CN112356989B - Hanging type boat collecting and releasing device and method - Google Patents
Hanging type boat collecting and releasing device and method Download PDFInfo
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- CN112356989B CN112356989B CN202011298569.2A CN202011298569A CN112356989B CN 112356989 B CN112356989 B CN 112356989B CN 202011298569 A CN202011298569 A CN 202011298569A CN 112356989 B CN112356989 B CN 112356989B
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- boat
- bracket
- retracting
- catching
- steel cable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B23/00—Equipment for handling lifeboats or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B23/00—Equipment for handling lifeboats or the like
- B63B23/02—Davits, i.e. devices having arms for lowering boats by cables or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B23/00—Equipment for handling lifeboats or the like
- B63B23/40—Use of lowering or hoisting gear
- B63B23/48—Use of lowering or hoisting gear using winches for boat handling
Abstract
The invention relates to a hanging type boat folding and unfolding device and a method, wherein the device comprises a hanging travelling mechanism, a catching mechanism, a steel cable folding and unfolding mechanism and a recycling guide mechanism, wherein the hanging travelling mechanism comprises a suspension arm, a travelling crane and a travelling drive, the suspension arm is fixed on the side of a mother ship board, and the travelling drive drives the travelling crane to travel along the suspension arm; the catching mechanism comprises a bracket, a catching rod and a catching head, the bracket is a U-shaped frame body, the catching rod is fixed on the inner side of the head of the bracket, and the catching head is fixed on the outer side of the bow of the boat and corresponds to the catching rod; the steel cable retracting mechanism comprises a retracting winch, a retracting pulley block and a retracting steel cable, wherein the retracting pulley block is a plurality of fixed pulleys, the fixed pulleys are arranged on the travelling crane respectively corresponding to the hoisting points of the bracket, the retracting steel cables are a plurality of, and the tail ends of the retracting steel cables respectively bypass the fixed pulleys; the recovery guide mechanism is a wireless retraction device which is respectively arranged at the height point of the body of the boat and the tail end of the suspension arm and used for signal interaction. The invention realizes the automatic release and recovery of the boat and the boat, and prevents the boat from rotating and swinging.
Description
Technical Field
The invention belongs to the technical field of automatic release and recovery of manned/unmanned boats, and particularly relates to a hanging type boat retraction device and a hanging type boat retraction method.
Background
At present, the formula of putting boat winding and unwinding devices is put in midair of domestic existing labour boats and ships configuration, mainly used receive and releases the manned boat for when receiving and unwinding the unmanned ship, all need the cooperation of crewman, all need have the crewman on the unmanned ship among release and the recovery process promptly, with the posture adjustment and the release/couple operation of cooperation unmanned ship in release and recovery process. In the releasing process, the crew returns to the ship after completing the releasing/hooking operation; for the recovery needs, personnel need to board the unmanned ship in advance before the unmanned ship is retrieved, no matter release process or recovery process, under higher sea state, the crew who cooperates the unmanned ship of operation all has great safety risk, and whole operation process is inefficient.
The specific defects are as follows: and (1) autonomous docking recovery/release of the unmanned ship. The hanging type boat collecting and releasing device of the ship in active service can recover/release the manned boat through the lifting hook, when the hanging type boat collecting and releasing device is used for collecting and releasing the unmanned boat, the original lifting hook form cannot adapt to the requirement of automatic butt recovery/release, and a new butt recovery/release technical form is needed; (2) How the drones rotate and sway during recovery/release. The existing hoisting type boat collecting and releasing device mostly adopts a steel wire rope to hoist a boat, and because the weight of the unmanned boat is heavy, when the unmanned boat is hoisted and released by adopting the steel wire rope, a single pendulum system is actually formed and is influenced by the posture change of a mother ship, the unmanned boat inevitably has the effect of rotating or swinging around the unmanned boat during the recovery/release process, and safety risk is brought to unmanned boat equipment; (3) The unmanned boat in the recovery state is guided to be in butt joint with the recovery and release device, so that the recovery and release device has the capability of guiding the recovery of the unmanned boat.
Disclosure of Invention
The invention aims to provide a hanging type boat retraction device and a hanging type boat retraction method aiming at the technical requirements, so that the unmanned boat can be automatically butted, recovered and released, and the effect of rotating around the unmanned boat or swinging around the unmanned boat can be avoided.
In order to achieve the purpose, the invention adopts the following technical scheme: the utility model provides a hang formula of putting boat winding and unwinding devices which characterized in that: the device comprises a suspension travelling mechanism, a catching mechanism, a steel cable retracting mechanism and a retracting guide mechanism, wherein the suspension travelling mechanism comprises a suspension arm, a travelling crane and a travelling drive, the suspension arm is fixed on a mother ship board side, the travelling crane is arranged on the suspension arm, and the travelling drive drives the travelling crane to travel along the suspension arm; the catching mechanism comprises a bracket, a catching rod and a catching head, the bracket is a U-shaped frame body and is configured with the boat, the catching rod is fixed on the inner side of the head of the bracket, and the catching head is fixed on the outer side of the bow of the boat and corresponds to the catching rod; the steel cable retracting mechanism comprises a retracting winch, a retracting pulley block and a retracting steel cable, wherein the retracting pulley block is a plurality of fixed pulleys, the fixed pulleys are arranged on the travelling crane respectively corresponding to the hoisting points of the bracket, the retracting steel cable is a plurality of steel cables and is respectively wound on the retracting winch, and the tail ends of the retracting steel cables are respectively wound around the fixed pulleys; the recovery guide mechanism is a wireless radio retraction device which is respectively arranged at the height point of the body of the boat and the tail end of the suspension arm and used for signal interaction.
According to the scheme, the catching head comprises a fork-shaped frame, an upper elastic sheet and a lower elastic sheet, one end of the upper elastic sheet and one end of the lower elastic sheet are hinged with the upper fork head and the lower fork head of the fork-shaped frame respectively through torsion springs, and the other ends of the upper elastic sheet and the lower elastic sheet are in butt joint to form a closed structure.
According to the scheme, the number of the hanging points on the bracket is five, one hanging point is positioned at the head of the bracket, and the rest four hanging points are symmetrically arranged on two side edges of the bracket in pairs.
According to the scheme, the winding and unwinding winch is a constant tension winch.
According to the scheme, the suspension arm is fixed or rotary or telescopic.
A method for collecting and releasing a hanging type boat is characterized by comprising the following steps:
s1) recovering a small boat: guiding a small boat to approach to a bracket from the stern side of a mother ship through radio signal interaction, lowering the bracket through a steel cable retraction jack, driving the small boat into the bracket through manual remote control or autonomous navigation, arranging a catching head at the bow of the small boat to be in butt joint with a catching rod at the inner side of the bow of the bracket, lifting the bracket and the small boat to a storage height through the steel cable retraction jack, and moving a crane into the ship along a suspension arm to retract the small boat into a cabin;
s2) releasing the small boat: the travelling crane moves outwards along the suspension arm, the boat and the bracket are placed to the water surface through the steel cable retraction mechanism, and the boat automatically drives away from the bracket.
The invention has the beneficial effects that: 1. the lifting type boat collecting and releasing device and method are provided, the collecting and releasing process is automatic, the collecting and releasing efficiency is improved, and the safety risk of the crew for collecting and releasing operations is eliminated; 2. the steel cable retracting mechanism comprises a plurality of steel cables and a constant-tension winch, has a wave compensation function, prevents the boat from rotating and swinging, and ensures the equipment safety of the boat in the retracting process; 3. and the unmanned boat is guided to autonomously drive to the docking station, so that autonomous launching and releasing of the unmanned boat becomes possible.
Drawings
Fig. 1 is a side view of a boat lifting process according to one embodiment of the present invention.
Fig. 2 is a schematic view of the docking state of the boat and the cradle according to an embodiment of the present invention.
FIG. 3 is a schematic diagram of a capture head according to an embodiment of the present invention.
Fig. 4 is a rear view of a boat lifting process of one embodiment of the present invention.
Wherein: the device comprises a suspension arm 1, a travelling crane 2, a mother ship 3, a bracket 4, a catching rod 5, a catching head 6, a steel cable 7, a wireless collecting and releasing device 8, a fork-shaped frame 9, an upper elastic sheet 10, a lower elastic sheet 11 and a boat 12.
Detailed Description
The embodiments of the present invention will now be described with reference to the accompanying drawings, but the present invention is not limited to the following examples.
As shown in fig. 1-4, a suspended boat retraction device comprises a suspended travelling mechanism, a capturing mechanism, a wire rope retraction mechanism and a retraction guide mechanism, wherein the suspended travelling mechanism comprises a suspension arm 1, a travelling crane 2 and a travelling drive, the suspension arm is fixed on the side of a mother ship 3, the travelling crane is arranged on the suspension arm, and the travelling drive drives the travelling crane to travel along the suspension arm; the catching mechanism comprises a bracket 4, a catching rod 5 and a catching head 6, the bracket is a U-shaped frame body and is configured with a boat 12, the catching rod is fixed on the inner side of the head of the bracket, and the catching head is fixed on the outer side of the bow of the boat and corresponds to the catching rod; the steel cable retracting mechanism comprises a retracting winch, a retracting pulley block and a retracting steel cable 7, the retracting pulley block is a plurality of fixed pulleys, the fixed pulleys are arranged on the travelling crane respectively corresponding to the hoisting points of the bracket, the retracting steel cables are a plurality of steel cables and are respectively wound on the retracting winch, and the tail ends of the retracting steel cables are respectively wound on the fixed pulleys; the recovery guide mechanism is a wireless retraction device 8 which is respectively arranged at the height point of the boat body of the boat and the tail end of the suspension arm and used for signal interaction and guiding the boat to be close to the bracket.
The catching head comprises a fork-shaped frame 9, an upper elastic sheet 10 and a lower elastic sheet 11, one end of the upper elastic sheet and one end of the lower elastic sheet are hinged with the upper fork head and the lower fork head of the fork-shaped frame respectively through torsion springs, and the other ends of the upper elastic sheet and the lower elastic sheet are in butt joint to form a closed structure. When the catching head of the boat bow is in butt joint with the catching rod on the inner side of the bracket bow, the catching rod enters the catching head to push the elastic sheet to rotate backwards until the elastic sheet reaches the included angle of the catching head on the rear side of the elastic sheet, and the elastic sheet is restored to the original position under the action of the torsion spring and is closed again, so that the catching process is completed.
The number of the hanging points on the bracket is five, one of the hanging points is positioned at the head of the bracket, and the rest four hanging points are symmetrically arranged on two side edges of the bracket in pairs. The steel cable winding and unwinding system is provided with five steel cables, wherein the bow steel cable is mainly used for preventing bracket rotation motion and front-back swing motion, and the four steel cables at the back are used for hoisting the bracket and the boat on the one hand and preventing the bracket from swinging on the other hand. Under the action of five steel cables, the rotation motion and the swinging motion of the bracket are limited to a great extent, the stern part of the bracket is an open large opening, the bow part of the small boat is thin, and the small boat can enter the bracket only by the bow part, so that the whole driving butt joint process can be completed.
The winch is a constant tension winch which tensions the steel cable in real time, so that the steel cable has a wave compensation function, the bracket is guaranteed to bear a constant upward tension force, and the bow part is guaranteed to bear a constant forward tension force, so that a certain depth range is maintained in seawater.
The suspension arm is fixed or rotary or telescopic.
The method for deploying and retracting the suspended boat by adopting the device comprises the following steps:
s1) recovering the small boats: guiding a small boat to be close to the bracket from the stern side of the mother ship through radio signal interaction, lowering the bracket through a steel cable retraction jack, enabling the small boat to drive into the bracket through manual remote control or autonomous navigation, arranging a capturing head at the bow of the small boat to be in butt joint with a capturing rod at the inner side of the bow of the bracket, lifting the bracket and the small boat to a storage height through the steel cable retraction jack, and enabling a travelling crane to move towards the inside of the ship along a suspension arm to retract the small boat into a cabin;
s2) releasing the small boat: the travelling crane moves outwards along the suspension arm, the boat and the bracket are placed to the water surface through the steel cable retraction mechanism, and the boat automatically drives away from the bracket.
Claims (4)
1. The utility model provides a hang formula of putting boat winding and unwinding devices which characterized in that: the device comprises a suspension travelling mechanism, a capturing mechanism, a steel cable retracting mechanism and a retracting guide mechanism, wherein the suspension travelling mechanism comprises a suspension arm, a travelling crane and a travelling drive, the suspension arm is fixed on the side of a mother ship board, the travelling crane is arranged on the suspension arm, and the travelling drive drives the travelling crane to travel along the suspension arm; the catching mechanism comprises a bracket, a catching rod and a catching head, the bracket is a U-shaped frame body and is configured with the boat, the catching rod is fixed on the inner side of the head of the bracket, and the catching head is fixed on the outer side of the bow of the boat and corresponds to the catching rod; the steel cable retracting mechanism comprises a retracting winch, a retracting pulley block and a retracting steel cable, the retracting pulley block is a plurality of fixed pulleys, the fixed pulleys are arranged on the travelling crane respectively corresponding to the hoisting points of the bracket, the retracting steel cable is a plurality of steel cables, the retracting steel cable is respectively wound on the retracting winch, and the tail end of the retracting steel cable is wound around the fixed pulleys; the recovery guide mechanism is a wireless retraction device which is respectively arranged at the height point of the body of the boat and the tail end of the suspension arm and used for signal interaction; the catching head comprises a fork-shaped frame, an upper elastic sheet and a lower elastic sheet, one end of the upper elastic sheet and one end of the lower elastic sheet are hinged with the upper fork head and the lower fork head of the fork-shaped frame respectively through torsion springs, and the other ends of the upper elastic sheet and the lower elastic sheet are butted to form a closed structure; the winding and unwinding winch is a constant tension winch.
2. The boat stowing and releasing device according to claim 1, wherein the number of the lifting points on the bracket is five, one of the lifting points is located at the head of the bracket, and the remaining four lifting points are symmetrically arranged on two sides of the bracket in pairs.
3. A pick-up boat stowing device according to claim 1, wherein the boom is fixed or pivotable or telescopic.
4. A method for collecting and releasing a hanging type boat is characterized by comprising the following steps:
s1) recovering the small boats: guiding a small boat to be close to the bracket from the stern side of the mother ship through radio signal interaction, lowering the bracket through a steel cable retraction jack, enabling the small boat to drive into the bracket through manual remote control or autonomous navigation, arranging a capturing head at the bow of the small boat to be in butt joint with a capturing rod at the inner side of the bow of the bracket, lifting the bracket and the small boat to a storage height through the steel cable retraction jack, and enabling a travelling crane to move towards the inside of the ship along a suspension arm to retract the small boat into a cabin;
s2) releasing the small boat: the travelling crane moves outwards along the suspension arm, the boat and the bracket are placed to the water surface through the steel cable retraction mechanism, and the boat automatically drives away from the bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011298569.2A CN112356989B (en) | 2020-11-19 | 2020-11-19 | Hanging type boat collecting and releasing device and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011298569.2A CN112356989B (en) | 2020-11-19 | 2020-11-19 | Hanging type boat collecting and releasing device and method |
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| Publication Number | Publication Date |
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| CN112356989A CN112356989A (en) | 2021-02-12 |
| CN112356989B true CN112356989B (en) | 2023-04-07 |
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| CN202011298569.2A Active CN112356989B (en) | 2020-11-19 | 2020-11-19 | Hanging type boat collecting and releasing device and method |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112937770B (en) * | 2021-03-19 | 2022-10-14 | 中国舰船研究设计中心 | Recovery stabilizing system for lifting type boat collecting and releasing device |
| CN113697045A (en) * | 2021-07-20 | 2021-11-26 | 国网山东省电力公司烟台供电公司 | Unmanned ship for laying and recovering underwater vehicle and operation method thereof |
| CN113619733B (en) * | 2021-08-18 | 2023-12-19 | 上海船舶研究设计院（中国船舶工业集团公司第六0四研究院） | Intelligent retraction method of modularized dinghy retraction device |
| FR3131900A1 (en) * | 2022-01-14 | 2023-07-21 | Naval Group | Vessel comprising means of traction of a floating dock |
| FR3131903A1 (en) * | 2022-01-14 | 2023-07-21 | Naval Group | Vessel comprising means for deploying a floating dock |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN201573776U (en) * | 2009-12-25 | 2010-09-08 | 中国舰船研究设计中心 | Concealed telescopic ship boat-handling device |
| CN209241259U (en) * | 2018-10-24 | 2019-08-13 | 陈曦 | A kind of dock lift hull form device |
| CN109625184A (en) * | 2018-12-19 | 2019-04-16 | 中国舰船研究设计中心 | A kind of canoe captures release device and method automatically |
| CN110884617A (en) * | 2019-12-13 | 2020-03-17 | 中国舰船研究设计中心 | Docking traction system and method for unmanned boat retracting device |
| CN111572718A (en) * | 2020-06-30 | 2020-08-25 | 中船绿洲镇江船舶辅机有限公司 | Retractable double-lifting-point boat retracting device and using method thereof |
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