CN111559476B - Floating type fishing device suitable for underwater long columnar object - Google Patents
Floating type fishing device suitable for underwater long columnar object Download PDFInfo
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- CN111559476B CN111559476B CN202010067392.9A CN202010067392A CN111559476B CN 111559476 B CN111559476 B CN 111559476B CN 202010067392 A CN202010067392 A CN 202010067392A CN 111559476 B CN111559476 B CN 111559476B
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- fishing
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- control system
- annular support
- driving
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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
- B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
- B63C7/16—Apparatus engaging vessels or objects
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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
- B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
- B63C7/02—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects in which the lifting is done by hauling
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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
- B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
- B63C7/06—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects in which lifting action is generated in or adjacent to vessels or objects
- B63C7/10—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects in which lifting action is generated in or adjacent to vessels or objects using inflatable floats external to vessels or objects
Abstract
The invention provides a floating type fishing device suitable for underwater long columnar objects, which belongs to the technical field of fishing operation and comprises a main body frame, a buoy, a plurality of annular fishing arms, a propeller assembly and a control system, wherein the buoy, the propeller assembly, the annular fishing arms and the control system are all arranged on the main body frame; the nozzle on the annular bracket is communicated with the high-lift water pump, so that the resistance of the annular bracket penetrating through equipment to be salvaged is greatly reduced.
Description
Technical Field
The invention relates to the technical field of fishing operation, in particular to a floating type fishing device suitable for underwater long columnar objects.
Background
The naval carries out the mine operation training of torpedo, naval mine at sea (or experimental lake), or scientific research production unit is in the process of carrying out the product test, and the mine body salvage is an important link of training or experimental work, and the torpedo training is different with other equipment such as guided missile, after training or experimental completion, needs salvage the recovery. Under the influence of factors such as different sea conditions, the mine body floats the gesture, personnel's quality, successfully, swiftly, retrieve the mine body safely, do not let it injure, this is the basic requirement of salvage, current often need personnel to go into the water and salvage, very primitive and salvage personnel during operation very dangerous, and by the salvage thing still often can be absorbed in the middle of the silt, more brought certain degree of difficulty for salvage work, meanwhile, there are many long column objects of similar torpedo structure to need to salvage, consequently, it is very necessary to design a fishing device who is fit for long column object.
Patent document CN208594889U discloses a fishing device comprising a base and an overshot head rotatable relative to an axis of the base, the overshot head having a bend extending perpendicular to the axis for winding a wire rope around the overshot head when the overshot head is rotated; however, the design has the defects that the operation of penetrating and guiding the steel wire rope under water to be fished which is sunk into silt is difficult, and the structure is unreasonable.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a floating fishing device suitable for underwater long columnar objects.
The invention provides a floating type fishing device suitable for underwater long columnar objects, which comprises a main body frame 1, a buoy 2, a plurality of annular fishing arms 3, a propeller assembly and a control system 8, wherein the buoy 2 is arranged on the main body frame;
the buoy 2, the propeller assembly and the control system 8 are all arranged on the main body frame 1;
gaps are formed among the plurality of annular fishing arms 3 and are uniformly or non-uniformly arranged on the main body frame 1;
the control system 8 respectively controls the movements of the buoy 2, the annular fishing arm 3 and the propeller assembly.
Preferably, the device also comprises longitudinal blocking devices 4, wherein the number of the longitudinal blocking devices 4 is two;
the two longitudinal blocking devices 4 are respectively arranged at two sides of the main body frame 1;
the control system 8 controls the action of the longitudinal blocking device 4.
Preferably, said longitudinal blocking means 4 comprise a driving hydraulic cylinder 401, a sliding rail 402 and a fence door 403;
the driving hydraulic cylinder 401 can drive the fence door 403 to move along the length direction of the slide rail 402.
Preferably, the number of the driving hydraulic cylinders 401 and the number of the slide rails 402 are two;
the driving hydraulic cylinder 401 comprises a fixed end and an extendable end;
the fixed end is mounted on the top of the slide rail 402, the extendable end is close to the bottom of the slide rail 402 along the length direction of the slide rail 402 and is tightly connected with the fence door 403, and when the extendable end of the driving hydraulic cylinder 401 extends or shortens, the fence door 403 moves downwards or upwards along with the extendable end.
Preferably, the buoy 2 is provided with an air inlet valve, an air outlet valve, a water inlet valve and a water outlet valve;
the control system 8 can control the opening and closing of the air inlet valve, the air outlet valve, the water inlet valve and the water outlet valve.
Preferably, the annular fishing arm 1 comprises an annular bracket 302, a fishing arm driving end 307, a drive 308, a drive gear 310, a driving end frame structure 311 and a plurality of support wheels 312;
the driving end 307 and the driving gear 310 of the fishing arm are arranged on a driving end frame structure 311;
the driving end frame structure 311 and the supporting wheels 312 are both mounted on the main body frame 1;
the annular support 302 is a semi-circular structure, and the inner circular wall of the annular support 302 is matched with the plurality of supporting wheels 312 in a rolling manner;
the annular support 302 is provided with a gear on the outer side along the circumferential direction, under the control of the control system 8, the driving device 308 can drive the driving gear 310 to rotate, so as to drive the annular support 302 to extend or retract, and the annular support 302 drives the plurality of supporting wheels 312 to rotate around the axial direction respectively.
Preferably, the annular fishing arm 1 further comprises a side nozzle 301, a high-pressure water-jet fluid slip ring 305, a high-pressure water-jet pipeline 306, a forward ground breaking nozzle 309 and a high-lift water pump 10;
one end of the annular bracket 302 along the circumferential inner side is connected with a high-pressure water jet fluid slip ring 305 through a pipeline, the other end of the annular bracket 302 is provided with a forward soil breaking nozzle 309, and the side wall of the annular bracket 302 is provided with a side nozzle 301;
one end of the high-pressure water injection pipeline 306 is connected with an outlet of the high-lift water pump 10, and the other end of the high-pressure water injection pipeline 306 is connected with the high-pressure water injection fluid slip ring 305;
the annular bracket 302 is of a hollow structure, and high-pressure water of the high-lift water pump 10 enters the inner space of the annular bracket 302 through a high-pressure water injection pipeline 306 and a high-pressure water injection fluid slip ring 305 and is sprayed out from the side nozzle 301 and the forward soil breaking nozzle 309.
Preferably, the annular fishing arm 1 further comprises a fishing arm receiving end 303, a distal locking mechanism 304, a locking pin 313 and a distal frame structure 315;
the fishing arm receiving end 303 is mounted on a terminal frame structure 315;
a locking pin shaft 313 is arranged on the receiving end 303 of the fishing arm;
the annular bracket 302 is provided with a locking pin shaft hole 314, and when the annular bracket 302 rotates to enter the fishing arm receiving end 303, a locking pin shaft 313 is inserted into the locking pin shaft hole 314 under the control of the control system 8 to complete locking of the annular bracket 302.
Preferably, the device also comprises a high-flow water pump 9 and a high-flow spraying pipeline 1201;
a large-flow nozzle 1202 is arranged on the large-flow jet pipeline 1201;
and the outlet of the high-flow water pump 9 is connected with a high-flow spraying pipeline 1201.
Preferably, the thruster assembly comprises a vertical thruster group 5, a horizontal thruster group 6 and an object detection sensor 11;
the target detection sensor 11 detects the direction of the salvaged object and transmits the detection information to the control system 8, and the control system 8 sends out control commands to respectively control the actions of the vertical propeller group 5 and the horizontal propeller group 6.
Compared with the prior art, the invention has the following beneficial effects:
1. the annular supports 302 can be used as bearing structures to directly salvage and lift the equipment to be salvaged, the operation is simple, the salvage operation efficiency is improved, the danger caused by manual operation in the prior art is solved, and the operation safety is improved.
2. The fishing device can slide at the water bottom by arranging the skid 7, has a larger contact surface with the soil at the sea bottom, can effectively reduce the grounding specific pressure, and slows down the sinking of the fishing device under the weak and soft geology.
3. According to the invention, the longitudinal blocking devices 4 are arranged in the front and at the back of the device, so that the salvaged equipment can be prevented from sliding out of the bearing range of the annular support 302 during the lifting of the salvage operation, the longitudinal blocking devices 4 limit the slippage of the equipment to be salvaged, and the problem of slippage of the equipment to be salvaged during the lifting and large-flow sludge blowing is solved.
4 the buoyancy regulatory function through flotation pontoon 2 makes the lifting in aqueous of adjusting device that fishing device can independently stabilize, and the design is exquisite, and control is nimble rapid.
5. Through set up annular salvage arm side nozzle 301 and annular salvage arm on annular support 302 and advance the broken ground nozzle 309 and communicate with high-lift water pump 10, the high pressure water that high-lift water pump 10 work produced breaks silt through high-pressure jet water fluid sliding ring 305, high-pressure jet water pipeline 306, and reduction annular support 302 that can be very big passes through the resistance of waiting to salvage long column object under water, and the design benefit is practical.
6. Through the large-flow water pump 9, the large-flow jet flushing pipeline 1201 and the large-flow nozzle 1202 which are configured on the salvaging equipment, sludge above the equipment to be salvaged can be effectively blown off, and the salvaging difficulty is reduced.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a bottom view of the present invention;
FIG. 3 is a top view of the present invention;
FIG. 4 is a schematic structural view of the annular fishing arm 3;
FIG. 5 is a schematic structural view of the annular fishing arm 3;
fig. 6 is a schematic structural view of the longitudinal blocking device 4;
FIG. 7 is a schematic view of the longitudinal blocking device 4 being extended;
FIG. 8 is a schematic view of the fishing device being moved directly over the equipment to be fished;
FIG. 9 is a schematic view of the fishing device being moved directly over the equipment to be fished;
FIG. 10 is a schematic structural view of the annular fishing arm 3 during fishing movement;
FIG. 11 is a schematic longitudinal structure diagram of the annular fishing arm 3 after being moved to the right position during fishing;
FIG. 12 is a schematic view of the transverse structure of the annular fishing arm 3 after it is moved into position during fishing;
fig. 13 is a schematic view of the longitudinal blocking device 4 extending after the annular fishing arm 3 is moved into position.
The figures show that:
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
The invention provides a floating type fishing device suitable for underwater long cylindrical objects, wherein the long cylindrical objects comprise various salvages, such as salvages of various long cylindrical structures, such as torpedoes, submarines and the like, and are particularly suitable for fishing operation of long cylindrical objects sunk into silt, as shown in figures 1 and 2, the floating type fishing device comprises a main body frame 1, a buoy 2, a plurality of annular fishing arms 3, a propeller assembly and a control system 8, wherein the buoy 2, the propeller assembly and the control system 8 are all arranged on the main body frame 1; be provided with the clearance between a plurality of annular salvage arms 3 and evenly or unevenly arrange in main part frame 1, control system 8 controls the action of flotation pontoon 2, annular salvage arm 3, propeller subassembly respectively, and in a preferred example, the quantity of annular salvage arm 3 is 3, and 3 equidistant parallel arrangement of annular salvage arm 3 are on main part frame 1, and the fishing device of planktonic formula can independently navigate to the operation place under water, and degree of automation is high, and the practicality is strong.
Further, as shown in fig. 1, 2, 4, 5, the annular fishing arm 1 includes an annular bracket 302, a fishing arm driving end 307, a driving device 308, a driving gear 310, a driving end frame structure 311, and a plurality of support wheels 312; the driving end 307 and the driving gear 310 of the fishing arm are arranged on a driving end frame structure 311; the driving device 308 is arranged on the driving end 307 of the fishing arm; the driving end frame structure 311 and the supporting wheels 312 are both mounted on the main body frame 1; the annular support 302 is a semi-circular structure, and the inner circular wall of the annular support 302 is matched with the plurality of supporting wheels 312 in a rolling manner; the outer side of the annular support 302 along the circumferential direction is provided with a gear, under the control of the control system 8, the driving device 308 can drive the driving gear 310 to rotate, so as to drive the annular support 302 to extend or retract, the annular support 302 drives the plurality of supporting wheels 312 to rotate around the axial direction respectively, when fishing operation is required, the annular support 302 passes through the lower part of the equipment buried in the sludge under the drive of the driving device 308 and then continues to move along the annular direction, as shown in fig. 9, 10, 11 and 12, until the two ends of the annular support 302 are connected with the main body rack 1, the annular support 302 passes through the bottom of the equipment to be fished, and the plurality of annular supports 302 pass through the bottom of the underwater long cylindrical object to lift the equipment to be fished, so that the difficult operation of passing a steel wire rope underwater in the prior art is avoided; can directly will wait to salvage equipment and salvage the promotion as bearing structure during a plurality of ring carrier 302, easy operation has improved and has salvaged the operating efficiency, has solved among the prior art because the danger that manual work also brought has improved the safety of operation.
Specifically, the ski-walking machine further comprises skis 7, wherein the skis 7 are arranged at the bottom of the main body frame 1, in a preferred example, the number of the skis 7 is two, and the structure of the skis 7 is similar to that of a snowboard; the fishing device can slide at the water bottom by arranging the skid 7, has a larger contact surface with the soil at the sea bottom, can effectively reduce the grounding specific pressure, and slows down the sinking of the fishing device under the weak and soft geology.
Specifically, as shown in fig. 1, the device further comprises longitudinal blocking devices 4, wherein the number of the longitudinal blocking devices 4 is two; the two longitudinal blocking devices 4 are respectively arranged at two sides of the main body frame 1; the control system 8 can control the action of the longitudinal blocking device 4, in a preferred embodiment, the longitudinal blocking device 4 includes a driving hydraulic cylinder 401, a sliding rail 402 and a fence door 403, as shown in fig. 6, the driving hydraulic cylinder 401 can drive the fence door 403 to move along the length of the sliding rail 402 as shown in the figure, the number of the driving hydraulic cylinder 401 and the sliding rail 402 is two, and the driving hydraulic cylinder 401 includes a fixed end and an extendable end; the fixed end is installed at the top of the sliding rail 402, the extendable end is close to the bottom of the sliding rail 402 in the length direction of the sliding rail 402 and is fixedly connected with the fence door 403, when the extendable end of the driving hydraulic cylinder 401 extends or shortens, the fence door 403 moves downwards or upwards along with the extendable end, as shown in fig. 7, the extendable end of the driving hydraulic cylinder 401 is a schematic structural diagram during extension, the fishing device can be prevented from sliding out of the bearing range of the annular support 302 during lifting of fishing operation by arranging the longitudinal blocking devices 4 at the front and the rear of the device, the longitudinal blocking devices 4 limit slipping of the equipment to be fished, and the problem that the equipment to be fished slips during lifting and large-flow blowing-off of sludge is solved.
Specifically, as shown in fig. 1 and 4, the fishing device is provided with a buoy 2, an air inlet valve, an exhaust valve, a water inlet valve and a water discharge valve are arranged on the buoy 2, a control system 8 can control the air inlet valve, the exhaust valve, the water inlet valve and the water discharge valve to be opened and closed, when the fishing device sails underwater, the control system 8 controls the air inlet valve to be opened for inflation and controls the water discharge valve to be opened for drainage, and the gas in the buoy 2 increases buoyancy force to enable the whole fishing device to suspend in water; when the fishing device starts to fish, water is injected into the buoy 2, gas is discharged from the buoy 2, the weight of the whole fishing device is increased, and the operation displacement is prevented; when the fishing operation is finished, the floating cylinder is emptied of water again, the hoisting weight is reduced, and the fishing device can independently and stably adjust the lifting of the equipment in the water through the buoyancy adjusting function of the floating cylinder 2, so that the design is exquisite, and the control is flexible and rapid.
Specifically, as shown in fig. 2 and 4, the annular fishing arm 1 further includes a side nozzle 301, a high-pressure water-jet slip ring 305, a high-pressure water-jet pipe 306, a forward-moving soil-breaking nozzle 309 and a high-lift water pump 10, one end of the circumferential inner side of the annular bracket 302 is connected to the high-pressure water-jet slip ring 305 through a pipeline, the other end of the annular bracket 302 is provided with the forward-moving soil-breaking nozzle 309, the side nozzle 301 is disposed on the side wall of the annular bracket 302, one end of the high-pressure water-jet pipe 306 is connected to an outlet of the high-lift water pump 10, the other end of the high-pressure water-jet pipe 306 is connected to the high-pressure water-jet slip ring 305, the annular bracket 302 is of a hollow structure, and high-pressure water of the high-lift water pump 10 enters the inner space of the annular bracket 302 through the high-pressure water, The forward soil-breaking nozzle 309 sprays out, when the annular bracket 302 rotates under the drive of the drive device 308, the pipeline of the annular bracket 302 connected with the high-pressure water-jet fluid slip ring 305 can rotate around the axial direction of the high-pressure water-jet fluid slip ring 305 through the high-pressure water-jet fluid slip ring 305, the structure is simple and flexible, the annular fishing arm side nozzle 301 and the annular fishing arm forward soil-breaking nozzle 309 on the annular bracket 302 are communicated with the high-lift water pump 10 through the high-pressure water-jet fluid slip ring 305 and the high-pressure water-jet pipeline 306, high-pressure water generated by the operation of the high-lift water pump 10 breaks through the high-pressure water-jet fluid slip ring 305 and the high-pressure water-jet pipeline 306, the resistance of the annular bracket 302 passing through an underwater long columnar object to be fished can be greatly reduced, and the problem of passing through the lower part of equipment buried in sludge is solved through the rigid annular fishing, the design is ingenious and practical.
Specifically, as shown in fig. 1, 4 and 5, the annular fishing arm 1 further includes a fishing arm receiving end 303, a terminal locking mechanism 304, a locking pin 313 and a terminal frame structure 315, the fishing arm receiving end 303 is mounted on the terminal frame structure 315, the fishing arm receiving end 303 is provided with the locking pin 313, the annular bracket 302 is provided with a locking pin hole 314, and when the annular bracket 302 rotates into the fishing arm receiving end 303, the locking pin 313 is inserted into the locking pin hole 314 under the control of the control system 8 to complete locking of the annular bracket 302.
Specifically, as shown in fig. 1, 2, and 3, the system further includes a high-flow water pump 9 and a high-flow jet pipe 1201; the large-flow spraying pipeline 1201 is provided with a large-flow nozzle 1202, the large-flow nozzle 1202 faces downwards vertically below the equipment, and an outlet of the large-flow water pump 9 is connected with the large-flow spraying pipeline 1201. Through the large-flow water pump 9, the large-flow jet flushing pipeline 1201 and the large-flow nozzle 1202 which are configured on the salvaging equipment, sludge above the equipment to be salvaged can be effectively blown off, and the salvaging difficulty is reduced.
Specifically, as shown in fig. 1 and 2, the thruster assembly includes a vertical thruster group 5, a horizontal thruster group 6 and an object detection sensor 11, the target detection sensor 11 detects the direction of the salvaged objects and transmits the detection information to the control system 8, the control system 8 sends out control commands to respectively control the actions of the vertical propeller group 5 and the horizontal propeller group 6, wherein the vertical propeller group 5 and the horizontal propeller group 6 can control the fishing equipment to sail underwater, under the guidance of 11 target detection sensors, the control system 8 controls the vertical propeller group 5 and the horizontal propeller group 6 to sail and position right above the equipment to be salvaged, and the first direction of the fishing equipment is consistent with that of the equipment to be fished, as shown in fig. 8 and 9, the target detection sensor 11 is used for detecting and identifying targets under the sludge, and can guide the fishing device to find and position the equipment to be fished. The horizontal propeller group 6 can provide bidirectional propelling force under water, the vertical propeller 5 can control the lifting and sinking and the pitching and transverse tilting of the fishing device, and the horizontal propeller 6 can control the advancing and retreating, the lateral movement and the steering of the fishing device.
The working principle of the invention is as follows:
the fishing device is hoisted from the water surface to be placed into water from a supporting mother ship, the fishing device begins to search for a fishing target when sailing to the water bottom, the fishing device is adjusted in the first direction and is in place above equipment to be fished after the fishing target is identified, as shown in figures 8 and 9, the buoy 2 exhausts and injects water under the control of the control system 8 to increase the self weight of the equipment, meanwhile, the high-lift water pump 10 is started, the plurality of annular fishing arms 3 move and penetrate through the lower part of the equipment to be fished under the control of the control system 8, as shown in figures 10, 11 and 12, the longitudinal blocking device 4 is inserted into sludge after the annular fishing arms 3 move in place, as shown in figure 13, at the moment, the high-flow water pump 9 is started under the control of the control system 8, at the moment, the high-flow nozzle 1202 sprays water and blows off the sludge above the equipment to be fished, the control system 8 controls the buoy 2 to inject water and drain water to increase buoyancy, the fishing device is lifted, and meanwhile, the fishing device is fished out of the water surface, so that fishing operation is completed.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (8)
1. A floating type fishing device suitable for underwater long columnar objects is characterized by comprising a main body rack (1), a buoy (2), a plurality of annular fishing arms (3), a propeller assembly and a control system (8);
the buoy (2), the propeller assembly and the control system (8) are all arranged on the main body frame (1);
gaps are formed among the annular fishing arms (3) and are uniformly or non-uniformly arranged on the main body rack (1);
the control system (8) respectively controls the movements of the buoy (2), the annular fishing arm (3) and the propeller assembly;
the annular fishing arm (3) comprises an annular bracket (302), a fishing arm driving end (307), a driving device (308), a driving gear (310), a driving end frame structure (311) and a plurality of supporting wheels (312);
the driving end (307) and the driving gear (310) of the fishing arm are arranged on a driving end frame structure (311);
the driving end frame structure (311) and the supporting wheels (312) are both arranged on the main body frame (1);
the annular support (302) is of a semicircular annular structure, and the inner circular wall of the annular support (302) is matched with the plurality of supporting wheels (312) in a rolling manner;
the annular support (302) is provided with a gear along the circumferential outer side, under the control of the control system (8), the driving device (308) can drive the driving gear (310) to rotate, so that the annular support (302) is driven to extend or retract, and the annular support (302) drives the plurality of supporting wheels (312) to rotate around the axial direction respectively;
the annular fishing arm (3) further comprises a side nozzle (301), a high-pressure water jet fluid slip ring (305), a high-pressure water jet pipeline (306), an advancing ground breaking nozzle (309) and a high-lift water pump (10);
one end of the annular support (302) along the circumferential inner side is connected with a high-pressure water jet fluid slip ring (305) through a pipeline, the other end of the annular support (302) is provided with a forward soil breaking nozzle (309), and the side wall of the annular support (302) is provided with a side nozzle (301);
one end of the high-pressure water injection pipeline (306) is connected with an outlet of the high-lift water pump (10), and the other end of the high-pressure water injection pipeline (306) is connected with the high-pressure water injection fluid slip ring (305);
the annular support (302) is of a hollow structure, and high-pressure water of the high-lift water pump (10) enters the inner space of the annular support (302) through a high-pressure water injection pipeline (306) and a high-pressure water injection fluid slip ring (305) and is sprayed out from a side nozzle (301) and a forward soil breaking nozzle (309).
2. The floating fishing device for underwater long cylindrical objects according to claim 1, characterized by further comprising longitudinal blocking devices (4), the number of the longitudinal blocking devices (4) being two;
the two longitudinal blocking devices (4) are respectively arranged on two sides of the main body frame (1);
the control system (8) controls the action of the longitudinal blocking device (4).
3. Floating fishing device for underwater long cylindrical objects, according to claim 2, characterized by the longitudinal blocking device (4) comprising a driving hydraulic cylinder (401), a sliding rail (402) and a gate (403);
the driving hydraulic cylinder (401) can drive the fence door (403) to move along the length direction of the sliding rail (402).
4. The floating fishing device for underwater long cylindrical objects according to claim 3, wherein the number of the driving hydraulic cylinder (401) and the sliding rail (402) is two;
the drive hydraulic cylinder (401) comprises a fixed end and an extendable end;
the fixed end is installed at the top of the sliding rail (402), the extensible end is close to the bottom of the sliding rail (402) along the length direction of the sliding rail (402) and is fixedly connected with the fence door (403), and when the extensible end of the driving hydraulic cylinder (401) extends or shortens, the fence door (403) moves downwards or upwards along with the extensible end.
5. The floating fishing device for underwater long cylindrical objects according to claim 1, characterized in that the buoy (2) is provided with an air inlet valve, an air outlet valve, a water inlet valve and a water outlet valve;
the control system (8) can control the opening and closing of the air inlet valve, the air outlet valve, the water inlet valve and the water outlet valve.
6. The floating fishing device for underwater long cylindrical objects according to claim 1, wherein the annular fishing arm (3) further comprises a fishing arm receiving end (303), a tip locking mechanism (304), a locking pin (313) and a tip frame structure (315);
the receiving end (303) of the fishing arm is mounted on a terminal frame structure (315);
a locking pin shaft (313) is arranged at the receiving end (303) of the fishing arm;
and a locking pin shaft hole (314) is formed in the annular support (302), and when the annular support (302) rotates to enter the receiving end (303) of the fishing arm, a locking pin shaft (313) is inserted into the locking pin shaft hole (314) under the control of the control system (8) to complete locking of the annular support (302).
7. The floating fishing device for underwater long cylindrical objects according to claim 1, further comprising a high flow water pump (9) and a high flow jet pipe (1201);
a large-flow nozzle (1202) is arranged on the large-flow jet pipeline (1201);
and the outlet of the high-flow water pump (9) is connected with a high-flow spraying pipeline (1201).
8. The floating fishing device for underwater long cylindrical objects according to claim 1, characterized in that the thruster assembly comprises a vertical thruster group (5), a horizontal thruster group (6) and a target detection sensor (11);
the target detection sensor (11) detects the position of the salvaged object and transmits detection information to the control system (8), and the control system (8) sends out control commands to respectively control the actions of the vertical propeller group (5) and the horizontal propeller group (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010067392.9A CN111559476B (en) | 2020-01-20 | 2020-01-20 | Floating type fishing device suitable for underwater long columnar object |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010067392.9A CN111559476B (en) | 2020-01-20 | 2020-01-20 | Floating type fishing device suitable for underwater long columnar object |
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| Publication Number | Publication Date |
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| CN111559476A CN111559476A (en) | 2020-08-21 |
| CN111559476B true CN111559476B (en) | 2021-02-12 |
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| CN202010067392.9A Active CN111559476B (en) | 2020-01-20 | 2020-01-20 | Floating type fishing device suitable for underwater long columnar object |
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| CN112319735B (en) * | 2020-11-03 | 2021-07-27 | 中国船舶科学研究中心 | Underwater mud-embedded object salvaging equipment and operation method |
| CN114934473B (en) * | 2022-04-12 | 2024-02-27 | 上海盾构设计试验研究中心有限公司 | Model test method of non-contact pipe curtain method |
| CN114889772B (en) * | 2022-04-12 | 2023-07-21 | 上海隧道工程有限公司 | Launching cradle structure for arc Liang Dingguan and installation method thereof |
| CN114872863B (en) * | 2022-04-12 | 2023-04-14 | 上海隧道工程有限公司 | Oil cylinder type arc-shaped beam lock catch gap adjusting system |
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