CN108656081A - Buoy Work machine arm and its application method - Google Patents
Buoy Work machine arm and its application method Download PDFInfo
- Publication number
- CN108656081A CN108656081A CN201810468525.6A CN201810468525A CN108656081A CN 108656081 A CN108656081 A CN 108656081A CN 201810468525 A CN201810468525 A CN 201810468525A CN 108656081 A CN108656081 A CN 108656081A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- hydraulic
- buoy
- clamping
- hydraulic cylinder
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 12
- 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 abstract description 13
- 238000001514 detection method Methods 0.000 claims abstract description 4
- 238000009434 installation Methods 0.000 claims abstract description 4
- 239000007788 liquid Substances 0.000 claims description 3
- 239000010720 hydraulic oil Substances 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000015556 catabolic process Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Jib Cranes (AREA)
Abstract
The invention discloses a kind of buoy Work machine arm and its application methods, including revolution telescoping mechanism and clamping device；It includes fixed pedestal, support column, rotary disk, rotation pole and mechanical arm to turn round telescoping mechanism；Fixed pedestal is secured by bolts on hull, fixed pedestal top is provided with the support column being used to support, rotation pole is equipped with by rotary disk at the top of support column, motor I is provided in the installation space of upper part of the supporting column, the drive shaft of motor I, by being welded and fixed, enables that rotary disk and rotation pole is driven to carry out rotational motion relative to support column when motor I rotation works with the rotary disk.Buoy Work machine arm of the present invention and its application method are easy to operate, using radar quick detection buoy position, by turning round telescoping mechanism quickly close to buoy, integral replacing or repair are carried out to buoy top by hydraulic clamping hand, safety and reliability is more preferable, working efficiency higher does not need maintenance personal and directly participates in dangerous operation.
Description
Technical field
The present invention relates to a kind of buoy Work machine arm and its application methods.
Background technology
Currently, buoy is the important aid to navigation of marine operation safety.During buoy use, headlamp and battery
Service life and maintenance cycle are relatively short, battery, headlamp repair and replacement frequency relative to buoy generally higher.When
Battery, headlamp reach service life need when either breaking down to headlamp or supplying cell carry out breakdown maintenance or
Person replaces.
It since buoy is laid at sea, is affected by stormy waves, is easy to rock.The maintenance of traditional type buoy top parts
And replacement, need personnel to climb up buoy.It is low to there is repair replacement difficulty, operating efficiency in high sea in this operating type
Problem.Meanwhile stormy waves makes buoy be rocked in marine generation fierceness, can cause larger threat safely to operating personnel.
Invention content
According to technical problem set forth above, and a kind of buoy Work machine arm and its application method are provided, for solving
Existing repair replacement is difficult during existing buoy top parts manual work, operating efficiency is low, personnel hazard's property is high
The problems such as.The technological means that the present invention uses is as follows：
A kind of buoy Work machine arm, including revolution telescoping mechanism and clamping device；The revolution telescoping mechanism includes solid
Determine pedestal, support column, rotary disk, rotation pole and mechanical arm；The fixed pedestal is secured by bolts on hull, the fixation
Pedestal top is provided with the support column being used to support, and the support column top is equipped with rotation pole, the support by rotary disk
Motor I is provided in the installation space on column top, the drive shaft of the motor I is welded and fixed with the rotary disk, makes the horse
When up to I rotation works, rotary disk and rotation pole can be driven to be rotated relative to the support column.
The mechanical arm includes mechanical arm I and mechanical arm II, and mechanical arm I, the machinery are hinged at the top of the rotation pole
The front ends arm I are hinged with mechanical arm II, and hydraulic cylinder I, the mechanical arm I and machine are provided between the rotation pole and mechanical arm I
It is provided with hydraulic cylinder II between tool arm II；The clamping device includes hydraulic clamping hand and small-sized position sensing radar；It is described
Hydraulic clamping hand is articulated with the front ends the mechanical arm II, and the front ends the mechanical arm II are provided with for driving the hydraulic clamping hand
The motor II of rotation, the small-sized position sensing radar are fixedly welded on the hydraulic clamping on hand.
The hydraulic clamping hand includes upper clamping ontology, lower clamping ontology and hydraulic cylinder III, the upper clamping ontology and
Lower clamping ontology is articulated and connected by end, and the both ends of the hydraulic cylinder III are respectively the same as the upper clamping ontology and lower clamping
Ontology is hinged, and the hydraulic cylinder III is enable to drive the opening and closing movement of the hydraulic clamping hand by stretching motion.
Cylinder body fixing end as the preferred hydraulic cylinder I is column articulated with the revolution, and telescopic rod front end is the same as the machine
Tool arm I is hinged, and the hydraulic cylinder I is enable to drive the pitching movement of the mechanical arm I by stretching motion；The hydraulic oil
The cylinder body fixing end of cylinder II is hinged with the mechanical arm I, and telescopic rod front end is hinged with the mechanical arm II, makes the hydraulic cylinder
II can drive the pitching movement of the mechanical arm II by stretching motion.
It is welded on mechanical arm II as the preferred motor II, the drive shaft of the motor II is the same as the hydraulic clamping hand
It is welded and fixed.
A kind of application method of above-mentioned buoy Work machine arm, includes the following steps：
S1, rotary disk and rotation pole is driven to rotate by motor I so that mechanical arm faces buoy direction.
The position of the small-sized marine buoy of position sensing radar detection of S2, hydraulic clamping on hand drives hydraulic cylinder I and liquid
Compressing cylinder II so that mechanical arm stretches to buoy position.
Motor II on S3, clamping device drives hydraulic clamping hand so that hydraulic clamping hand goes to proper angle.
Ontology and lower clamping ontology are clamped in the hydraulic cylinder III drivings of S4, hydraulic clamping on hand so that hydraulic clamping hand
Clamp the parts needed replacing.
S5, hydraulic cylinder I and hydraulic cylinder II driving mechanical arms are shunk, and the parts of clamping are withdrawn on ship.
Compared with prior art, buoy Work machine arm of the present invention and its application method, it is easy to use, it uses
Radar quick detection buoy position, by turning round telescoping mechanism quickly close to buoy, by hydraulic clamping hand to buoy top into
Row integral replacing or repair, safety and reliability is more preferable, and working efficiency higher does not need maintenance personal and directly participates in danger
Property operation.
Description of the drawings
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is the structural schematic diagram of buoy Work machine arm of the present invention.
Fig. 2 is the hydraulic clamping hand structural schematic diagram of buoy Work machine arm of the present invention.
Wherein：1, fixed pedestal, 2, support column, 3, motor I, 4, rotary disk, 5, hydraulic cylinder I, 6, rotation pole, 7, machinery
Arm I, 8, small-sized position sensing radar, 9, hydraulic clamping hand, 10, motor II, 11, mechanical arm II, 12, hydraulic cylinder II, 13, liquid
Compressing cylinder III.
Specific implementation mode
As depicted in figs. 1 and 2, a kind of buoy Work machine arm, including revolution telescoping mechanism and clamping device；The revolution
Telescoping mechanism includes fixed pedestal 1, support column 2, rotary disk 4, rotation pole 6 and mechanical arm；The fixed pedestal 1 is solid by bolt
Due on hull, 1 top of the fixed pedestal is provided with the support column 2 being used to support, and 2 top of the support column passes through rotary disk
4 are equipped with rotation pole 6, and the same institute of drive shaft of motor I3, the motor I3 are provided in the installation space on 2 top of the support column
It states rotary disk 4 to be welded and fixed, when making the motor I3 rotation works, rotary disk 4 and the relatively described support of rotation pole 6 can be driven
Column 2 rotates.
The mechanical arm includes mechanical arm I7 and mechanical arm II11, and 6 top of the rotation pole is hinged with mechanical arm I7, described
The front ends mechanical arm I7 are hinged with mechanical arm II11, and hydraulic cylinder I5, the machine are provided between the rotation pole 6 and mechanical arm I7
Hydraulic cylinder II12 is provided between tool arm I7 and mechanical arm II11；The cylinder body fixing end of the hydraulic cylinder I5 is the same as the revolution
Column 6 is hinged, and telescopic rod front end is hinged with the mechanical arm I7, and the flexible work of the hydraulic cylinder I5 is enable to drive the machinery
Arm I7 pitching movements.
The cylinder body fixing end of the hydraulic cylinder II12 is hinged with the mechanical arm I7, and telescopic rod front end is the same as the mechanical arm
II11 is hinged, and the flexible work of the hydraulic cylinder II12 is enable to drive the mechanical arm II11 pitching movements.
The clamping device includes hydraulic clamping hand 9 and small-sized position sensing radar 8；The hydraulic clamping hand 9 is articulated with
The front ends the mechanical arm II11, the front ends the mechanical arm II11 are provided with the motor for driving the hydraulic clamping hand 9 to rotate
II10, the small-sized position sensing radar 8 are fixedly welded on the hydraulic clamping hand 9；The motor II10 is welded on machinery
On arm II11, the drive shaft of the motor II10 is welded and fixed with the hydraulic clamping hand 9.
The hydraulic clamping hand 9 includes upper clamping ontology, lower clamping ontology and hydraulic cylinder III13, and the upper clamping is originally
Body and lower clamping body end are hinged, and the both ends of the hydraulic cylinder III13 are respectively the same as the upper clamping ontology and lower clamping sheet
Body is hinged, enables the flexible work of the hydraulic cylinder III13 that the hydraulic clamping hand 9 to be driven to open and close.
As depicted in figs. 1 and 2, a kind of application method of above-mentioned buoy Work machine arm, includes the following steps：
S1, rotary disk 4 and rotation pole 6 is driven to rotate by motor I3 so that mechanical arm faces buoy direction.
Small-sized position sensing radar 8 on S2, hydraulic clamping hand 9 detects the position of marine buoy, driving hydraulic cylinder I5
With hydraulic cylinder II12 so that mechanical arm stretches to before buoy.
Motor II10 driving hydraulic clampings hand 9 on S3, clamping device so that hydraulic clamping hand 9 goes to proper angle.
Ontology and lower clamping ontology are clamped in hydraulic cylinder III13 drivings on S4, hydraulic clamping hand 9 so that hydraulic clip
It holds hand and clamps the parts needed replacing.
S5, hydraulic cylinder I5 and hydraulic cylinder II12 driving mechanical arms are shunk, and the parts of clamping are withdrawn on ship.
Buoy Work machine arm of the present invention and its application method, by completing part buoy with hydraulic clamping hand
It safeguards and more changes jobs, the mode of integral replacing is carried out to buoy lamp bracket top, personnel is avoided to climb up the dangerous mistake of buoy operation
Buoy maintenance work is transferred to comparatively safe place, reduces risk by journey, is a kind of novel buoy Work machine arm.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (4)
1. a kind of buoy Work machine arm, it is characterised in that including revolution telescoping mechanism and clamping device；
The revolution telescoping mechanism includes fixed pedestal, support column, rotary disk, rotation pole and mechanical arm；
The fixed pedestal is secured by bolts on hull, and the fixed pedestal top is provided with the support column being used to support,
Rotation pole is equipped with by rotary disk at the top of the support column, motor I, institute are provided in the installation space of the upper part of the supporting column
The drive shaft for stating motor I is welded and fixed with the rotary disk, when making the motor I rotation works, can be driven rotary disk and be returned
Rotary column is rotated relative to the support column；
The mechanical arm includes mechanical arm I and mechanical arm II, before being hinged with mechanical arm I, the mechanical arm I at the top of the rotation pole
End is hinged with mechanical arm II, and hydraulic cylinder I, the mechanical arm I and mechanical arm II are provided between the rotation pole and mechanical arm I
Between be provided with hydraulic cylinder II；
The clamping device includes hydraulic clamping hand and small-sized position sensing radar；
The hydraulic clamping hand is articulated with the front ends the mechanical arm II, and the front ends the mechanical arm II are provided with for driving the liquid
The motor II of pressure clamping hand rotation, the small-sized position sensing radar are fixedly welded on the hydraulic clamping on hand；
The hydraulic clamping hand includes upper clamping ontology, lower clamping ontology and hydraulic cylinder III, the upper clamping ontology and lower folder
It holds ontology to be articulated and connected by end, the both ends of the hydraulic cylinder III are respectively the same as the upper clamping ontology and lower clamping ontology
It is hinged, so that the hydraulic cylinder III is driven the opening and closing movement of the hydraulic clamping hand by stretching motion.
2. buoy Work machine arm according to claim 1, it is characterised in that：
The cylinder body fixing end of the hydraulic cylinder I is column articulated with the revolution, and telescopic rod front end is hinged with the mechanical arm I, makes
The hydraulic cylinder I can drive the pitching movement of the mechanical arm I by stretching motion；
The cylinder body fixing end of the hydraulic cylinder II is hinged with the mechanical arm I, and telescopic rod front end is hinged with the mechanical arm II,
The hydraulic cylinder II is set to drive the pitching movement of the mechanical arm II by stretching motion.
3. buoy Work machine arm according to claim 1 or 2, it is characterised in that：
The motor II is welded on mechanical arm II, and the drive shaft of the motor II is welded and fixed with the hydraulic clamping hand.
4. a kind of application method of the buoy Work machine arm described in 1 to 3 any one claim of the claims, special
Sign is to include the following steps：
S1, rotary disk and rotation pole is driven to rotate by motor I so that mechanical arm faces buoy direction；
The position of the small-sized marine buoy of position sensing radar detection of S2, hydraulic clamping on hand drives hydraulic cylinder I and hydraulic oil
Cylinder II so that mechanical arm stretches to buoy position；
Motor II on S3, clamping device drives hydraulic clamping hand so that hydraulic clamping hand goes to proper angle；
Ontology and lower clamping ontology are clamped in the hydraulic cylinder III drivings of S4, hydraulic clamping on hand so that hydraulic clamping hand clamps
The parts needed replacing；
S5, hydraulic cylinder I and hydraulic cylinder II driving mechanical arms are shunk, and the parts of clamping are withdrawn on ship.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810468525.6A CN108656081A (en) | 2018-05-16 | 2018-05-16 | Buoy Work machine arm and its application method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810468525.6A CN108656081A (en) | 2018-05-16 | 2018-05-16 | Buoy Work machine arm and its application method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108656081A true CN108656081A (en) | 2018-10-16 |
Family
ID=63779806
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810468525.6A Pending CN108656081A (en) | 2018-05-16 | 2018-05-16 | Buoy Work machine arm and its application method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108656081A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111760790A (en) * | 2020-08-11 | 2020-10-13 | 济南信华电站节能与环保技术研究中心 | Drilling and poking type cleaning and drying machine |
| CN113581376A (en) * | 2021-08-09 | 2021-11-02 | 浙江海洋大学 | Buoy recovery device and using method thereof |
| CN113581396A (en) * | 2021-08-06 | 2021-11-02 | 中国舰船研究设计中心 | Integrated operation platform and method for buoy recovery |
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| CN113581376A (en) * | 2021-08-09 | 2021-11-02 | 浙江海洋大学 | Buoy recovery device and using method thereof |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181016 |
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| RJ01 | Rejection of invention patent application after publication |