than instruction or imply signified device or
Element must have specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
Oblique jackstone Luo Guan mechanisms and its fortune below with reference to accompanying drawing to the tool position compensation function of the embodiment of the present invention
Elaborated as method.
Carrier B alleged by the present embodiment typically can be revocable marine naval vessels, ship etc., further for can be with
It is stone dumper.Certainly, carrier B can also be fixed operation on the sea place, and such as offshore work platform, only explanation need and lifted
Example, the present invention are not any limitation as.
And the carrier B carriers in present embodiment will illustrate by taking stone dumper as an example and according to this.And present embodiment will be with load
Have B stems directions and be used as front, stern direction as rear line as center line, and with three-dimensional space of this benchmark at 360 °
Between under make description.Those skilled in the art should understand that the center line is comprised on carrier B deck level；It is and mentioned below
The direction "above" or "below", refer to using deck level as boundary, and with the shifting deviator of central axis；And left and right pendulum shakes
Rolling then refers to carrier B on the basis of center line, makes carrier B with banking motion caused by its larboard or starboard.
In addition, fixation actuator 204, expansion actuator 301, teeter actuators 302 and control alleged by the present embodiment
Actuator 409 is presented and implemented in a manner of hydraulic cylinder, and its reason is that the present embodiment for the larger large-scale equipment of weight, needs
Reach specific motion effect through the strength of hydraulic pressure.But actually of the invention be not intended to limit is only capable of the reality in a manner of hydraulic cylinder
It is existing, to be only able to allow the present invention to reach same movement effect person, should come under within the scope of the present invention.
First, Fig. 1 (a) is refer to, Fig. 1 (a) is the structural representation of the embodiment of the present invention.In the present embodiment, the tool position
The oblique jackstone Luo Guan mechanisms for putting compensation function include hollow tube 100, sliding module 200, swing pipe module 300 and weave control
Module 400.
Wherein, hollow tube 100 is provided with least one first sawtooth 101, and first sawtooth 101 of the present embodiment is divided into hollow
The both sides of pipe 100, but actually may be disposed at 100 more sides of hollow tube, it is only necessary to the mechanism according to sliding module 200 is set
Adjustment is put, the present invention is not any limitation as.
And sliding module 200 is connected with hollow tube 100, in the present embodiment, hollow tube 100 is to pass through the quilt of the first sawtooth 101
It is sleeved among sliding module 200.And swing pipe module 300 is connected with hollow tube 100, weave control module 400 then with sliding die
The connection of group 200.In the present embodiment, the weave control module 400 control hollow tube 100 swing (can with initial reference to Fig. 1 (c) or
Fig. 5), sliding module 200 is then used for controlling the slip (can be with initial reference to Fig. 1 (b) and Fig. 3) of hollow tube 100.
Then Fig. 1 (b) is refer to, Fig. 1 (b) is the stretching motion schematic diagram of the embodiment of the present invention.Wherein, arrow A1 is indicated
The direction of motion for hollow tube 100 can because sliding module 200 operates and the direction of stretching motion.The stretching motion of hollow tube 100
The free degree depends on the length of the first sawtooth 101 distribution and determined.In addition, the top of the hollow tube 100 of the present embodiment is provided with one
The opening of individual loudspeaker (or funnel) shape, in addition to convenience when can increase loading (loading) stone, it can act also as backstop
Hollow tube 100 skids off the mechanism of sliding module 200.
Referring to Fig. 3, Fig. 3 is the structural representation of sliding module of the embodiment of the present invention.As shown in figure 3, solved in Fig. 3
Released why the principle that the hollow tube 100 of the present embodiment can move in sliding block 200.The sliding module 200 of the present embodiment
Comprising fixed mount 201, an at least rotate gear 202, at least one second sawtooth 203 and at least one fix actuator 204.
Wherein, an at least rotate gear 202 on hollow tube 100 at least one first sawtooth 101 is corresponding is engaged, and at least
One second sawtooth 203 is movably engaged with least one first sawtooth 101.For more correctly, second sawtooth 203 of the present embodiment
It can be connected with fixed actuator 204, certainly fixed actuator 204 also can be replaced linear motor or other linearly moving machineries
Means device, the present invention are not any limitation as.
Therefore, illustrate through Fig. 3 mechanical structure, can learn when hollow tube 100 is intended to move along arrow A5 direction,
Being engaged for the first sawtooth 101 and rotate gear 202 must be leaned on.Rotate gear 202 may decide that along arrow A4 rotation directions
First sawtooth 101 affects the direction of motion of hollow tube 100.And the power source of rotate gear 202 can utilize servo motor etc. can
Synchronization Control automatically controls motor, and the present invention is not any limitation as.In the present embodiment, treat that rotate gear 202 is synchronous by first
When the hollow tube 100 that sawtooth 101 affects is driven to appropriate location, fixed actuator 204 will be along arrow A6 linear starting
And push ahead the second sawtooth 203 and be engaged with the first sawtooth 101, the effect of reaching fixed or decontrol 100 position of hollow tube.
In addition, the above-mentioned technology for referring to rotate gear 202 and servo motor connection being utilized to provide rotational power, available to watch
Take motor and mix the characteristics of automatically controlling, sliding module 200 is can compensate for carrier B because being moved up and down caused by the factors such as wave.
For more accurate, by taking the present embodiment as an example, when carrier up moves, the right rotate gear 202 can be rotated with inverse clock；It is left
The rotate gear 202 on side can then be rotated with clockwise, and the telescopic direction for making hollow tube 100 down, offsets the upward positions of carrier B
Skew, vice versa.
Then referring to Fig. 1 (c) and Fig. 2 (a)~2 (b), Fig. 1 (c) is the oscillating motion signal of the embodiment of the present invention
Figure；Fig. 2 (a) is the structural representation of weave control module of the embodiment of the present invention；Fig. 2 (b) is weave control of the embodiment of the present invention
The dimensional structure diagram of module.
As shown in Fig. 1 (c), the present embodiment can reach allow whole hollow tube 100 along arrow A3 directions wave the effect of.Its
Reason is reached controlling actuator 409 flexible along arrow A2 directions in weave control module 400.Such as Fig. 2 (a) and Fig. 2
(b) shown in, the weave control module 400 of the embodiment of the present invention includes pedestal 401, at least console 402, a slide rail 403, trip
Sliding block 404, rotating turret 405, at least at least one first power source 406, one second power source 407, hinge support 408 and hinge
Support 409.
Wherein, console 402 is connected with pedestal 401, and on pedestal 401, trip sliding block 404 is set an at least slide rail 403
In at least on a slide rail 403, and rotating turret 405, on pedestal 401, the rotating turret 405 with trip sliding block 404 slidably
Ground engages.
At least one first power source 406 and at least one second power source 407 is connected with rotating turret 405, hinge support 408
Be connected with rotating turret 405 and sliding module 200, and at least one control actuator 409 simultaneously with hinge support 405 and sliding module
200 connections.It can be seen that by Fig. 2 (a), all through hinge when hinge support 408 is connected with rotating turret 405 and sliding module 200
Mode connects, to facilitate the swing of sliding module 200.
With above-mentioned position compensation effect referred to, contained pendulum manner can also reach with identical principle in Fig. 1 (c)
Into the object of only start is changed at least one control actuator 409.I.e. when carrier is in itself because wave or wave produce such as pendulum
Left and right skew when, weave control module 400 has the ability in time to correct the skew, the effect of reaching precise positioning, will be hollow
Pipe 100 is fixed on motionless position.
Then referring to Fig. 4 (a)~Fig. 4 (h), Fig. 4 (a)~Fig. 4 (h) is that the embodiment of the present invention folds the detailed of mode
Fine texture change schematic diagram.Motion mode of the present embodiment in another direction is disclosed in Fig. 4 (a)~Fig. 4 (h), and together
When disclose how the oblique jackstone Luo Guan mechanisms for having position compensation function are folded in mode on carrier B by the present embodiment.
First such as, shown in Fig. 4 (a), (hung down when the hollow tube 100 of the present embodiment must to front-rear direction swing, rotate
Directly in Fig. 1 (c) direction of motion), trip sliding block 404 can slip into swing control along arrow A7 direction in an at least slide rail 403
In the cavity of molding group 400.Because the reason of H fonts is presented in the trip sliding block 404 of the present embodiment, therefore control is swung not slipping into
Before the cavity of molding group 400, the trip sliding block 404 can clamp rotating turret 405, and to limit its rotation, and limitation is slided indirectly
The swing of dynamic model block 200 and hollow tube 100 along carrier B center lines.
Therefore, after trip sliding block 404 is slid completely into the cavity of weave control module 400, just as shown in Fig. 4 (b), rotate
Frame 405 be free to as signified direction such as Fig. 4 (c) and Fig. 4 (d) arrows A8 and rotate.Dotted line shown in Fig. 4 (c) is i.e. with load
It is parallel to have B deck levels, and is illustrated with the mode of central axis, more precisely, the dotted line in Fig. 4 (c) is according to rotation
The center line that frame 405 can spin is drawn.And direction signified arrow A8 is that axle center equidistantly surround drafting i.e. using the dotted line in Fig. 4 (c).
In the present embodiment, the rotational power source of rotating turret 405 is to come from the first power source 406.The first of the present embodiment
Power source 406 is a kind of internal cogwheel being connected with motor, can be engaged in rotating turret 405 and hold axle and gear, and reaching makes to turn
The effect of moving frame 405 spins.In other possible implementation patterns, the internal cogwheel in the first power source 406, which also can pass through, draws
The mode that rope or hinge indirectly pull is rotated, and the present invention is not any limitation as.
Therefore, sliding module 200 and hollow tube 100 can pass through above-mentioned mechanism, the rotation as Fig. 4 (e), until such as
Shown in Fig. 4 (f), hollow tube 100 is parallel with carrier B deck level.Under normal circumstances, described in Fig. 4 (e) and Fig. 4 (f)
Freedom of motion can be 360 ° or more of spin motion.
In the present embodiment, the motion shown in Fig. 4 (e) and Fig. 4 (f), more can be such as in addition to for folding hollow tube 100
The foregoing compensation for being generally used for dynamic positioning.When carrier B is along during centerline direction swing, trip sliding block 404 will be received
In the cavity for entering weave control module 400, rotating turret 405 is set to drive sliding module 200 and hollow tube 100 to do out position benefit
Repay motion, swing offsets of the payment carrier B along centerline direction.
And the arrow A9 in Fig. 4 (f) refers to how hollow tube 100 is stored into (lifting) to carrier B.Therefore, arrow A9
Movement locus should be perpendicular to carrier B center line.For more accurate, the signal in Fig. 4 (g) can refer to.Due to turning
Moving frame 405 is more connected with the second power source 407, and second power source 407 of the present embodiment can be equally used for the knot of lifting heavy
Structure, such as hydraulic motor etc., whole hollow tube 100, sliding module 200 and swing pipe module 300 to be lifted.Therefore, thoroughly
The second power source 407 twisting rotating turret 405 is crossed, whole hollow tube 100, the sliding module tied in Fig. 4 (f) can be made
200 and direction of the swing pipe module 300 along arrow A9 lift, be folded to the state as shown in Fig. 4 (h).
Fig. 5 is refer to, Fig. 5 is the simple schematic diagram that the embodiment of the present invention folds mode.It is as shown in figure 5, easy in Fig. 5
Depict the effect of reaching in whole Fig. 4 (a)~Fig. 4 (h).The present embodiment is in earlier figures 1, Fig. 2 (a)~2 (b), Fig. 3, Fig. 4
(a) the relative motion mode and position compensation motion mode~4 referred in (h) and Fig. 5, all can pass through weave control module 400
In console 402 reach.In the present embodiment, console 402 is more electrically connected with a positioning module (not shown), the positioning mould
Group tilts comprising at least one and senses set of pieces.
In the present embodiment, the positioning module can be arranged directly in console 402, can also be arranged on carrier B
Middle control computer in, the present invention be not any limitation as.Therefore, the computer in console 402 or industrial computer can bases
Inclination sensing component in positioning module, carrier B displacement deviator is sensed, to automatically control in weave control module 400
All original papers move immediately.In addition, positioning module has more global positioning system (Global Positioning in itself
System, GPS) function, carrier B displacement can be detected.
Certainly, the console 402 in the present embodiment also can switch to manual mode, allow the staff on carrier B with hand
Dynamic mode is operated, and the present invention is not any limitation as.As for the part of wiring, the present embodiment console 402 and weave control module
Other elements, sliding module 200 and swing pipe module 300 all can pass through pedestal 401 and be directly or indirectly electrically connected with 400, and have
It on the computing of position compensation motion, then can be obtained, be sent certainly by the computer in console 402 or industrial computer real-time operation
The order of dynamic control.In addition, the operating state about parameters and weave control module 400, also can pass through the side of screen
Formula is presented, and allows staff to know current operating state.
Then Fig. 6 is refer to, Fig. 6 is the motion schematic diagram of swing pipe module of the embodiment of the present invention.As shown in fig. 6, this implementation
The swing pipe module 300 of example includes an at least expansion actuator 301, at least a teeter actuators 302, ramming head 303, waves hinge
304 and main swing pipe 305.
A wherein at least expansion actuator 301 connects hollow tube 100 and main swing pipe 305, an at least teeter actuators 302 with
Main swing pipe 305 connects, and the transmission of ramming head 303 is waved hinge 304 and is arranged on main swing pipe 305, and an at least teeter actuators 302
It is connected with ramming head 303.
The further kinematic accuracy of the present embodiment is illustrated in Fig. 6.For further, an at least expansion actuator
301 can promote direction stretching motion of the main swing pipe 305 along hollow tube 100 as shown in Fig. 6 arrows A10 direction；And at least one
Teeter actuators 302 then can pass through each different telescopic direction and stroke, control ramming head 303 along arrow A11 directions
Swing.
Therefore, through Fig. 6 signal, what can be learnt is that the present embodiment swing pipe module 300 also can be such as earlier figures 1, Fig. 2 (a)
The relative motion mode and position compensation motion mode referred in~2 (b), Fig. 3, Fig. 4 (a)~4 (h) and Fig. 5 performs its function.
That is, when stormy waves arrives greatly in Fig. 1, Fig. 2 (a)~2 (b), Fig. 3, Fig. 4 (a)~4 (h) and Fig. 5 the relative motion mode referred to
And position compensation motion mode, when all can not compensate and run immediately, the motion principle that can be passed through shown in Fig. 6 enter one
The precision of step amendment jackstone.
In addition, be relatively inaccessible to for underwater environment underwater current etc. specific jackstone place the problem of, through being carried in Fig. 6
The technology of confession can also be readily solved easily.
Then Fig. 7, the flow chart of Fig. 7 systems one operation method embodiment of the present invention be refer to.Contained operation method in Fig. 7
Embodiment is reached using embodiment depicted in Fig. 1~Fig. 6.As shown in fig. 7, step (a) is first carried out, a sliding module
200 are increased to a hollow tube 100 focus point of the hollow tube 100, the hollow tube 100 is put down perpendicular to the deck of a carrier B
Face, step (b) is then performed, a weave control module 400 rotates the sliding module 200, makes the sliding block 200 and this is hollow
Pipe 100 is parallel with carrier B deck level.Step (c) is finally performed, the weave control module 400 lifts the sliding module
200 and the hollow tube 100 to the deck level of the carrier on.
Make flowing mode in step (a), can refer to the signal in Fig. 1 (b) and Fig. 3 and related description；And in step
(b) in motion, Fig. 4 (a)~4 (f) and its related description be may be referred to；As for the motion of step (c), then Fig. 4 (f) is referred to
~4 (h) and its related description.Whole Fig. 7 flow is then referred to Fig. 5 and draws implementation pattern and its related description.
Then Fig. 8 is refer to, Fig. 8 is the flow chart of another operation method embodiment of the present invention.Similarly, institute's carrying in Fig. 8
The embodiment for making method is also reached using embodiment depicted in Fig. 1~Fig. 6.Step (first) is first carried out, a carrier B is produced
The skew of one angle, then performs step (second), and a weave control module 400 produces an instant opposing angular according to the angle and interrogated
Number, step (third) is finally performed, the weave control module 400 adjusts a sliding module immediately according to the instant opposing angular signal
200th, a hollow tube 100, a swing pipe module 300 or its combination, tie up the oblique jackstone Luo Guan mechanisms of the tool position compensation function
Hold in the position of script.
In step (first), the skew of described angle refers to that at least one inclination sensing component is felt in foregoing positioning module
The deviation angle measured.For more correctly namely the inclination of carrier B deck levels, wave and displacement.Described at least one
It can tilt the element such as sensing wafer or gyroscope to tilt sensing element, and the present invention is not any limitation as.
And in step (second), instant opposing angular signal caused by the present embodiment weave control module 400 be actually by
Computer or industrial computer computing in foregoing console 402 and obtain, further for the data of its calculating be to pass through
Positioning module and obtain sample.In other implementation patterns, the middle control computer calculating for being arranged on carrier B can also be passed through and obtained,
And the instant opposing angular signal that weave control module 400 is able to operate is converted to, the computer allowed in control panel 402 or industry
Changed, translated and applied with computer.
Finally, the motion mode described in step (third) is according to the instant opposing angular signal i.e. luck in step (second)
Make.Immediately one sliding module 200 of the adjustment, a hollow tube 100, a swing pipe module 300 or the motion mode system of its combination can
With reference to 1~Fig. 6 of figure and its related description.
The foregoing is merely illustrative of the preferred embodiments of the present invention, it is impossible to the scope implemented of the present invention is limited with this, it is all according to
The simple equivalent changes and modifications that scope of the present invention patent and description are made, all still belong to the scope that the present invention covers
It is interior.
Claims (10)
- A kind of 1. oblique jackstone Luo Guan mechanisms with position compensation function, it is characterised in that including：One hollow tube, provided with least one first sawtooth；One sliding module, it is connected with the hollow tube；One swing pipe module, is connected with the hollow tube；AndOne weave control module, is connected with the sliding module；Wherein, the weave control module controls the swing of the hollow tube, and the sliding module controls the cunning of the hollow tube It is dynamic.
- 2. there is the oblique jackstone Luo Guan mechanisms of position compensation function as claimed in claim 1, it is characterised in that the slip Module includes：One fixed mount；An at least rotate gear, in the fixed mount；AndAt least one second sawtooth, in the fixed mount；Wherein, an at least rotate gear to it is described at least one first sawtooth is corresponding is engaged, it is described that at least one second sawtooth can Actively it is engaged with least one first sawtooth.
- 3. there is the oblique jackstone Luo Guan mechanisms of position compensation function as claimed in claim 2, it is characterised in that each described At least one second sawtooth is connected with a fixation actuator.
- 4. there is the oblique jackstone Luo Guan mechanisms of position compensation function as claimed in claim 1, it is characterised in that the swing pipe Module includes：One main swing pipe；An at least expansion actuator, connect the hollow tube and the main swing pipe；An at least teeter actuators, it is connected with the main swing pipe；AndOne ramming head, wave hinge through one and be arranged on the main swing pipe, and an at least teeter actuators and the ramming head Connection.
- 5. there is the oblique jackstone Luo Guan mechanisms of position compensation function as claimed in claim 1, it is characterised in that the swing Control module includes：One pedestal；One console, it is connected with the pedestal；An at least slide rail, on the pedestal；One trip sliding block, located at described at least on a slide rail；One rotating turret, on the pedestal, the rotating turret slideably engages with the trip sliding block；At least one first power source, is connected with the rotating turret；At least one second power source, is connected with the rotating turret；One hinge support, is connected with the rotating turret and the sliding module；AndAt least one control actuator, while be connected with the hinge support and the sliding module.
- 6. there is the oblique jackstone Luo Guan mechanisms of position compensation function as claimed in claim 5, it is characterised in that wherein described Console and a positioning module are electrically connected with, and the positioning module includes at least one and tilts sensing component.
- 7. as claimed in claim 6 have position compensation function oblique jackstone Luo Guan mechanisms, it is characterised in that it is described at least One tilts sensing element to tilt sensing wafer or gyroscope.
- 8. there is the oblique jackstone Luo Guan mechanisms of position compensation function as claimed in claim 6, it is characterised in that the control Platform includes a computer or an industrial computer.
- A kind of 9. operation method of the oblique jackstone Luo Guan mechanisms with position compensation function, it is characterised in that including：(a) hollow tube is increased to the focus point of the hollow tube by a sliding module, makes the hollow tube perpendicular to a carrier Deck level；(b) a weave control module rotates the sliding module, makes the sliding module and the hollow tube and the carrier Deck level is parallel；And(c) the weave control module is lifted on the sliding module and the hollow tube to the deck level of the carrier；Wherein, the operation method of the oblique jackstone Luo Guan mechanisms of the tool position compensation function is to utilize in claim 1-8 to appoint The oblique jackstone Luo Guan mechanisms of tool position compensation function described in one.
- A kind of 10. operation method of the oblique jackstone Luo Guan mechanisms with position compensation function, it is characterised in that including：(first) one carrier produces the skew of an angle；(second) weave control module produces an instant opposing angular signal according to the angle；And(the third) described weave control module according to the opposing angular signal immediately immediately one sliding module of adjustment, a hollow tube, One swing pipe module or its combination, make the oblique jackstone Luo Guan mechanisms of tool position compensation function maintain the position of script；Wherein, the operation method of the oblique jackstone Luo Guan mechanisms of the tool position compensation function is using any in claim 1-8 The oblique jackstone Luo Guan mechanisms of tool position compensation function described in.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW105128527 | 2016-09-02 | ||
| TW105128527A TWI622691B (en) | 2016-09-02 | 2016-09-02 | A dynamic positioning rock dumping module and the operating method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107794926A true CN107794926A (en) | 2018-03-13 |
| CN107794926B CN107794926B (en) | 2020-02-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610870583.2A Active CN107794926B (en) | 2016-09-02 | 2016-09-30 | Inclined rock-throwing pipe-dropping mechanism with position compensation function and operation method thereof |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN107794926B (en) |
| GB (1) | GB2554996B (en) |
| TW (1) | TWI622691B (en) |
Cited By (3)
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| CN109339054A (en) * | 2018-11-30 | 2019-02-15 | 中交第三航务工程局有限公司 | A kind of oblique chute jackstone technique |
| CN110686597A (en) * | 2019-10-28 | 2020-01-14 | 中交第三航务工程局有限公司 | Three-dimensional positioning system of slant chute tube |
| CN114718073A (en) * | 2022-06-09 | 2022-07-08 | 中国海洋大学 | Underwater riprap leveling device |
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| CN2500644Y (en) * | 2001-11-07 | 2002-07-17 | 张进生 | Throwing device of stone material |
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| CN110686597A (en) * | 2019-10-28 | 2020-01-14 | 中交第三航务工程局有限公司 | Three-dimensional positioning system of slant chute tube |
| CN114718073A (en) * | 2022-06-09 | 2022-07-08 | 中国海洋大学 | Underwater riprap leveling device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107794926B (en) | 2020-02-25 |
| TW201812143A (en) | 2018-04-01 |
| GB201713947D0 (en) | 2017-10-18 |
| TWI622691B (en) | 2018-05-01 |
| GB2554996A (en) | 2018-04-18 |
| GB2554996B (en) | 2018-10-10 |
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