CN115783143B - Marine mechanical arm oscillation stopping device - Google Patents
Marine mechanical arm oscillation stopping device Download PDFInfo
- Publication number
- CN115783143B CN115783143B CN202211311127.6A CN202211311127A CN115783143B CN 115783143 B CN115783143 B CN 115783143B CN 202211311127 A CN202211311127 A CN 202211311127A CN 115783143 B CN115783143 B CN 115783143B
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- China
- Prior art keywords
- frame
- locking
- mechanical arm
- lifting
- locking head
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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
- B63B27/10—Arrangement of ship-based loading or unloading equipment for cargo or passengers of cranes
-
- 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 application provides 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 articles, the locking head is used for locking the lifting appliance frame, in addition, the oscillation stopping device also comprises a mechanical arm with adjustable gesture, 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 bypasses the pulley and passes through the locking head to be connected with the lifting appliance frame. The equipment or the heavy object is lifted by the lifting tool frame, the locking head locks the lifting tool frame to perform preliminary oscillation stopping, and the mechanical arm can perform corresponding posture adjustment along with the oscillation of the equipment or the heavy object after the lifting so as to reduce the oscillation amplitude.
Description
The application relates to a marine mechanical arm anti-swing mechanism, which is divided into a number of applications, wherein the application date of the original application document is 2017, 11, 22, CN201711173080.0 and the name of the application is the marine mechanical arm anti-swing mechanism.
Technical Field
The application relates to the technical field of deployment and recovery of marine survey equipment instruments in marine scientific investigation operation, in particular to a multipurpose swing stopper applied to a shipborne large A frame system.
Background
With the increasing demands of China in 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 investigation ships are put into use, the working modes of the marine scientific investigation ships for investigation on the sea comprise fixed points and towing, the operations are completed by cooperation of shipborne rear deck supporting equipment, the rear deck supporting equipment mainly comprises a winch, a large frame A, a small frame A, a folding arm hanging system and the like, the winch is used for winding and unwinding equipment, the frame A swings the equipment out of the ship from the interior of the ship, and the equipment, the underwater detection equipment and an indoor control system form a complete winding and unwinding system. In the existing scientific investigation operation process, equipment water inlet and outlet still adopts a traditional oscillation stopping method, after water is discharged, the equipment is lifted in a suspended state by an A-frame pulley through a cable, the equipment is irregularly rocked when being affected by waves to operate, and seriously collides with a ship body, at the moment, one end of a rope is required to be wound around the equipment after rooting at the stern, and then the equipment is manually oscillated, but under severe sea conditions, the instantaneous tension of the equipment is far beyond the manual control range due to the fact that the weight of the underwater observation equipment is different from hundreds of kilograms to several tons, so that certain dangerousness is brought to the equipment and personnel, the situation that personnel and equipment are damaged under the situation is many according to investigation, a novel oscillation stopping device is required to replace the traditional oscillation stopping mode, the working intensity of a team member is lightened, and the safety of the personnel and the equipment for scientific investigation operation is improved.
Disclosure of Invention
The application aims to overcome the defects and shortcomings of equipment retraction in the prior marine scientific investigation operation and provides a mechanical hydraulic type oscillation stopper based on a shipborne large A frame.
In order to achieve the aim of the application, the application adopts the following technical scheme: the utility model provides a marine arm is stopped and is swung equipment, includes hoist frame and locking head, and wherein hoist frame is used for lifting by crane equipment or article, and the locking head is used for locking hoist frame, and in addition, is stopped and is swung the ware and still includes 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 haulage cable walks around the pulley, passes the locking head, is connected with hoist frame. The equipment or the heavy object is lifted by the lifting tool frame, the locking head locks the lifting tool frame to perform preliminary oscillation stopping, and the mechanical arm can perform corresponding posture adjustment along with the oscillation of the equipment or the heavy object after the lifting so as to reduce the oscillation amplitude.
The mechanical arm comprises a two-stage steel frame and a hydraulic oil cylinder, wherein one end of a first steel frame is connected with an A-shaped frame, two ends of the first hydraulic oil cylinder are respectively fixed on the A-shaped frame and the first steel frame, the other end of the first steel frame is hinged with the upper end of a second steel frame, two ends of the second hydraulic oil 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 a locking head. The gesture adjustment of the mechanical arm is completed through the respective expansion and contraction of the two-stage hydraulic cylinders.
The hydraulic cylinder of the mechanical arm is connected with the control handle through a transmission mechanism. This is one of the preferred embodiments of the present application, by manually controlling the attitude of the robotic arm.
The hydraulic cylinder of the mechanical arm is connected with an automatic electrical control system through a transmission mechanism. This is another optimization scheme of the application, and the gesture of the mechanical arm is automatically controlled through an automatic control system.
Manual and automatic control and adjustment modes can be set at the same time, and then the electrical system is in fault or other necessary manual control is adopted.
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 for a traction cable to pass through is formed in the middle of the base plate, the locking claws are of claw structures extending downwards from four corners of the base plate, and positioning openings are formed between the locking claws. The structure can stably lock the lifting tool frame to perform preliminary swinging prevention.
The locking head is provided with a hydraulic locking cylinder for locking the articles clamped in the locking head. The hydraulic locking cylinder can further firmly lock the hanger frame on the locking device.
The locking head is also provided with a sensor electrically connected with the shipborne control system, and the sensor comprises a gyroscope and/or an accelerometer. The sensor can transmit the measured oscillation state to the control system in real time, and the control system can respond according to signals sent by the sensor to adjust the gesture of the mechanical arm.
The hanger frame comprises a cross lifting frame, a bearing head and a hook, wherein the size of the cross lifting frame is matched with that of the positioning opening, the bearing head is arranged at the cross part of the lifting frame, the upper end of the bearing head is fixedly connected with the traction cable, and the hook for mounting the lifted object is arranged below the cross lifting frame.
The bearing head is provided with a locking hole matched with the hydraulic locking oil cylinder.
Annular reinforcing ribs are also arranged on the cross-shaped lifting frame. The annular reinforcing ribs can strengthen the stability of the cross lifting frame.
In summary, the application has the following advantages:
1. the labor is saved, and the safety coefficient of personnel is also improved;
2. the working intensity of scientific staff is reduced;
3. the ship is convenient to install on the deck of the ship and is even suitable for operation under severe sea conditions.
Drawings
FIG. 1 is a schematic perspective view of the multipurpose stopper of the present application (mounted on the A-frame);
FIG. 2 is a schematic front perspective view of the multipurpose stopper of the present application;
FIG. 3 is a rear perspective view of the multipurpose stopper of the present application;
FIG. 4 is a schematic view of the structure of the locking head;
fig. 5 is a schematic view of the structure of the locking head (upside down);
fig. 6 is a schematic structural view of the hanger frame.
Legend description: 1-lifting appliance frame 2-locking head 3-mechanical arm 4-pulley 5-traction cable 11-cross lifting bracket 12-bearing head 121-locking hole 13-hook 14-annular reinforcing rib 21-base plate 22-locking claw 23-positioning opening 24-hydraulic locking cylinder 25-load sensor 31-first steel frame 32-second steel frame 33-first hydraulic cylinder 34-second hydraulic cylinder
Detailed Description
The marine mechanical arm oscillation stopping device as shown in fig. 1 to 6 comprises a cross-shaped lifting appliance frame 1 with annular reinforcing ribs, a claw-shaped locking head 2 matched with the lifting appliance frame 1 and a mechanical arm 3 with adjustable posture, wherein the mechanical arm comprises a two-stage steel frame and a hydraulic cylinder, one end of a first steel frame 31 is connected with an A-shaped frame, two ends of the first hydraulic cylinder 33 are respectively fixed on the A-shaped frame and the first steel frame 31, 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 respectively fixed on the first steel frame 31 and the second steel frame 32, and the lower end of the second steel frame 32 is connected with the locking head 2. The locking head 2 is of 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, a through hole for a traction cable to pass through is formed in the middle of the base plate, the locking claws 22 are of claw structures extending downwards from four corners of the base plate, and positioning openings 23 are formed between the locking claws. The locking head is provided with a hydraulic locking cylinder 24 for locking the article clamped in the locking head and a sensor 25 electrically connected with the shipboard control system, wherein the sensor comprises a gyroscope, an accelerometer or a combination of the gyroscope and the accelerometer. A-shaped frame is provided with a pulley 4, and a traction cable 5 bypasses the pulley 4 and passes through the locking head 2 to be connected with the lifting tool frame 1. The lifting tool frame 1 comprises a cross lifting frame 11, a bearing head 12 and a hook 13, wherein the size of the cross lifting frame is matched with that of the positioning opening 23, the cross lifting frame 11 is provided with an annular reinforcing rib 14, the bearing head 12 is arranged at the cross part of the lifting frame, the upper end of the bearing head 12 is fixedly connected with the traction cable 5, and the hook 13 for mounting the lifted object is arranged below the cross lifting frame 11. The bearing head 12 is provided with a locking hole 121 which can be matched with a hydraulic locking oil cylinder.
The hydraulic cylinder on the mechanical arm and the sensor on the locking head are electrically connected with the control system, and besides, the hydraulic cylinder is also connected with the mechanical handle through a transmission mechanism.
When the equipment or the heavy object is lifted after being hung on the lifting tool frame through the hanging hook, the winch drives the traction cable to lift the lifting tool frame 1 together with the equipment, the lifting tool frame 1 is positioned through the positioning opening 23 on the locking head when moving to the position of the locking head 2, the cross-shaped lifting tool frame 11 is clamped into the positioning opening 23, the hydraulic locking oil cylinder 34 is driven to act after the clamping, and the hydraulic rod stretches into the locking hole 121 to lock the lifting tool frame on the locking head. And then the equipment is transported out of the ship through the movement of the A frame, in the process, the sensor 25 on the locking head transmits the position and angle information of the locking head (namely the lifting tool frame) to the control system, the system reacts according to the data to drive the hydraulic cylinder on the mechanical arm to correspondingly move, the posture of the mechanical arm is adjusted, and the oscillation of the locking head and the lifting tool frame locked on the locking head is reduced.
The above embodiments are provided for understanding the present application and are not intended to limit the present application, and a person skilled in the relevant art may make various changes or modifications on the basis of the technical solutions described in the claims, and these changes or modifications should be understood as still falling within the scope of the present application.
Claims (4)
1. The utility model provides a marine arm is stopped and is swung equipment, includes hoist frame and locking head, and wherein hoist frame is used for lifting by crane article, and locking head is used for locking hoist frame, its characterized in that: the marine mechanical arm oscillation stopping device further comprises a mechanical arm with adjustable gesture, 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 bypasses the pulley and passes through the locking head to be connected with the lifting appliance frame;
the mechanical arm comprises a two-stage steel frame and a hydraulic oil cylinder, wherein one end of a first steel frame is connected with an A-shaped frame, two ends of the first hydraulic oil cylinder are respectively fixed on the A-shaped frame and the first steel frame, the other end of the first steel frame is hinged with the upper end of a second steel frame, two ends of the second hydraulic oil 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 for a traction cable to pass through is formed in the middle of the base plate, the locking claws are of claw structures extending downwards from four corners of the base plate, and positioning openings are formed between the locking claws;
the locking head is provided with a hydraulic locking cylinder for locking the articles clamped in the locking head;
the lifting tool frame comprises a cross lifting frame, a bearing head and a hook, wherein the size of the cross lifting frame is matched with that of the positioning opening, the bearing head is arranged at the cross part of the lifting frame, the upper end of the bearing head is fixedly connected with the traction cable, and the hook for mounting the lifted object is arranged below the cross lifting frame;
the locking head is also provided with a sensor electrically connected with the shipborne control system, and the sensor comprises a gyroscope and/or an accelerometer;
and the bearing head is provided with a locking hole matched with the hydraulic locking oil cylinder.
2. The marine mechanical arm anti-sloshing apparatus of claim 1 wherein: the hydraulic cylinder of the mechanical arm is connected with the control handle through a transmission mechanism.
3. The marine mechanical arm anti-sloshing apparatus of claim 1 wherein: the hydraulic cylinder of the mechanical arm is connected with an automatic electrical control system through a transmission mechanism.
4. The marine mechanical arm anti-sloshing apparatus of claim 1 wherein: the cross lifting frame is also provided with annular reinforcing ribs.
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 |
|---|---|---|---|
| CN202211311127.6A CN115783143B (en) | 2017-11-22 | 2017-11-22 | Marine mechanical arm oscillation stopping device |
| CN201711173080.0A CN107953975B (en) | 2017-11-22 | 2017-11-22 | Marine mechanical arm oscillation stopping mechanism |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711173080.0A Division CN107953975B (en) | 2017-11-22 | 2017-11-22 | Marine mechanical arm oscillation stopping mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115783143A CN115783143A (en) | 2023-03-14 |
| CN115783143B true CN115783143B (en) | 2023-09-08 |
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Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211311127.6A Active CN115783143B (en) | 2017-11-22 | 2017-11-22 | Marine mechanical arm oscillation stopping device |
| CN201711173080.0A Active CN107953975B (en) | 2017-11-22 | 2017-11-22 | Marine mechanical arm oscillation stopping mechanism |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711173080.0A Active CN107953975B (en) | 2017-11-22 | 2017-11-22 | Marine mechanical arm oscillation stopping mechanism |
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| Country | Link |
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| CN (2) | CN115783143B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| 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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- 2017-11-22 CN CN202211311127.6A patent/CN115783143B/en active Active
- 2017-11-22 CN CN201711173080.0A patent/CN107953975B/en active Active
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| DE10025891A1 (en) * | 2000-05-25 | 2001-11-29 | Aljo Aluminium Bau Jonuscheit | Ship's davit for securing and launching a boat has an additional safety line at the crane hook with a groove locking surface at the hook for secure raising and launching even at sea |
| 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 |
|---|---|
| CN107953975B (en) | 2023-06-02 |
| CN115783143A (en) | 2023-03-14 |
| CN107953975A (en) | 2018-04-24 |
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