CN115783143A - Novel marine mechanical arm oscillation stopping equipment - Google Patents
Novel marine mechanical arm oscillation stopping equipment Download PDFInfo
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- CN115783143A CN115783143A CN202211311127.6A CN202211311127A CN115783143A CN 115783143 A CN115783143 A CN 115783143A CN 202211311127 A CN202211311127 A CN 202211311127A CN 115783143 A CN115783143 A CN 115783143A
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- frame
- mechanical arm
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- locking head
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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
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/10—Arrangement of ship-based loading or unloading equipment for cargo or passengers of cranes
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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
- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A30/00—Adapting or protecting infrastructure or their operation
- Y02A30/30—Adapting or protecting infrastructure or their operation in transportation, e.g. on roads, waterways or railways
Abstract
The invention provides novel marine mechanical arm oscillation stopping equipment which comprises a lifting appliance frame and a locking head, wherein the lifting appliance frame is used for lifting equipment or objects, the locking head is used for locking the lifting appliance frame, in addition, the oscillation stopping equipment also comprises a mechanical arm with adjustable posture, the locking head is arranged below the mechanical arm, the mechanical arm is connected with a shipborne A-shaped frame, a pulley is arranged on the A-shaped frame, and a traction cable passes through the pulley and the locking head and is connected with the lifting appliance frame. Equipment or heavy object are lifted by crane through the lifting appliance frame, and locking head locking lifting appliance frame carries out tentatively ending and swings, lifts by crane the back, along with the swing of equipment or heavy object, and the arm can carry out corresponding attitude adjustment to reduce amplitude of oscillation, further lifting means end and swing the effect, improve the security of scientific investigation operation team member and equipment, alleviate team member's working strength.
Description
The application is a divisional application of the marine mechanical arm oscillation stopping mechanism, and the application date of the original application file is 2017, 11 and 22, the application number is CN201711173080.0, and the name of the invention is the marine mechanical arm oscillation stopping mechanism.
Technical Field
The invention relates to the technical field of distribution and recovery of marine survey and exploration equipment in marine scientific research operation, in particular to a multipurpose oscillation suppressor applied to a shipborne large A-frame system.
Background
With the increasing demands of China on the aspects of exploring deep sea, developing and utilizing deep sea resources, guaranteeing national deep sea safety and the like, more and more newly-built scientific research ships are put into use, the scientific research ships are laid out in offshore, deep sea, ocean and polar regions, the work modes of the marine scientific research ships for surveying operations on the sea comprise fixed point and towing, the operations are completed by matching ship-borne rear deck supporting equipment, the rear deck supporting equipment mainly comprises a winch, a large frame A, a small frame A, a folded arm hanging system and the like, the winch is used for folding and unfolding the equipment, the A frame A puts the equipment out of the ship from the ship, and the equipment, the underwater detection equipment and the indoor control system form a set of complete folding and unfolding system. In the current scientific investigation operation process, the equipment is in and out of water or a traditional oscillation stopping method is adopted, the equipment is lifted in a suspended state by an A-frame pulley after being discharged from water, the swinging is uncertain when the ship operation is influenced by waves, the equipment can irregularly swing and seriously collide with a ship body, one end of a rope needs to be wound around the equipment after the rope takes root at the stern and then oscillation stopping is carried out by manpower, but the weight of the equipment is observed from hundreds of kilograms to tons under the underwater condition, and the instantaneous tension of the equipment is far beyond the artificial control range under the severe sea condition, so certain danger is brought to the equipment and personnel, a plurality of cases of personnel and equipment damage under the condition can be known through investigation, a novel oscillation stopping device is urgently needed to replace the traditional oscillation stopping mode, the working strength of the team members is reduced, and the safety of the team members and the equipment under the scientific investigation is improved.
For example, CN208602648U discloses a mechanical arm type deployment and recovery system of an underwater robot, wherein one end of a mechanical arm is detachably mounted on a mother ship, and the upper end of a hoisting and oscillation stopping mechanism is hinged to the other end of the mechanical arm through a connecting plate a; one end of a damping hydraulic cylinder is mounted at the other end of the mechanical arm, the other end of the damping hydraulic cylinder is connected with the connecting plate A, and the hoisting oscillation-stopping mechanism realizes the yaw and the trim oscillation stopping through the damping hydraulic cylinder, and is limited and locked through the damping hydraulic cylinder after the oscillation stopping; the bow of the underwater robot is provided with a rope throwing mechanism for realizing rope throwing of the underwater robot on the sea level, the rope throwing mechanism is provided with a bow throwing buoyancy block capable of releasing throwing, the bow throwing buoyancy block drives a rope throwing cable connected to the underwater robot to expand after releasing throwing, and the lower end of the winch swing stopping mechanism is connected with the thrown rope throwing cable through a cable.
Although the technical scheme can realize high automation and less manual operation and liberates manpower to a certain extent, the hoisting oscillation stopping mechanism only realizes yaw and pitch oscillation stopping through the damping hydraulic cylinder, the oscillation stopping effect is poor, and the safety problem of scientific investigation operation team members cannot be better guaranteed.
For example, CN113650727A discloses a marine mechanical arm ends and swings mechanism, including unable adjustment base, unable adjustment base's top fixedly connected with main mechanical arm, the upper end department of main mechanical arm is provided with adjustment mechanism, it is connected with a rotation axis to rotate between the inside wall about adjustment mechanism's the top, fixed cover is equipped with one on the rotation axis and rotates the sleeve, fixedly connected with one on the lateral wall of one side of rotation sleeve snatchs the mechanical arm, a control chamber, two have all been seted up to the inside of the left and right sides of adjustment mechanism the bottom department in control chamber has all seted up a cushion chamber.
The technical scheme has a simple structure and is convenient to operate, and the swinging amplitude of the mechanical arm is reduced, so that the one-time swinging time of the mechanical arm is prolonged, the damage generated when the mechanical arm swings per se is reduced, and the swinging stopping effect is achieved; however, the mechanical arm structure of the technical scheme is too simple, so that the stability cannot be ensured in the process of using the mechanical arm structure, and a good oscillation stopping effect cannot be achieved; and the connecting part of the grabbing mechanism and the mechanical arm is not fastened and limited, so that the working stability and safety of the grabbing mechanism cannot be guaranteed.
To the shortcoming of above-mentioned prior art, the urgent need for a novel marine arm only swings equipment, through firm mechanical structure and each stable connected mode of subassembly with lifting means only swing the effect, alleviate team member's working strength, improve the security of scientific investigation operation team member and equipment.
Disclosure of Invention
The invention aims to overcome the defects and shortcomings of equipment retraction and extension in the existing marine scientific investigation operation, and provides a mechanical hydraulic type oscillation stopper based on a ship-borne large A frame; the novel marine mechanical arm oscillation stopping equipment provided by the invention adopts the mechanical arm consisting of at least two stages of steel frames and two stages of hydraulic oil cylinders, so that the working strength and the working stability of the mechanical arm are improved, the oscillation amplitude is reduced, the oscillation stopping effect of the equipment is further improved, and the safety of personnel and equipment in scientific investigation operation is improved; the swing stopping device further enhances the locking effect of the locking head on the hanger frame, so that the locking head and the hanger frame are connected more stably, and the swing stopping effect is enhanced; in addition, the annular reinforcing ribs are arranged in the lifting tool frame, so that the lifting strength of the lifting tool frame is improved, the working efficiency is further improved, and the working strength of a team member is reduced.
In order to achieve the purpose, the invention adopts the following technical scheme: the utility model provides a novel marine arm ends and swings equipment, includes hoist frame and locking head, and wherein the hoist frame is used for lifting by crane equipment or article, and the locking head is used for locking the hoist frame, and in addition, ends and swing the ware and still include the arm that the gesture can be adjusted, and the locking head is installed in the below of arm, and the arm is connected with shipborne A shape frame, installs the pulley on the A shape frame, and the traction cable rope walks around the pulley, passes the locking head, is connected with the hoist frame. Equipment or heavy object are lifted by crane through the lifting appliance frame, and the locking head locks the lifting appliance frame to primarily stop swinging, and after lifting, along with the swinging of the equipment or heavy object, the mechanical arm can perform corresponding posture adjustment to reduce the swinging amplitude, further enhance the stopping swinging effect of the equipment, and improve the safety of scientific investigation operation team members and the equipment.
The mechanical arm comprises two stages of steel frames and hydraulic oil cylinders, wherein one end of a first steel frame is connected with the A-shaped frame, two ends of the first hydraulic oil cylinder are respectively fixed on the A-shaped frame and the first steel frame, and the first steel frame can rotate around the A-shaped frame through the first hydraulic oil cylinder; the other end of the first steel frame is hinged to the upper end of the second steel frame, the two ends of the second hydraulic cylinder are fixed to the first steel frame and the second steel frame respectively, and the lower end of the second steel frame is connected with the locking head. The posture adjustment of the mechanical arm is completed by respectively stretching and retracting the two hydraulic cylinders.
The mechanical arm is composed of at least two stages of steel frames and two stages of hydraulic oil cylinders, so that the working strength and the working stability of the mechanical arm are improved, the swing amplitude is reduced, and the swing stopping effect of equipment is further improved; and the rotation amplitude of the mechanical arm can be adjusted in multiple gears, so that the equipment is more flexible in use.
The hydraulic oil cylinder of the mechanical arm is connected with the control handle through a transmission mechanism. This is one of the optimization schemes of the present invention, and the pose of the mechanical arm is controlled manually.
By the method, the use modes of the invention can be increased, so that the invention can be applied to more use scenes.
The hydraulic oil cylinder of the mechanical arm is connected with an automatic electric control system through a transmission mechanism. The invention is another optimized proposal, and the automatic control of the posture of the mechanical arm is realized by an automatic control system
The automation degree of the equipment can be improved through the method, so that the equipment is more intelligent.
And manual and automatic control and adjustment modes can be set simultaneously, and then manual control is adopted when the electric system is in fault or other necessary conditions.
The invention has a plurality of control modes, avoids the problem that equipment cannot be used due to the failure of a single control mode under special conditions, and can provide one more emergency measure when necessary.
The locking head is four claw type structures, including integrated into one piece's base plate and locking claw, and the base plate is square or rectangle structure, and open the centre of base plate has the through-hole that can supply the haulage hawser to pass, and the locking claw is the claw type structure of following the four corners downwardly extending of base plate, is equipped with the location opening between the locking claw, the location opening includes square groove and notch. The structure can stably lock the hanger frame for preliminary swing stopping.
The shape of the positioning opening on the locking head can be better clamped and connected with the hanger frame, so that the connection stability between the locking head and the hanger frame is improved, and the oscillation stopping effect of the equipment is further improved.
The locking head is provided with a hydraulic locking oil cylinder used for locking an article clamped into the locking head. The hydraulic locking oil cylinder can further firmly lock the hanger frame on the locking device.
And a sensor electrically connected with the shipborne control system is also arranged on the locking head, and the sensor comprises a gyroscope and/or a speedometer. The sensor can convey the measured oscillation state to the control system in real time, and the control system can respond to the signal sent by the sensor to adjust the posture of the mechanical arm. (acceleration changes too quickly, difficult to judge, can replace the pressure load sensor at the locking head, according to the load sensor and hydraulic stem pressure changes to adjust the mechanical arm buffer attitude)
The lifting appliance frame comprises a cross-shaped lifting frame, a bearing head and a hook, wherein the size of the cross-shaped lifting frame is matched with the positioning opening, the bearing head is arranged at the cross-shaped intersection of the lifting frame, the upper end of the bearing head is fixedly connected with a traction cable, and the hook used for hanging and carrying the lifted object is arranged below the cross-shaped lifting frame.
The cross-shaped lifting frame is matched with the bearing head, so that the lifting process can be more stable, and the lifting weight is larger; and the cross gallows that rises can set up more couples, and the couple symmetry that can be even sets up on the cross gallows that rises assists and promotes the stability of lifting by crane.
The bearing head is provided with a locking hole which can be matched with the hydraulic locking oil cylinder, and the locking hole is surrounded on the outer side surface of the bearing head; the hydraulic locking oil cylinder stably presses the lifting tool frame in the locking head through the locking hole, and the lifting stability is guaranteed.
The cross-shaped lifting frame is also provided with an annular reinforcing rib, the annular reinforcing rib penetrates through the cross-shaped lifting frame, and the cross-shaped lifting frame is in limit connection with the annular reinforcing rib. The annular reinforcing rib can enhance the stability of the cross-shaped lifting frame.
A triangular structure can be enclosed among the first steel frame, the A-shaped frame and the first hydraulic oil cylinder, and a triangular structure can also be enclosed among the first steel frame, the second steel frame and the second hydraulic oil cylinder.
The triangular structure can improve the support strength of the mechanical arm and the support stability.
The first steel frame comprises a first frame body and a second frame body, the first frame body and the second frame body are connected through reinforcing ribs, the first frame body and one side edge of each reinforcing rib form a triangular structure in a surrounding mode, and a triangular or trapezoidal empty groove is formed in the triangular structure; the second frame body and the other side edge of the reinforcing rib are enclosed to form a triangular structure, and a triangular or trapezoidal empty groove is formed in the triangular structure.
The first steel frame has better stress and bearing effects.
The first support body and the second support body are arranged in parallel, and the joint of the lower end of the second steel frame and the locking head is in a conical arrangement.
The better operation of auxiliary machinery arm drives locking head and hoist frame work.
In conclusion, the invention has the advantages that:
1. the labor is saved, and the safety factor of personnel is also improved;
2. the working strength of scientific investigation personnel is reduced;
3. the installation on the ship deck is convenient, and the device is even suitable for operation under severe sea conditions;
4. the invention has a manual and automatic dual control mode, avoids the problem that the equipment cannot be used due to the failure of a single control mode under special conditions, and can provide one more emergency measure when necessary;
5. the mechanical arm is composed of at least two stages of steel frames and two stages of hydraulic oil cylinders, so that the working strength and the working stability of the mechanical arm are improved, the swing amplitude is reduced, and the swing stopping effect of equipment is further improved; the rotation amplitude of the mechanical arm can be adjusted in multiple gears, so that the equipment is more flexible to use;
6. the shape of the positioning opening on the locking head can be better clamped and connected with the lifting tool frame, so that the connection stability between the locking head and the lifting tool frame is improved, and the oscillation stopping effect of equipment is further improved;
7. a triangular structure can be formed by the first steel frame, the A-shaped frame and the first hydraulic oil cylinder in a surrounding mode, and a triangular structure can also be formed by the first steel frame, the second steel frame and the second hydraulic oil cylinder in a surrounding mode; the triangular structure can improve the support strength of the mechanical arm and the support stability.
Drawings
FIG. 1 is a schematic perspective view of a novel marine mechanical arm oscillation preventing device (mounted on the A frame) according to the present invention;
FIG. 2 is a schematic front perspective view of the novel marine mechanical arm oscillation preventing device of the present invention;
FIG. 3 is a schematic rear perspective view of the novel marine mechanical arm oscillation preventing device of the present invention;
FIG. 4 is a schematic view of the locking head;
FIG. 5 is a schematic view of the structure of the locking head (inverted);
fig. 6 is a schematic view of the spreader frame construction.
Illustration of the drawings: 1-hanger frame 2-locking head 3-mechanical arm 4-pulley 5-traction cable 11-cross lifting frame 12-bearing head 121-locking hole 13-hook 14-annular reinforcing rib 21-base plate 22-locking claw 23-positioning opening 24-hydraulic locking oil cylinder 25-load sensor 31-first steel frame 311-first frame body 312-second frame body 313-reinforcing rib 32-second steel frame 33-first hydraulic oil cylinder 34-second hydraulic oil cylinder
Detailed Description
As shown in fig. 1 to 6, the novel marine mechanical arm oscillation stopping device comprises a cross-shaped lifting frame 1 with annular reinforcing ribs, a claw-shaped locking head 2 matched with the lifting frame 1 and a mechanical arm 3 with adjustable posture, wherein the mechanical arm comprises two stages of steel frames and hydraulic cylinders, one end of a first steel frame 31 is connected with the A-shaped frame, two ends of a first hydraulic cylinder 33 are fixed on the A-shaped frame and the first steel frame 31 respectively, the other end of the first steel frame 31 is hinged with the upper end of a second steel frame 32, two ends of the second hydraulic cylinder 34 are fixed on the first steel frame 31 and the second steel frame 32 respectively, and the lower end of the second steel frame 32 is connected with the locking head 2. The locking head 2 is a four-claw structure and comprises a base plate 21 and locking claws 22 which are integrally formed, the base plate 21 is of a square or rectangular structure, through holes for the traction cables to pass through are formed in the middle of the base plate, the locking claws 22 are of claw-shaped structures extending downwards from four corners of the base plate, and positioning openings 23 are formed among the locking claws. The locking head is provided with a hydraulic locking oil cylinder 24 for locking an article clamped in the locking head and a sensor 25 electrically connected with the shipborne control system, wherein the sensor comprises a gyroscope, an accelerometer or a combination of the gyroscope and the accelerometer. A pulley 4 is arranged on the A-shaped frame, and a traction cable 5 is connected with the hanger frame 1 by passing around the pulley 4 and through the locking head 2. The hanger frame 1 comprises a cross-shaped lifting frame 11, a bearing head 12 and a hook 13, wherein the size of the cross-shaped lifting frame is matched with that of a positioning opening 23, an annular reinforcing rib 14 is arranged on the cross-shaped lifting frame 11, the bearing head 12 is arranged at the cross-shaped intersection of the lifting frame, the upper end of the bearing head 12 is fixedly connected with a traction cable 5, and the hook 13 for hanging and carrying a lifted object is arranged below the cross-shaped lifting frame 11. The bearing head 12 is provided with a locking hole 121 which can be matched with the hydraulic locking oil cylinder.
The novel marine mechanical arm oscillation stopping equipment adopts the mechanical arm 3 consisting of at least two stages of steel frames and two stages of hydraulic oil cylinders, so that the working strength and the working stability of the mechanical arm 3 are improved, the oscillation amplitude is reduced, the oscillation stopping effect of the equipment is further improved, and the safety of personnel and equipment in scientific investigation is improved; the swing stopping device further enhances the locking effect of the locking head 2 on the hanger frame 1, so that the connection between the locking head and the hanger frame is more stable, and the swing stopping effect is enhanced; in addition, the annular reinforcing ribs are arranged in the lifting tool frame 1, so that the lifting strength of the lifting tool frame 1 is improved, the working efficiency is further improved, and the working strength of team members is reduced.
As shown in fig. 1 and 2, a triangular structure can be defined by the first steel frame 31, the a-frame and the first hydraulic cylinder 33, and a triangular structure can also be defined by the first steel frame 31, the second steel frame 32 and the second hydraulic cylinder 34.
As shown in fig. 3, the first steel frame 31 includes a first frame body 311 and a second frame body 312, the first frame body 311 and the second frame body 312 are connected by a reinforcing rib 313, one side of the first frame body 311 and one side of the reinforcing rib 313 enclose a triangular structure, and a triangular or trapezoidal empty slot is arranged inside the triangular structure; the second frame body 312 and the other side edge of the reinforcing rib 313 form a triangular structure, and a triangular or trapezoidal empty slot is arranged in the triangular structure; this structure can promote the atress and the bearing effect of first steelframe 31.
As shown in fig. 2 and 3, the first frame 311 and the second frame 312 are arranged in parallel, and a connection portion between the lower end of the second steel frame 312 and the locking head 2 is arranged in a tapered shape; the structure can assist the mechanical arm 3 to better operate to drive the locking head 2 and the lifting appliance frame 1 to work.
The specific structure of the mechanical arm 3 enables the mechanical arm 3 to be more stable, the supporting strength is higher, and the working efficiency and stability of equipment lifting are further improved;
as shown in fig. 4 and 5, the hydraulic oil cylinder on the mechanical arm and the sensor on the locking head are electrically connected with the control system, and in addition, the hydraulic oil cylinder is also connected with the mechanical handle through a transmission mechanism; the posture of the mechanical arm is automatically controlled through the automatic control system, and the automation degree of the equipment can be improved through the mode, so that the equipment is more intelligent; manual and automatic control and adjustment modes can be set simultaneously, and then manual control is adopted when the electric system fails or other necessary conditions occur; the invention has a plurality of control modes, avoids the problem that equipment cannot be used due to the failure of a single control mode under special conditions, and can provide one more emergency measure when necessary.
Before the equipment is used, the lifting tool frame 1 is arranged in a positioning opening 23 of a locking head 2 through a cross lifting frame 11, a hydraulic locking oil cylinder 24 is started, the bearing head 12 is locked through a locking hole 121, and if the electric system fails, the hydraulic locking oil cylinder 24 is controlled through a mechanical handle to lock the bearing head 12; the measured oscillation state can be transmitted to the control system in real time through the load sensor 25, and the control system can respond to a signal sent by the load sensor 25 to adjust the posture of the mechanical arm 3; the locking hanger frame 1 and the locking head 2 are connected with a traction cable 5, and the hanger frame 1 can be controlled by the mechanical arm 3 to complete the lifting work; finally, hanging the heavy object on the hanger frame 1 through a hook 13;
when equipment or a heavy object is hung on the lifting appliance frame 1 through the hook 13 to carry out lifting work, the winch drives the traction cable 5 to lift the lifting appliance frame 1 together with the equipment, the sensor 25 on the locking head 2 transmits the position and angle information of the locking head 2 (namely the lifting appliance frame) to the control system, the system responds according to the data to drive the hydraulic oil cylinder on the mechanical arm 3 to do corresponding motion, the posture of the mechanical arm 3 is adjusted, and the oscillation of the locking head 2 and the lifting appliance frame 1 locked on the locking head 2 is reduced.
Furthermore, the terms "upper," "lower," "inner," "outer," "front," "back" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Unless specifically stated otherwise, the relative steps, numerical expressions, and values of the components and steps set forth in these embodiments do not limit the scope of the present invention.
It should be understood that the above description is only exemplary of the present invention, and is not intended to limit the scope of the present invention, which is defined by the appended claims.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that the following descriptions are only illustrative and not restrictive, and that the scope of the present invention is not limited to the above embodiments: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a novel marine arm ends and swings equipment, includes hoist frame and locking head, and wherein the hoist frame is used for lifting by crane equipment or article, and the locking head is used for locking hoist frame, its characterized in that: the swing stopper also comprises a mechanical arm with adjustable posture, the locking head is arranged below the mechanical arm, the mechanical arm is connected with a shipborne A-shaped frame, a pulley is arranged on the A-shaped frame, and a traction cable passes through the pulley, passes through the locking head and is connected with a hanger frame;
the mechanical arm comprises two stages of steel frames and hydraulic oil cylinders, wherein one end of a first steel frame is connected with the A-shaped frame, two ends of the first hydraulic oil cylinder are respectively fixed on the A-shaped frame and the first steel frame, and the first steel frame can rotate around the A-shaped frame through the first hydraulic oil cylinder; the other end of the first steel frame is hinged with the upper end of the second steel frame, the two ends of the second hydraulic cylinder are respectively fixed on the first steel frame and the second steel frame, and the lower end of the second steel frame is connected with the locking head;
the locking head is of a four-claw structure and comprises a base plate and locking claws which are integrally formed, the base plate is of a square or rectangular structure, a through hole through which a traction cable can pass is formed in the middle of the base plate, the locking claws are of claw-shaped structures extending downwards from four corners of the base plate, positioning openings are formed among the locking claws and comprise square grooves and notches;
the lifting appliance frame comprises a cross-shaped lifting frame, a bearing head and a hook, wherein the size of the cross-shaped lifting frame is matched with the positioning opening, the bearing head is arranged at the cross-shaped intersection of the lifting frame, the upper end of the bearing head is fixedly connected with the traction cable, and the hook for hanging and carrying the lifted object is arranged below the cross-shaped lifting frame.
2. The novel marine mechanical arm oscillation preventing device as claimed in claim 1, wherein: and a hydraulic oil cylinder of the mechanical arm is connected with the control handle through a transmission mechanism.
3. The novel marine mechanical arm oscillation preventing device as claimed in claim 1, wherein: and the hydraulic oil cylinder of the mechanical arm is connected with an automatic electric control system through a transmission mechanism.
4. The novel marine mechanical arm oscillation preventing device as claimed in claim 1, wherein: and the locking head is provided with a hydraulic locking oil cylinder for locking an article clamped into the locking head.
5. The novel marine mechanical arm oscillation stopping device according to claim 4, wherein: the locking head is further provided with a sensor electrically connected with the shipborne control system, and the sensor comprises a gyroscope and/or an accelerometer.
6. The novel marine mechanical arm oscillation preventing device as claimed in claim 1, wherein: the bearing head is provided with a locking hole matched with the hydraulic locking oil cylinder, and the locking hole is surrounded on the outer side surface of the bearing head.
7. The novel marine mechanical arm oscillation stopping device as claimed in claim 1, wherein: the cross-shaped lifting frame is also provided with an annular reinforcing rib; the annular reinforcing rib penetrates through the cross-shaped lifting frame, and the cross-shaped lifting frame is in limit connection with the annular reinforcing rib.
8. The novel marine mechanical arm oscillation preventing device as claimed in claim 1, wherein: a triangular structure can be enclosed among the first steel frame, the A-shaped frame and the first hydraulic oil cylinder, and a triangular structure can also be enclosed among the first steel frame, the second steel frame and the second hydraulic oil cylinder.
9. The novel marine robot arm oscillation stopping device of claim 1, 2, 3, 4, 5, 6, 7 or 8, wherein: the first steel frame comprises a first frame body and a second frame body, the first frame body and the second frame body are connected through reinforcing ribs, the first frame body and one side edge of each reinforcing rib form a triangular structure in a surrounding mode, and a triangular or trapezoidal empty groove is formed in the triangular structure; the second frame body and the other side edge of the reinforcing rib are enclosed to form a triangular structure, and a triangular or trapezoidal empty groove is formed in the triangular structure.
10. The novel marine mechanical arm oscillation preventing device as claimed in claim 9, wherein: the first support body and the second support body are arranged in parallel, and the joint of the lower end of the second steel frame and the locking head is arranged in a tapered shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211311127.6A CN115783143B (en) | 2017-11-22 | 2017-11-22 | Marine mechanical arm oscillation stopping device |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711173080.0A CN107953975B (en) | 2017-11-22 | 2017-11-22 | Marine mechanical arm oscillation stopping mechanism |
| CN202211311127.6A CN115783143B (en) | 2017-11-22 | 2017-11-22 | Marine mechanical arm oscillation stopping device |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711173080.0A Division CN107953975B (en) | 2017-11-22 | 2017-11-22 | Marine mechanical arm oscillation stopping mechanism |
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| CN115783143A true CN115783143A (en) | 2023-03-14 |
| CN115783143B CN115783143B (en) | 2023-09-08 |
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| CN202211311127.6A Active CN115783143B (en) | 2017-11-22 | 2017-11-22 | Marine mechanical arm oscillation stopping device |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110816755B (en) * | 2018-08-14 | 2023-08-01 | 中国科学院沈阳自动化研究所 | Hoisting and oscillation stopping mechanism of underwater robot cloth recycling system |
| CN110816754B (en) * | 2018-08-14 | 2024-01-23 | 中国科学院沈阳自动化研究所 | Mechanical arm type cloth-laying recovery system of underwater robot and cloth-laying recovery method thereof |
| CN109969936B (en) * | 2019-04-28 | 2024-02-09 | 中国科学院海洋研究所 | Oscillation stopping device for distribution and recovery process of marine underwater investigation equipment |
| CN112829880A (en) * | 2020-12-29 | 2021-05-25 | 武汉船舶设计研究院有限公司 | Mining vehicle distribution and recovery system suitable for deep sea mining |
| CN113650727B (en) * | 2021-10-20 | 2021-12-14 | 南通盛宏机械有限公司 | Marine mechanical arm oscillation stopping mechanism |
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| US20110108787A1 (en) * | 2009-11-10 | 2011-05-12 | Thomas Donald A | Hoist system |
| CN105035939A (en) * | 2011-01-26 | 2015-11-11 | 乌本产权有限公司 | Method and device for erecting a tower for a wind energy plant |
| CN105110173A (en) * | 2015-09-07 | 2015-12-02 | 江苏华西村海洋工程服务有限公司 | Door-shaped hanger used for ships |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN115783143B (en) | 2023-09-08 |
| CN107953975A (en) | 2018-04-24 |
| CN107953975B (en) | 2023-06-02 |
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