CN114506418A - Multi-dimensional folding type folding and unfolding device of towed body - Google Patents
Multi-dimensional folding type folding and unfolding device of towed body Download PDFInfo
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- CN114506418A CN114506418A CN202210313684.5A CN202210313684A CN114506418A CN 114506418 A CN114506418 A CN 114506418A CN 202210313684 A CN202210313684 A CN 202210313684A CN 114506418 A CN114506418 A CN 114506418A
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- support
- arm
- towed body
- slewing bearing
- pin shaft
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- 230000007246 mechanism Effects 0.000 claims abstract description 73
- 239000010720 hydraulic oil Substances 0.000 claims description 16
- 238000013016 damping Methods 0.000 claims description 4
- 238000004064 recycling Methods 0.000 abstract description 4
- 230000007613 environmental effect Effects 0.000 abstract description 2
- 230000000712 assembly Effects 0.000 description 8
- 238000000429 assembly Methods 0.000 description 8
- 230000009286 beneficial effect Effects 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000011084 recovery Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
Images
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
- B63B27/08—Arrangement of ship-based loading or unloading equipment for cargo or passengers of winches
-
- 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
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Jib Cranes (AREA)
Abstract
The invention discloses a multi-dimensional folding type retracting device of a towed body, and relates to the technical field of laying and recycling of underwater towed bodies. The device comprises a rotating mechanism, an arm set mechanism and a catching frame mechanism, wherein the rotating mechanism, the arm set mechanism and the catching frame mechanism are sequentially connected, the rotating mechanism is connected with the arm set mechanism through one group of slewing bearing components, the arm set mechanism is connected with the catching frame mechanism through the other group of slewing bearing components, and the catching frame mechanism is connected with a towing body. The invention fully utilizes the space of the mother ship by a multi-dimensional folding mode, realizes the functions of automatically arranging and recovering the towed body between the mother ship and the ocean, and has the characteristics of high automation degree, high reliability, strong environmental adaptability and the like.
Description
Technical Field
The invention belongs to the technical field of laying and recycling of underwater towed bodies, and particularly relates to a multi-dimensional folding type folding and unfolding device of a towed body.
Background
The underwater towed body is widely applied to the requirements of oceanographic science investigation and national defense, can realize the fields of topographic and geomorphic surveying and mapping, underwater target exploration, underwater object searching, resource exploration and the like, is extremely important to reliable laying and recycling of the towed body in a predetermined sea area, and particularly realizes the task of automatically laying and recycling the towed body under the severe sea condition.
The existing underwater towed body basically needs to be distributed and recycled, and due to the fact that the offshore environment is severe and the sea condition is changeable, the underwater towed body is difficult to collect, release and drag.
The existing underwater towed body folding and unfolding device is large in size, complex in system, not beneficial to mother ship installation and not beneficial to rapid distribution and recovery, and therefore the multi-dimensional folding and unfolding device for towed bodies is provided.
Disclosure of Invention
The invention aims to provide a multi-dimensional folding type retracting device of a towed body, and solves the problems that an existing underwater towed body retracting device is large in size, complex in system, not beneficial to mother ship installation and not beneficial to rapid distribution and recovery.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention relates to a multi-dimensional folding type folding and unfolding device which comprises a rotary mechanism, an arm set mechanism and a capturing frame mechanism, wherein the rotary mechanism is connected with the arm set mechanism through a group of first rotary supporting components, the arm set mechanism is connected with the capturing frame mechanism through another group of second rotary supporting components, and the capturing frame mechanism is connected with a towing body.
The slewing bearing assembly is arranged above the fixed base, can rotate around the center and can bear axial load, radial load and overturning moment.
The near-end support arm of the arm set mechanism is connected with the front end of the rotary support through a third pin shaft, the near-end hydraulic cylinder is connected with the rear end of the rotary support and the near-end support arm through a first pin shaft and a second pin shaft respectively, the far-end support arm is connected with the near-end support arm through a sixth pin shaft, and the far-end hydraulic cylinder is connected with the near-end support arm and the far-end support arm through a fourth pin shaft and a fifth pin shaft respectively.
And the towed body support is provided with a damping spring and a centering support.
The two sides of the catching frame mechanism are provided with second slewing bearing assemblies, the second slewing bearing assemblies are fixedly connected with the catching frame support through mounting flanges, and the slewing bearing assemblies can rotate around the center, can bear axial load, radial load and overturning moment and can be reversely self-locked.
And two sides of the catching frame mechanism are connected with the towing body through locking hydraulic oil cylinders.
The front end of the catching frame mechanism forms a frame structure by installing a righting mechanism and a cable guide device.
And the lower side of the catching frame mechanism is provided with a front dragging body limiting arm, a rear dragging body limiting arm and a buffer mechanism, the rear dragging body limiting arm is fixed with the catching frame bracket, and the front dragging body limiting arm is fixed with the catching frame bracket through the buffer mechanism.
The invention has the following beneficial effects:
the invention has the advantages that the space of the mother ship is fully utilized by a multi-dimensional folding mode, and the automatic arrangement and recovery of the towed body between the mother ship and the sea are realized. The invention has the characteristics of high automation degree, high reliability, high space utilization rate, strong environmental adaptability and the like.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic illustration of a storage system according to an embodiment of the present invention;
FIG. 2 is a schematic view of the application of an embodiment of the present invention;
FIG. 3 is a drawing schematic diagram of an embodiment of the present invention;
fig. 4 is a schematic view of a catching frame mechanism according to an embodiment of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1. a fixed base; 2. a first slew bearing assembly; 3. a rotating support; 4. a proximal hydraulic cylinder; 5. a first hydraulic motor; 6. a proximal end support arm; 7. a distal hydraulic ram; 8. a distal support arm; 9. a catch frame base; 10. a second slew bearing assembly; 11. installing a flange; 12. a second hydraulic motor; 13. a catch rack support; 14. a front limit arm of the towing body; 15. a rear limit arm of the towing body; 16. a buffer mechanism; 17. locking the hydraulic oil cylinder; 18. a first pin shaft; 19. a second pin shaft; 20. a third pin shaft; 21. a fourth pin shaft; 22. a fifth pin shaft; 23. a sixth pin shaft; 24. a righting mechanism; 25. a cable guide device; 26. a towed body support; 27. a damping spring; 28. a centering support.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of 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 invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1 to fig. 3, the multi-dimensional folding type folding and unfolding apparatus of the present embodiment includes a rotation mechanism, an arm set mechanism, and a capturing frame mechanism, wherein the rotation mechanism is connected to the arm set mechanism through a set of first rotation support assemblies 2, the arm set mechanism is connected to the capturing frame mechanism through another set of second rotation support assemblies 10, and the capturing frame mechanism is connected to a towing body. The slewing bearing assembly is provided with a first hydraulic motor 5 and a second hydraulic motor 12
The slewing bearing assembly is fixed above the fixed base 1, the whole device rotates around the center of the first slewing bearing assembly 2 to complete the horizontal unfolding and folding processes of the whole device, and the first slewing bearing assembly 2 can bear axial load, radial load and overturning moment and has self-locking capacity. When the first slewing bearing assembly 2 is in the initial position, the device is folded on the deck, and when the first slewing bearing assembly 2 is driven to the set position, the device is unfolded to the outside of the ship board, so that the device can be stably folded and unfolded on a horizontal working surface.
The near-end support arm 6 of the arm set mechanism is connected with the front end of the rotary support 3 through a third pin shaft 20, the near-end hydraulic cylinder 4 is respectively connected with the rear end of the rotary support 3 and the near-end support arm 6 through a first pin shaft 18 and a second pin shaft 19, the far-end support arm 8 is connected with the near-end support arm 6 through a pin shaft 23, and the far-end hydraulic cylinder 7 is respectively connected with the near-end support arm 6 and the far-end support arm through a fourth pin shaft 21 and a fifth pin shaft 22. When the near-end hydraulic oil cylinder 4 or the far-end hydraulic oil cylinder 7 acts, the near-end support arm 6 can be pushed to rotate around the third pin shaft 20 or the far-end support arm 8 can be pushed to rotate around the sixth pin shaft 23, the lifting and descending actions of the towed body are completed through the change of the inclination angle of the control arm group mechanism, and the device is folded and unfolded on a vertical working surface.
The towed body support 26 is provided with a damping spring 27 and a centering support 28. When the towed body is in a storage state, the towed body support 26 plays a role in shock absorption and positioning, and can effectively protect the towed body.
And second slewing bearing assemblies 10 are arranged on two sides of the catching frame mechanism, the second slewing bearing assemblies 10 are fixedly connected with a catching frame support 13 through mounting flanges 11, and the second slewing bearing assemblies 10 can rotate around the center, can bear axial load, radial load and overturning moment and can be reversely self-locked. When the towed body is laid and recovered, the second hydraulic motor 12 drives the second slewing bearing assembly 10, and the catching frame mechanism rotates around the catching base 9 to ensure that the towed body is in a proper posture for laying and recovering.
The front end of the catching frame mechanism forms a frame structure by installing a righting mechanism 24 and a cable guide device 25, and the righting mechanism 24 is fixedly installed at the inlet of a combined cable of the cable guide device 25; righting mechanism 24 and designing into the horn mouth form, and this opening is under the narrow width structure, when the towline when righting mechanism 24, the guide vane can be unified by the inclined plane of righting mechanism 24 and correct to vertical state, guarantees that the guide vane can correctly pass through on the towline, and fairlead device 25 establishes in righting mechanism 24 rear, plays support and guard action to the rear end towline.
The two sides of the catching frame mechanism are connected with the towing body through locking hydraulic cylinders 17, when the towing body is positioned on the catching frame support 13, the locking hydraulic cylinders 17 are in an extending state, the towing body and the catching frame support 13 are tightly propped, and after the towing body enters water, the locking hydraulic cylinders 17 are in a withdrawing state under the cooperation of a winch, and the towing body is released.
A front towed body limiting arm 14, a rear towed body limiting arm 15 and a buffer mechanism 16 are arranged on the lower side of the capturing frame mechanism, the rear towed body limiting arm 15 is fixed with the capturing frame support 13, and the front towed body limiting arm 14 is fixed with the capturing frame support 13 through the buffer mechanism 16. When the towed body is pulled into the catching frame bracket 13 by the winch, the tail end of the towed body is contacted with and fixed by the rear limiting arm 15, and the head end of the towed body is slowly contacted with and fixed by the front limiting arm 14 under the action of the buffer mechanism 16.
The working process of the device comprises the steps of fixing the towed body on a capturing frame mechanism through a winch and the device, driving a slewing bearing assembly I5 to a set position, unfolding the device on a horizontal working surface, driving a near-end hydraulic oil cylinder 4 and a far-end hydraulic oil cylinder 7 to unfold an arm set mechanism on a vertical working surface, locking a hydraulic oil cylinder 17 to retract after the towed body is close to a water surface, and releasing the towed body.
And after the towed body reaches a preset depth, the near-end hydraulic oil cylinder 4 and the far-end hydraulic oil cylinder 7 are driven to fold the arm set mechanism to a set position on a vertical working surface, and the towed body starts to perform a towing task.
After the towing body finishes the towing task, the towing body is recovered to be close to the mother ship through the winch, the near-end hydraulic oil cylinder 4 and the far-end hydraulic oil cylinder 7 are driven to unfold the arm set mechanism to a near water surface on a vertical working surface, and the winch is locked after the towing body is recovered to the catching support 13. Under the cooperation of the winch and the arm group mechanism, the towed body is moved to the towed body support 26 and is fixedly stored. The pivoting support assembly I5 is driven to the initial position to fold the armset mechanism in a horizontal work plane. The device can retrieve the deck at horizontal working face, satisfies storage and maintenance requirement, can deliver to nearly the surface of water with the towed body at vertical working face, guarantees the safety of towed body when putting cloth and retrieving, and occupation space is few.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. The utility model provides a drag foldable coiling and uncoiling device of multidimension degree of body which characterized in that: the device comprises a swing mechanism, wherein an arm set mechanism is movably arranged on the swing mechanism, and a catching frame mechanism is movably arranged on the arm set mechanism;
the slewing mechanism comprises a fixed base (1), a first slewing bearing assembly (2) and a slewing support (3), wherein the first slewing bearing assembly (2) is movably arranged on the fixed base (1), and the slewing support (3) and a first hydraulic motor (5) are arranged on the first slewing bearing assembly (2);
the arm group mechanism comprises a near-end hydraulic oil cylinder (4), a near-end support arm (6), a far-end hydraulic oil cylinder (7), a far-end support arm (8), a righting mechanism (24), a cable guide device (25), a towed body support seat (26) and a capturing frame base (9), wherein the near-end support arm (6) is movably connected with the front end of the rotary support seat (3) through a third pin shaft (20), the near-end hydraulic oil cylinder (4) is respectively movably connected with the rear end of the rotary support seat (3) and the near-end support arm (6) through a first pin shaft (18) and a second pin shaft (19), the far-end support arm (8) is movably connected with the near-end support arm (6) through a sixth pin shaft (23), and the far-end hydraulic oil cylinder (7) is respectively movably connected with the near-end support arm (6) and the far-end support arm (8) through a fourth pin shaft (21) and a fifth pin shaft (22);
the catching frame mechanism comprises a second slewing bearing assembly (10), a catching frame support (13), a towing body buffer mechanism (16), a towing body front limiting arm (14), a towing body rear limiting arm (15) and a locking hydraulic oil cylinder (17), wherein a second hydraulic motor (12) is arranged on the second slewing bearing assembly (10), the second slewing bearing assembly (10) is fixedly connected with the catching frame support (13) through a mounting flange (11), the catching frame support (13) is fixedly connected with the towing body rear limiting arm (15), and the catching frame support (13) is fixedly connected with the towing body front limiting arm (14) through the buffer mechanism (16); and a second hydraulic motor (12) is arranged on the second slewing bearing assembly (10).
2. A multi-dimensional folding retractable device for a towed body, according to claim 1, wherein said first pivoting support assembly (2) is positioned above a fixed base (1) and said first pivoting support assembly (2) is pivoted about a center.
3. The multi-dimensional folding retraction device of a towed body according to claim 2, characterized in that a damping spring (27) and a centering support (28) are fixedly arranged on the towed body support (26).
4. A multi-dimensional folding and unfolding apparatus for a towed vehicle according to claim 3, and further characterised in that said catcher body front end is formed into a frame structure by installing a righting mechanism (24) and a fairlead (25).
5. The multi-dimensional folding retractable device of the towed body as claimed in claim 4, wherein two sides of said catching frame mechanism are connected with the towed body through locking hydraulic cylinders (17).
6. The multi-dimensional folding retractable device of a towed body, according to claim 5, characterized in that said second pivoting support assembly (10) pivots around a center, bears axial load, radial load and overturning moment, and is capable of reverse self-locking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210313684.5A CN114506418A (en) | 2022-03-28 | 2022-03-28 | Multi-dimensional folding type folding and unfolding device of towed body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210313684.5A CN114506418A (en) | 2022-03-28 | 2022-03-28 | Multi-dimensional folding type folding and unfolding device of towed body |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114506418A true CN114506418A (en) | 2022-05-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210313684.5A Pending CN114506418A (en) | 2022-03-28 | 2022-03-28 | Multi-dimensional folding type folding and unfolding device of towed body |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114506418A (en) |
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|---|---|---|---|---|
| CN102180242A (en) * | 2011-04-15 | 2011-09-14 | 中国船舶重工集团公司第七一五研究所 | Translation folding recovering and releasing device |
| CN202379065U (en) * | 2011-12-28 | 2012-08-15 | 中国科学院沈阳自动化研究所 | Draft gear for recovering underwater robot |
| CN106342049B (en) * | 2008-06-20 | 2013-09-11 | 中国船舶重工集团公司第七一九研究所 | A kind of water surface without cable submersible lays recovery system |
| CN106240772A (en) * | 2016-08-26 | 2016-12-21 | 中国海洋大学 | A kind of ship base underwater glider lays recovery system and lays accordingly and recovery method |
| CN207191351U (en) * | 2017-08-16 | 2018-04-06 | 中船华南船舶机械有限公司 | A kind of bathyscaph lays recovery system |
| CN109991669A (en) * | 2019-04-11 | 2019-07-09 | 河海大学 | A kind of underwater magnetic method detection system of unmanned boat towing |
| CN110104509A (en) * | 2019-01-28 | 2019-08-09 | 中国船舶重工集团公司第七一五研究所 | A kind of flexible draw off gear of entirety flat push type luffing |
| 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 |
| CN111605686A (en) * | 2020-05-26 | 2020-09-01 | 中国船舶科学研究中心 | Mechanical butt-joint locking mechanism for ROV and tool magazine |
-
2022
- 2022-03-28 CN CN202210313684.5A patent/CN114506418A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106342049B (en) * | 2008-06-20 | 2013-09-11 | 中国船舶重工集团公司第七一九研究所 | A kind of water surface without cable submersible lays recovery system |
| CN102180242A (en) * | 2011-04-15 | 2011-09-14 | 中国船舶重工集团公司第七一五研究所 | Translation folding recovering and releasing device |
| CN202379065U (en) * | 2011-12-28 | 2012-08-15 | 中国科学院沈阳自动化研究所 | Draft gear for recovering underwater robot |
| CN106240772A (en) * | 2016-08-26 | 2016-12-21 | 中国海洋大学 | A kind of ship base underwater glider lays recovery system and lays accordingly and recovery method |
| CN207191351U (en) * | 2017-08-16 | 2018-04-06 | 中船华南船舶机械有限公司 | A kind of bathyscaph lays recovery system |
| 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 |
| CN110104509A (en) * | 2019-01-28 | 2019-08-09 | 中国船舶重工集团公司第七一五研究所 | A kind of flexible draw off gear of entirety flat push type luffing |
| CN109991669A (en) * | 2019-04-11 | 2019-07-09 | 河海大学 | A kind of underwater magnetic method detection system of unmanned boat towing |
| CN111605686A (en) * | 2020-05-26 | 2020-09-01 | 中国船舶科学研究中心 | Mechanical butt-joint locking mechanism for ROV and tool magazine |
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