CN107953975A - Marine machinery Bei Zhidang mechanisms - Google Patents
Marine machinery Bei Zhidang mechanisms Download PDFInfo
- Publication number
- CN107953975A CN107953975A CN201711173080.0A CN201711173080A CN107953975A CN 107953975 A CN107953975 A CN 107953975A CN 201711173080 A CN201711173080 A CN 201711173080A CN 107953975 A CN107953975 A CN 107953975A
- Authority
- CN
- China
- Prior art keywords
- locking
- zhidang
- bei
- frame
- locking head
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/10—Arrangement of ship-based loading or unloading equipment for cargo or passengers of cranes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/08—Arrangement of ship-based loading or unloading equipment for cargo or passengers of winches
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A30/00—Adapting or protecting infrastructure or their operation
- Y02A30/30—Adapting or protecting infrastructure or their operation in transportation, e.g. on roads, waterways or railways
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The present invention provides a kind of marine machinery Bei Zhidang mechanisms, it includes suspender frame and locking head, wherein suspender frame is used for lifting appliance or article, and locking head is used for locking lifting appliance frame, in addition, only swing device and further include the adjustable mechanical arm of posture, locking head is installed on the lower section of mechanical arm, and mechanical arm is connected with boat-carrying A shape framves, and pulley is provided with A shape framves, pull-cord bypasses pulley, through locking head, is connected with suspender frame.Equipment or weight are erected by suspender to be hung, locking head locking lifting appliance frame, is carried out preliminary stop and is swung, after lifting, with the swing of equipment or weight, mechanical arm can carry out corresponding pose adjustment, to reduce amplitude of fluctuation.
Description
Technical field
The present invention relates to Ocean Surveying exploring equipment instrument in ocean scientific investigation operation to lay recovery technology field, more specifically
Ground is said, is related to a kind of multipurpose applied to the big A framves system of boat-carrying and is only swung device.
Background technology
As China is exploring deep-sea, utilization deep-sea resources and is ensureing that national deep-sea safety etc. demand is continuous
Increase, more and more creates scientific investigation ship and use has been put into, they are laid out coastal waters, deep-sea, ocean and polar region, ocean scientific investigation ship
At sea carrying out the working method of prospecting operation includes fixed point and towing, these operations are both needed to the cooperation of boat-carrying quarter deck support equipment
To complete, quarter deck support equipment mainly includes winch, size A framves and folding arm crane system etc., and wherein winch carries out folding and unfolding to equipment,
Equipment is shown outboard by A framves out of ship, they constitute the folding and unfolding of complete set with underwater detection equipment and indoor control system
System.In present scientific investigation operation process, equipment Water Exit still using traditional only oscillation method, passes through hawser after equipment water outlet
By the lifting of A framves pulley in vacant state, it is indefinite that by wave effect shipping work when rocks, and equipment irregular can also be rocked, and with
Severe crash occurs for hull, needs only to swing by manpower again around equipment after rope one end is on the quarter taken root at this time, but due to
Underwater observation weight of equipment is differed from hundreds of kilograms to several tons, and under severe sea condition, equipment moment pulling force is far more than people's model in order to control
Enclose, certain danger is so brought to equipment and personnel, understand to cause the thing of personnel and equipment damage in the case of this according to investigations
Example is very much, is now badly in need of a kind of new device that only swings and replaces traditional stopping to swing mode, mitigates the working strength of team member, improve scientific investigation operation
Team member and the security of equipment.
The content of the invention
The defects of the purpose of the present invention is overcoming equipment folding and unfolding in existing ocean scientific investigation operation and deficiency, there is provided one kind is based on
The mechanical hydraulic-pressure type of the big A framves of boat-carrying only swings device.
In order to reach this goal of the invention, present invention employs following technical solution：A kind of marine machinery arm only swings machine
Structure, including suspender frame and locking head, wherein suspender frame are used for lifting appliance or article, and locking head is used for locking lifting appliance frame, except this
Outside, only swing device and further include the adjustable mechanical arm of posture, locking head is installed on the lower section of mechanical arm, mechanical arm and boat-carrying A
Shape frame is connected, and pulley is provided with A shape framves, and pull-cord bypasses pulley, through locking head, is connected with suspender frame.Equipment
Or weight is erected by suspender and hung, locking head locking lifting appliance frame, carries out preliminary stop and swings, after lifting, with equipment or the pendulum of weight
Dynamic, mechanical arm can carry out corresponding pose adjustment, to reduce amplitude of fluctuation.
Mechanical arm includes two-stage steelframe and hydraulic cylinder, wherein one end of the first steelframe is connected with A shape framves, the first hydraulic pressure
The both ends of oil cylinder are separately fixed on A shapes frame and the first steelframe, and the other end of the first steelframe and the upper end of the second steelframe are hinged,
The both ends of second hydraulic cylinder are separately fixed on the first steelframe and the second steelframe, and the lower end of the second steelframe is connected with locking head
Connect.The pose adjustment of mechanical arm is completed by stretching respectively for two-stage hydraulic cylinder.
The hydraulic cylinder of mechanical arm is connected by transmission mechanism with control handle.This is one of optimization of the present invention
The posture of scheme, manually control machinery arm.
The hydraulic cylinder of mechanical arm is connected by transmission mechanism with automation electric control system.This is the another of the present invention
One prioritization scheme, the posture of robotically controlled arm being is realized by automatic control system.
Manually and automatically two kinds of controls and adjustment mode can also be set at the same time, then electrical system breaks down or other
Using control manually when necessary.
Locking head is four claw type structures, including integrally formed substrate and locking jaw, substrate are square or rectangular configuration,
The centre of substrate is provided with the through hole passed through for pull-cord, and locking jaw is the claw type structure extended downwardly from the corner of substrate,
Locating aperture is equipped between locking jaw.This structure can stably locking lifting appliance frame, preliminary stop of progress be swung.
Locking head is equipped with the hydraulic locking oil cylinder for being used for locking the article for sticking into locking head.Hydraulic locking oil cylinder can be with
Further suspender frame is locked on locking device securely.
The sensor with onboard control system electrical connection is additionally provided with locking head, sensor includes gyroscope and/or adds
Speedometer.Sensor can send the concussion state measured to control system in real time, and control system can be according to sensor
The signal sent is reacted, and adjusts the posture of mechanical arm.(acceleration change is too fast, is not easy to judge, could be in locking head more
Pressure load sensor is changed, according to the buffering posture of load cell and the pressure change adjusting mechanical arm of hydraulic stem)
Suspender frame includes size and the locating aperture matched cross upending frame, bearing head and hook, wherein holding
Accent is arranged at the right-angled intersection of upending frame, and the upper end of bearing head is fixedly connected with pull-cord, for carry by lifting article
Hook arranged on cross upending frame lower section.
Bearing head is equipped with can be with the matched locking hole of hydraulic locking oil cylinder.
Ring-type ribs is additionally provided with cross upending frame.Ring-type ribs can strengthen the stabilization of cross upending frame
Property.
In conclusion the invention has the beneficial effects that：
1. saving manpower, the safety coefficient of personnel is also improved；
2. reduce the working strength of scientific investigation personnel；
3. it is easy for installation in boat deck, or even it is adapted to the operation under severe sea condition.
Brief description of the drawings
Fig. 1 is that the multipurpose of the present invention stops the dimensional structure diagram (being installed on A framves) for swinging device；
Fig. 2 is that the multipurpose of the present invention stops the positive dimensional structure diagram for swinging device；
The multipurpose that Fig. 3 is the present invention only swings dimensional structure diagram behind device；
Fig. 4 is the structure diagram of locking head；
Fig. 5 is the structure diagram (inversion) of locking head；
Fig. 6 is the structure diagram of suspender frame.
Marginal data：1- suspender frame 2- locking head 3- mechanical arm 4- pulley 5- pull-cord 11- cross upending frame 12- load-bearing
Head 121- locking holes 13- hook 14- ring-type ribs 21- substrate 22- locking jaw 23- locating aperture 24- hydraulic locking oil cylinders 25-
Load cell 31- the first steelframe 32- the second steelframe 33- the first hydraulic cylinder the second hydraulic cylinders of 34-
Embodiment
Marine machinery Bei Zhidang mechanisms as shown in Figures 1 to 6, including the cross suspender frame 1 with annular stiffening rib,
Claw type locking head 2 matched with suspender frame 1 and the adjustable mechanical arm 3 of posture, mechanical arm include two-stage steelframe and hydraulic pressure
Oil cylinder, wherein one end of the first steelframe 31 is connected with A shape framves, the both ends of the first hydraulic cylinder 33 be separately fixed at A shapes frame and
On first steelframe 31, the other end of the first steelframe 31 and the upper end of the second steelframe 32 are hinged, the both ends of the second hydraulic cylinder 34
It is separately fixed on the first steelframe 31 and the second steelframe 32, the lower end of the second steelframe 32 is connected with locking head 2.Locking head 2 is
Four claw type structures, including integrally formed substrate 21 and locking jaw 22, substrate 21 for square or rectangular configuration, the centre of substrate
Be provided with the through hole passed through for pull-cord, locking jaw 22 is the claw type structure extended downwardly from the corner of substrate, locking jaw it
Between be equipped with locating aperture 23.Locking head is equipped with the hydraulic locking oil cylinder 24 and and ship for being used for locking the article for sticking into locking head
The sensor 25 of borne control system electrical connection, sensor include gyroscope, accelerometer or gyroscope and accelerometer
Combination.Pulley 4 is installed, pull-cord 5 bypasses pulley 4, through locking head 2, is connected with suspender frame 1 on A shape framves.Suspender frame
1 includes size and the matched cross upending frame 11 of locating aperture 23, bearing head 12 and hook 13, wherein cross upending frame
11 are equipped with ring-type ribs 14, and bearing head 12 is arranged at the right-angled intersection of upending frame, upper end and the pull-cord 5 of bearing head 12
It is fixedly connected, is arranged on the lower section of cross upending frame 11 by the hook 13 of lifting article for carry.Bearing head 12 is equipped with can
With locking hole 121 matched with hydraulic locking oil cylinder.
The sensor on hydraulic cylinder and locking head on mechanical arm is all with being through control system electrical connection, except this it
Outside, hydraulic cylinder is connected also by transmission mechanism with mechanical handle.
When equipment or weight after linking up with carry on suspender frame by being lifted by crane, winch drives pull-cord, will hang
Tool frame 1 is sling together with equipment, when moving to 2 position of locking head by the locating aperture 23 on locking head to suspender frame 1 into
Row positioning, cross upending frame 11 is sticked into locating aperture 23, rear-guard hydrodynamic pressure locking cylinder 34 has been engaged and has acted, by hydraulic pressure
Bar stretches into locking hole 121 and suspender frame is locked on locking head.Then equipment is transported by outboard by the movement of A framves, this
During, the sensor 25 on locking head sends the position of locking head (namely suspender frame) and angle information to control system
System, system are made a response according to these data, are driven the hydraulic cylinder on mechanical arm to do corresponding sports, are adjusted the appearance of mechanical arm
State, reduces the vibration of locking head and the suspender frame being locked on locking head.
Above example is for understanding that the present invention is used, and is not limitation of the present invention, the ordinary skill in relation to field
Personnel, on the basis of technical solution described in claim, can also make a variety of changes or modification, these changes or modification should
When being interpreted as still falling within protection scope of the present invention.
Claims (10)
1. a kind of marine machinery Bei Zhidang mechanisms, including suspender frame and locking head, wherein suspender frame are used for lifting appliance or article,
Locking head is used for locking lifting appliance frame, it is characterised in that：It is described that only swinging device further includes the adjustable mechanical arm of posture, the locking
Head is installed on the lower section of mechanical arm, and mechanical arm is connected with boat-carrying A shape framves, pulley is provided with A shape framves, pull-cord is around cunning
Take turns, through locking head, be connected with suspender frame.
2. marine machinery Bei Zhidang mechanisms according to claim 1, it is characterised in that：The mechanical arm includes two-stage steelframe
And hydraulic cylinder, wherein one end of the first steelframe is connected with A shape framves, the both ends of the first hydraulic cylinder are separately fixed at A shape framves
On the first steelframe, the other end of the first steelframe and the upper end of the second steelframe are hinged, and the both ends of the second hydraulic cylinder are solid respectively
It is scheduled on the first steelframe and the second steelframe, the lower end of the second steelframe is connected with the locking head.
3. marine machinery Bei Zhidang mechanisms according to claim 2, it is characterised in that：The hydraulic cylinder of the mechanical arm leads to
Transmission mechanism is crossed with control handle to be connected.
4. marine machinery Bei Zhidang mechanisms according to claim 2, it is characterised in that：The hydraulic cylinder of the mechanical arm leads to
Transmission mechanism is crossed with automation electric control system to be connected.
5. marine machinery Bei Zhidang mechanisms according to claim 1, it is characterised in that：The locking head is four claw type knots
Structure, including integrally formed substrate and locking jaw, substrate are provided with for tracting cable for square or rectangular configuration, the centre of substrate
Restrict through through hole, locking jaw is the claw type structure that is extended downwardly from the corner of substrate, and locating aperture is equipped between locking jaw.
6. marine machinery Bei Zhidang mechanisms according to claim 5, it is characterised in that：The locking head, which is equipped with, to be used to incite somebody to action
Stick into the hydraulic locking oil cylinder of the article locking of locking head.
7. marine machinery Bei Zhidang mechanisms according to claim 6, it is characterised in that：It is additionally provided with the locking head and ship
The sensor of borne control system electrical connection, the sensor include gyroscope and/or accelerometer.
8. marine machinery Bei Zhidang mechanisms according to claim 6, it is characterised in that：The suspender frame includes size and institute
Locating aperture matched cross upending frame, bearing head and hook are stated, wherein bearing head is arranged at the right-angled intersection of upending frame,
The upper end of bearing head is fixedly connected with the pull-cord, for carry by the hook of lifting article arranged on cross upending frame
Lower section.
9. marine machinery Bei Zhidang mechanisms according to claim 8, it is characterised in that：The bearing head is equipped with can be with
The matched locking hole of hydraulic locking oil cylinder.
10. marine machinery Bei Zhidang mechanisms according to claim 9, it is characterised in that：On the cross upending frame also
Equipped with ring-type ribs.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211311127.6A CN115783143B (en) | 2017-11-22 | 2017-11-22 | Marine robotic arm anti-sway equipment |
| CN201711173080.0A CN107953975B (en) | 2017-11-22 | 2017-11-22 | Marine mechanical arm oscillation stopping mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711173080.0A CN107953975B (en) | 2017-11-22 | 2017-11-22 | Marine mechanical arm oscillation stopping mechanism |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211311127.6A Division CN115783143B (en) | 2017-11-22 | 2017-11-22 | Marine robotic arm anti-sway equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107953975A true CN107953975A (en) | 2018-04-24 |
| CN107953975B CN107953975B (en) | 2023-06-02 |
Family
ID=61963895
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711173080.0A Active CN107953975B (en) | 2017-11-22 | 2017-11-22 | Marine mechanical arm oscillation stopping mechanism |
| CN202211311127.6A Active CN115783143B (en) | 2017-11-22 | 2017-11-22 | Marine robotic arm anti-sway equipment |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211311127.6A Active CN115783143B (en) | 2017-11-22 | 2017-11-22 | Marine robotic arm anti-sway equipment |
Country Status (1)
| Country | Link |
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| CN (2) | CN107953975B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109969936A (en) * | 2019-04-28 | 2019-07-05 | 中国科学院海洋研究所 | An anti-swing device for the deployment and recovery process of marine underwater survey equipment |
| CN110816754A (en) * | 2018-08-14 | 2020-02-21 | 中国科学院沈阳自动化研究所 | Mechanical arm type deployment and recovery system of underwater robot and deployment and recovery method thereof |
| CN110816755A (en) * | 2018-08-14 | 2020-02-21 | 中国科学院沈阳自动化研究所 | Winch oscillation stopping mechanism of underwater robot laying and recycling system |
| CN112829880A (en) * | 2020-12-29 | 2021-05-25 | 武汉船舶设计研究院有限公司 | Mining vehicle distribution and recovery system suitable for deep sea mining |
| CN113650727A (en) * | 2021-10-20 | 2021-11-16 | 南通盛宏机械有限公司 | Marine mechanical arm oscillation stopping mechanism |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117682425A (en) * | 2023-12-27 | 2024-03-12 | 山东宏洲海洋工程有限公司 | Large-angle pitching cable laying portal hoisting process |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110816754A (en) * | 2018-08-14 | 2020-02-21 | 中国科学院沈阳自动化研究所 | Mechanical arm type deployment and recovery system of underwater robot and deployment and recovery method thereof |
| CN110816755A (en) * | 2018-08-14 | 2020-02-21 | 中国科学院沈阳自动化研究所 | Winch oscillation stopping mechanism of underwater robot laying and recycling system |
| CN110816754B (en) * | 2018-08-14 | 2024-01-23 | 中国科学院沈阳自动化研究所 | Mechanical arm type cloth-laying recovery system of underwater robot and cloth-laying recovery method thereof |
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| CN113650727B (en) * | 2021-10-20 | 2021-12-14 | 南通盛宏机械有限公司 | Marine mechanical arm oscillation stopping mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115783143B (en) | 2023-09-08 |
| CN107953975B (en) | 2023-06-02 |
| CN115783143A (en) | 2023-03-14 |
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