CN116534194A

CN116534194A - Buoy retraction storage device

Info

Publication number: CN116534194A
Application number: CN202310445145.1A
Authority: CN
Inventors: 聂勇; 许诚; 童心; 唐建中; 陈正; 李贞辉
Original assignee: Zhejiang University ZJU
Current assignee: Zhejiang University ZJU
Priority date: 2023-04-21
Filing date: 2023-04-21
Publication date: 2023-08-04

Abstract

The invention discloses a buoy retraction storage device. The buoy retraction frame and the underwater hydraulic winch are horizontally and oppositely arranged, a buoy body is arranged on the buoy retraction frame, one end of the composite cable is connected to the underwater hydraulic winch, the other end of the composite cable sequentially passes through the underwater hydraulic winch and the buoy retraction frame, penetrates from the bottom of the buoy body and is connected to the inside, and the buoy body and the underwater hydraulic winch are electrically connected through the composite cable; the buoy retraction frame is communicated with the underwater hydraulic winch. The underwater hydraulic winch adopts the double hydraulic motors to provide power, realizes a backup working mode driven by one hydraulic motor, ensures that the buoy can be retracted, ensures higher working automaticity and reliability by detecting the in-place state of the mechanism and the winch retraction state by the in-place detection device, has a cable array emergency cutting function, ensures the safety of the platform in emergency time, and can be used for automatically retracting and storing a streamline buoy body with better floating stability of a deep sea manned platform.

Description

Buoy retraction storage device

Technical Field

The invention relates to a retraction storage device, in particular to a buoy retraction storage device.

Background

At present, most deep sea manned platforms mainly depend on a water surface to support a mother ship, so that high-precision positioning of the deep sea and long-distance communication between the deep sea manned platform and a shore base are realized. However, with the improvement of the cruising ability of the deep-sea manned platform, a higher requirement is put on the autonomous operation ability of the deep-sea manned platform, and the support of the water mother ship is not needed. Therefore, how to acquire high-precision position information and realize remote interaction with external information during long-time sailing operation of deep sea by the deep sea manned platform alone becomes an urgent need for the deep sea manned platform. Therefore, the multifunctional buoy technology and equipment with various systems are developed at home and abroad successively, wherein the data transmission is reliable and the data can be transmitted in real time through the cabled relay buoy, and the basic approach is to release the floating body carrying various sensors such as navigation positioning, communication, photoelectric detection and the like under water, and to recover the floating body after the floating body is lifted out of the water surface to perform tasks rapidly. For conveniently retrieving and catching the buoy, the communication buoy body appearance that can realize at present is mostly regular class sphere, and stability is relatively poor after this class buoy floats to the surface of water, and signal acquisition is easily influenced by the wave.

Disclosure of Invention

In order to solve the problems in the background art, the buoy retraction and storage device provided by the invention can be used for retracting and storing streamline buoy bodies with better floating stability.

The technical scheme adopted by the invention is as follows:

the buoy retraction and storage device comprises a buoy retraction frame, an underwater hydraulic winch and a composite cable, wherein the buoy retraction frame and the underwater hydraulic winch are horizontally and oppositely arranged and are not in contact with each other, a buoy body is arranged on the buoy retraction frame, one end of the composite cable is connected to the underwater hydraulic winch, the other end of the composite cable sequentially passes through the underwater hydraulic winch and the buoy retraction frame, penetrates from the bottom of the buoy body and is connected to the interior of the buoy body, and the buoy body is electrically connected with the underwater hydraulic winch through the composite cable; the buoy retraction frame is communicated with the underwater hydraulic winch, and the underwater hydraulic winch is electrically connected with an external PLC controller.

The buoy retraction frame comprises an oil cylinder dragging frame, a bracket, a driven arm component, an oil cylinder driving arm frame and a base, wherein the oil cylinder dragging frame, the oil cylinder driving arm frame and the driven arm component are sequentially arranged on the top surface of the base along the length direction of the base; the bracket is arranged at the top of the driven arm member and the oil cylinder driving arm framework, and the buoy body is arranged on the top surface of the bracket; the bracket, the oil cylinder dragging frame and the oil cylinder driving arm frame are communicated with the underwater hydraulic winch; the other end of the composite cable sequentially passes through the underwater hydraulic winch and the oil cylinder dragging framework, then sequentially penetrates through the bottoms of the oil cylinder driving arm framework and the bracket to the bottom of the buoy standard body and penetrates into the buoy standard body.

The oil cylinder dragging framework comprises a wide guide wheel component, a dragging arm component, two dragging arm oil cylinders and a dragging wheel frame, wherein the dragging wheel frame comprises a wheel frame bottom plate, two wheel frame side plates, a supporting rib plate, a supporting rod and two dragging arm oil cylinder lug plates, the wheel frame bottom plate is horizontally arranged on the top surface of one side of a base and is close to an underwater hydraulic winch, the two wheel frame side plates are vertically and parallelly arranged on the two symmetrical sides of the top surface of the wheel frame bottom plate at intervals and are parallel to the length direction of the base, the supporting rib plate and the supporting rod are horizontally and vertically arranged between the two wheel frame side plates, the supporting rib plate and the supporting rod are respectively connected to the top and the middle of the two wheel frame side plates, and a through hole is formed in the wheel frame bottom plate and is positioned between the two wheel frame side plates; the two trailing arm oil cylinder lug plates are vertically parallel and vertically arranged on the top surface of the wheel frame bottom plate and positioned on one side close to the oil cylinder driving arm framework, and the two wheel frame side plates are positioned between the two trailing arm oil cylinder lug plates and are respectively arranged at intervals in parallel with the respectively close trailing arm oil cylinder lug plates; the wide guide wheel component is in a roller structure, and the center of the wide guide wheel component is horizontally and movably connected between the lower parts of the two wheel carrier side plates; one end of the trailing arm component is horizontally hinged between the two wheel carrier side plates and positioned between the supporting rib plate and the supporting rod, and the other end of the trailing arm component is positioned at one side of the wide guide wheel component and is close to the oil cylinder driving arm framework; the piston rods at one end of each of the two trailing arm cylinders are respectively hinged to two symmetrical sides of the middle part of the trailing arm component, each wheel carrier side plate and a cylinder body at the other end of each of the two trailing arm cylinders are hinged between the adjacent lug plates of each of the two trailing arm cylinders, and the axle center of the hinged part at the two ends of each of the two trailing arm cylinders is perpendicular to the wheel carrier side plate; the two towing arm oil cylinders are communicated with an underwater hydraulic winch; the other end of the composite cable sequentially passes through the bottom surface of the wide guide wheel component and the bottom surface of the dragging arm component of the underwater hydraulic winch and the oil cylinder dragging framework, then sequentially passes through the bottom of the oil cylinder driving arm framework and the bottom of the bracket to the bottom of the buoy body and is connected to the inside of the buoy body in a penetrating manner. The supporting rib plates and the supporting rods are welded between the two wheel frame side plates and used for stabilizing the integral structure of the dragging wheel frame.

The dragging arm component comprises a dragging arm shaft cylinder, two dragging arm side plates, an oil cylinder driving shaft, a guide wheel and two guide plates, wherein the two dragging arm side plates are arranged in parallel at intervals and parallel to the wheel carrier side plates; the oil cylinder driving shaft is horizontally arranged between the middle parts of the two trailing arm side plates and penetrates through the two wheel frame side plates, the length of the oil cylinder driving shaft is larger than the distance between the two wheel frame side plates, two sides of the oil cylinder driving shaft are supported on the side edges of the two wheel frame side plates and close to the oil cylinder driving arm framework, and piston rods at one end of the oil cylinder of the two trailing arms are respectively hinged with two ends of the oil cylinder driving shaft; the center of the guide wheel is horizontally and movably connected between the other ends of the two trailing arm side plates, the two guide plates are vertically arranged at the other ends of the two trailing arm side plates respectively and are opposite to each other, the guide wheel is positioned between the two guide plates, the center distance from the edge of the guide plate to the center of the guide wheel is larger than the radius of the guide wheel, and the two guide plates are outwards bent upwards so as to facilitate a composite cable to enter the guide wheel; the towing arm component is used for towing the composite cable and correcting the towing angle of the composite cable; the other end of the composite cable sequentially winds the bottom surface of the wide guide wheel component of the underwater hydraulic winch and the oil cylinder towing framework and the bottom surface of the guide wheel of the towing arm component;

Two signal triggers are also installed on one wheel carrier side plate and one dragging arm side plate close to the wheel carrier side plate, each signal trigger comprises a magnet assembly and a magnetic switch, the two magnet assemblies are installed on the dragging arm side plate at intervals, the two magnetic switches are arranged on the wheel carrier side plate at intervals, and when the dragging arm component rotates around the dragging arm shaft cylinder, and the two magnet assemblies respectively face to one magnetic switch through the two magnetic switches; both magnetic switches are electrically connected with an external PLC controller.

The bracket comprises a bracket bottom plate, a clamping oil cylinder, a positioning switch, a guide wheel assembly, four clamping arms, four saddles, two clamping arm rotating shafts and four idler wheels, wherein the bracket bottom plate and the two clamping arm rotating shafts are horizontally arranged along the length direction of the base, the bottom surfaces of the four saddles are symmetrically arranged on the top surfaces of four vertex angles of the bracket bottom plate, and one side surface of each saddle, which is close to the center of the bracket bottom plate, is bent towards the center of the bracket bottom plate; the bottom side surface of each saddle, which is close to the oil cylinder driving arm framework, is hinged with the root end of a respective clamping arm, the four clamping arms are vertically arranged and are bent towards the center of the bracket bottom plate, the tail end of each clamping arm is hinged with the center of a respective roller, the central axis of the hinged position at the two ends of each clamping arm is perpendicular to the vertical surface of the base in the length direction, the hinged positions of the root ends of every two opposite clamping arms are synchronously connected through a clamping arm rotating shaft parallel to the length direction of the base, and the root end bottoms of two opposite clamping arms are respectively hinged with one end cylinder body and the other end piston rod of the clamping oil cylinder; the buoy body is placed on the top surface of the bracket bottom plate and is positioned between the four clamping arms and the four saddles, the four idler wheels are clung to the top surface of the buoy body, the four saddles are clung to the bottom surface of the buoy body, the buoy body is streamline in shape, and an antenna for communication and positioning is carried on the top; the clamping arm rotating shaft ensures the synchronous movement of the front clamping arm and the rear clamping arm on the same side, the roller is used for preventing the mark body from being scratched when the clamping arms are clamped, the clamping oil cylinder is used for controlling the clamping and the retraction of the root end of the clamping arms, and the saddle is used for preventing the mark body from colliding with the bracket bottom plate when being recovered and positioning and fixing the mark body; the locating switch and the guide wheel assembly are arranged at the bottom of the bracket bottom plate, the guide wheel assembly comprises two guide wheels which are arranged at intervals, the central shafts of the guide wheels are hinged at the bottom of the bracket bottom plate and are parallel to the bracket bottom plate, through grooves penetrating through the bracket bottom plate are formed in the bracket bottom plate between the locating switch and the two guide wheels, and the top ends of the locating switch are in pressure connection with the bottom surface of the buoy body; the bottom of the buoy body is provided with a towing rope rocker arm which passes through the bracket bottom plate downwards and is arranged between and clings to two guide wheels, and the guide wheel assembly is used for guiding the towing rope rocker arm; the clamping oil cylinder is communicated with the underwater hydraulic winch; the other end of the composite cable is connected to a towing rope rocker arm after passing through an oil cylinder towing framework, then penetrates through the bottom of the buoy body and is connected to the interior of the buoy body, the composite cable can be used for supplying power to the buoy body, controlling the action of the buoy body and transmitting acquisition signals, and an internal signal acquisition system can be replaced according to actual requirements; the in-place switch is electrically connected with an external PLC controller, the in-place switch is internally formed by a magnetic switch and a magnet assembly, a spring is arranged between the magnetic switch and the magnet assembly, when the buoy body is in place, the buoy body can press down the magnet assembly, the spring is compressed at the moment, and the magnetic switch emits an electric signal after detecting a magnetic field and is used for detecting the in-place state of the buoy body; the symmetrical two sides of the middle part of the bottom surface of the bracket bottom plate are hinged on the oil cylinder driving arm framework, and the symmetrical two sides of one side of the bottom surface of the bracket bottom plate, which is far away from the oil cylinder driving arm framework, are hinged on one side of the driven arm component, which is far away from the oil cylinder driving arm framework.

The oil cylinder driving arm support structure comprises two retractable oil cylinders and a driving arm component, wherein the driving arm component comprises two main rib plates, six panels, four shaft seats, a supporting rod and a main shaft barrel, the two main rib plates are of an obtuse angle triangle structure, the two main rib plates are vertically opposite to each other and are arranged at intervals and parallel to an arm clamping rotating shaft, the six panels are respectively arranged on three strip plates of the two main rib plates and are perpendicular to the main rib plates to form an I-shaped section, the four shaft seats are respectively arranged at two included angles of the two main rib plates far away from the oil cylinder dragging structure, and the axes of the four shaft seats are perpendicular to the main rib plates; the stay bar is connected between one sides of the two main reinforcement plates far away from the oil cylinder towing framework, and the main shaft cylinder is horizontally connected between the other included angles of the two main reinforcement plates, namely the included angle between the shortest side and the longest side of the main reinforcement plates; two ends of the main shaft cylinder are hinged to the top surface of the base and close to the oil cylinder dragging framework, and two shaft seats far away from the oil cylinder dragging framework are respectively hinged to two symmetrical sides in the middle of the bottom of the bracket bottom plate of the bracket; the piston rods at one end of the two retracting cylinders are respectively hinged to the other two shaft seats, the cylinder bodies at the other ends of the two retracting cylinders are respectively hinged to the symmetrical two sides of the top surface of the base and positioned between the main shaft barrel and one side of the base far away from the oil cylinder dragging framework, the two retracting cylinders are positioned on the symmetrical two sides of the two main rib plates, the bracket bottom plate is positioned between the two main rib plates, and the central shafts of the hinged positions at the two ends of the two retracting cylinders are perpendicular to the main rib plates; the driving arm component is also provided with an upper shaft seat rib plate which is welded between the shaft seat and the main rib plate opposite to the longest side and used for reinforcing the structural strength of the shaft seat. The two retraction cylinders are communicated with the underwater hydraulic winch.

The driven arm component is of a rectangular frame structure and is formed by welding steel plates and steel pipes, the steel pipes are welded between the two steel plates for connecting and supporting, two adjacent vertex angles on one side of the driven arm component are hinged to the symmetrical two sides of the bottom of a bracket bottom plate of the bracket and are positioned on one side of the bracket bottom plate far away from an oil cylinder towing framework, and two adjacent vertex angles on the other side of the driven arm component are hinged to the symmetrical two sides of the bottom of the base and are positioned in the middle of the bracket bottom plate through two ends of a circular pipe connected between the two adjacent vertex angles; the length of the driven arm member is equal to the length of the longest edge of the main rib plate.

Two signal triggers are further arranged on the side edge top surface of one main rib plate and the side edge top surface of the base close to the main rib plate, each signal trigger comprises a magnet assembly and a magnetic switch, one magnet assembly is arranged on the shortest side of the main rib plate through a mounting piece, the other magnet assembly is arranged on the longest side of the main rib plate, two magnetic switches are arranged on the side edge top surface of the base and are positioned on two sides of one end of the main shaft barrel, when the driving arm component rotates around the main shaft barrel, when the shortest side of the main rib plate is close to the side edge top surface of the base, the magnet assembly arranged on the shortest side of the main rib plate faces one magnetic switch, and when the longest side of the main rib plate is close to the side edge top surface of the base, one magnet assembly arranged on the longest side of the main rib plate faces the other magnetic switch; both magnetic switches are electrically connected with an external PLC controller.

The base comprises a base frame, four retractable oil cylinder lug plates, two base reinforcing pieces and two driving arm bearing seats, wherein the base frame is a rectangular connecting frame formed by two long channel steel and four short channel steel, the base reinforcing pieces are vertically and oppositely welded near a third short channel steel beam outside the long channel steel, and threaded holes are formed in the base reinforcing pieces and used for installing the driving arm bearing seats; two ends of the main shaft cylinder are hinged on the base frame through two base reinforcing pieces and two driving arm bearing seats which are arranged on the base frame; the cylinder bodies at the other ends of the two retractable cylinders are hinged on the base frame through four retractable cylinder lug plates; the base also comprises a plurality of lifting plates, the two ends of the long channel steel are welded with the lifting plates, and each lifting plate is welded on the periphery of the base frame and used for moving and transporting the base frame.

The underwater hydraulic winch comprises a winch frame, a large gear, two pinions, a roller, a bidirectional screw rod, a cable arranging headstock, a hydraulic cutter, a pressure compensator, two hydraulic motors, a photoelectric slip ring and a chain wheel mechanism, wherein the roller is arranged in the winch frame, the central shaft of the roller is horizontal and perpendicular to the length direction of a base, one end of the central shaft of the roller is movably connected to the winch frame, the other end of the central shaft of the roller is synchronously connected with the center of the vertically arranged large gear and then is movably connected to the winch frame, the two hydraulic motors and the photoelectric slip ring are arranged at one side of the winch frame close to the large gear, the other end of the central shaft of the roller is synchronously connected with the movable end of the photoelectric slip ring, the two hydraulic motors are arranged below the photoelectric slip ring, the output shafts of the two hydraulic motors are synchronously connected with the centers of the two pinions which are vertically arranged, the two pinions are positioned under the large gear and meshed with the large gear, and the fixed end of the photoelectric slip ring is respectively connected with the ends of the two hydraulic motors far away from the two pinions through two connecting sheets to keep static; the chain wheel mechanism is arranged on one side of the winch frame far away from the large gear, the bidirectional screw rod is hinged in the winch frame, the bidirectional screw rod is horizontal and perpendicular to the length direction of the base, one end of the bidirectional screw rod is hinged on the winch frame, the other end of the bidirectional screw rod is synchronously connected with one side of the chain wheel mechanism, the other side of the chain wheel mechanism is synchronously connected with one end of the central shaft of the roller, and the bidirectional screw rod is connected with the roller through chain transmission to drive the cable arranging headstock to transversely move along with the position of the cable; the cable arranging headstock is arranged on the winch frame through two connecting rods and far away from the oil cylinder dragging framework, a lower cable arranging type is adopted, one side of the cable arranging headstock far away from the oil cylinder dragging framework is bent towards the roller to form an outlet channel, and the hydraulic cutter is arranged on the cable arranging headstock; the hydraulic system is arranged on the winch frame and used for compensating the underwater pressure, and the hydraulic cutter, the pressure compensator, the bracket, the oil cylinder dragging framework and the oil cylinder driving arm framework are communicated with two hydraulic motors; the two hydraulic motors and the photoelectric slip ring are electrically connected with an external PLC; the circumference along the cylinder on the cylinder is equipped with a plurality of spaced annular grooves, and the one end electricity of compound cable is connected to the movable end of photoelectricity sliding ring and is fixed on the cylinder curb plate through pressing the rope board to draw back the annular groove of winding round the cylinder in proper order and arrange the draw way bottom surface of cable headstock and then draw to the hydro-cylinder from the bottom surface of cylinder and drag the framework, hydraulic cutter is close to the compound cable on the cable headstock, is used for promptly cutting off compound cable.

The chain wheel mechanism comprises a large chain wheel, a middle chain wheel, a small chain wheel and a chain, wherein the large chain wheel and the two small chain wheels are vertically arranged on the same vertical side face of the winch frame at intervals, the central shafts of the large chain wheel and the two small chain wheels are parallel to the central shaft of the roller, the center of one small chain wheel is synchronously connected with one end of the central shaft of the roller, the center of the large chain wheel is synchronously connected with the other end of the bidirectional screw rod, the other small chain wheel is positioned between one small chain wheel and the large chain wheel, the chain is wound on the large chain wheel and one small chain wheel in a closing mode, and the upper side of the chain is wound on the bottom face of the other small chain wheel to play a role of tightening the chain.

The winch is characterized in that the roller is also provided with a plurality of magnet assemblies, the winch frame is also provided with two magnetic switches, each magnet assembly is arranged on one side surface of the roller, which is close to the chain wheel mechanism, and is uniformly arranged at intervals along the circumferential direction of the side surface of the roller, the two magnetic switches are arranged at intervals on one end of the winch frame, which is close to each magnet assembly, and the distance from each magnetic switch to the central shaft of the roller is the same as the distance from each magnet assembly to the central shaft of the roller; the two magnetic switches are electrically connected with an external PLC controller.

The control method of the buoy retraction storage device comprises the following steps:

The buoy storing and releasing device can be stored in the deep sea carrier cabin when in a non-working state and is used for storing buoy bodies, and the buoy bodies are placed on a bracket bottom plate of the bracket; when the buoy retraction storage device needs to release a buoy standard body, firstly, the underwater hydraulic winch is switched to a tension mode, two hydraulic motors of the underwater hydraulic winch are controlled by an external PLC controller to further control piston rods of two retraction cylinders and two trailing arm cylinders to extend out, so that the trailing arm members rotate around a trailing arm shaft cylinder, the driving arm members rotate around a main shaft cylinder, meanwhile, the photoelectric slip rings are controlled to drive a central shaft of the drum to rotate so as to relax a composite cable, when the drum rotates, the rotation angle of the drum is obtained through each magnet assembly and the magnetic switch on the drum, the relaxation length of the composite cable is further controlled, at the moment, the longest edges of two main rib plates of the driving arm members and the driven arm members rotate to a vertical state and lift the bracket, the bracket always keeps horizontal, at the moment, the magnet assemblies of a signal trigger on the trailing arm members and the driving arm members are opposite to each other, and then, the in-position signals of the trailing arm members and the driving arm members are output to the external PLC controller, at the moment, the buoy retraction storage device is switched to the main shaft cylinder, the photoelectric slip rings are simultaneously controlled to drive the central shaft of the drum to rotate, the two clamping arms rotate through the clamping cylinders to enable the two clamping arms to be far away from each other, the rotation angle of the drum is further, the two clamping shafts are driven by the two clamping arms are driven to rotate, the bracket is further, the signal is released to be far away from the bracket is released from the bracket, and in position, the position is further, the end is further released from the bracket is far from the bracket is released, and is further released from the position, and is released from the position signal is released from the bracket, and is released from the position cable, and has is in time, and is released. And the release of the buoy standard body is completed by the brake of the underwater hydraulic winch.

When the buoy body needs to be recovered, the bracket is controlled to ascend, the underwater hydraulic winch is firstly pulled to be close to the bracket through the tightening compound cable under the retraction mode, meanwhile, the clamping arm component is controlled to be opened by the clamping oil cylinder, then the underwater hydraulic winch continues to tighten the compound cable until the buoy body falls into the bracket, the buoy body is pressed on the in-place switch, the in-place switch sends out an in-place signal to the external PLC, the underwater hydraulic winch brakes, the clamping oil cylinder is simultaneously controlled to close the clamping arm component to clamp the buoy body, then the underwater hydraulic winch is switched to the tension mode, the bracket is controlled to fall, the dragging arm oil cylinder is controlled to retract the dragging arm component, and the underwater hydraulic winch brakes to complete the recovery of the buoy body.

The beneficial effects of the invention are as follows:

1) The invention can be used for automatically retracting and storing the streamline buoy standard body with better floating stability of the deep sea manned platform, the underwater hydraulic winch adopts the double hydraulic motors to provide power, when one hydraulic motor fails, the power output can be reduced through the underwater hydraulic winch, the backup working mode driven by one hydraulic motor is realized, and the buoy can be ensured to be retracted.

2) According to the invention, the in-place detection devices detect the in-place state of the mechanism and the winch retraction state, so that the working automaticity and reliability of the device are higher.

3) The underwater hydraulic winch provided by the invention has the cable array emergency cutting function, and the safety of the platform is ensured in emergency.

Drawings

FIG. 1 is a diagram showing the overall recovery state of the device of the present invention;

FIG. 2 is a block diagram of a buoy retraction rack according to the present invention;

FIG. 3 is a block diagram of the base of the buoy retraction frame of the present invention;

FIG. 4 is a block diagram of a trailing truck of the present invention;

FIG. 5 is a block diagram of the active arm member of the buoy retraction rack of the present invention;

FIG. 6 is a block diagram of a trailing arm member of the buoy retraction rack of the present invention;

FIG. 7 is a block diagram of a bracket of the buoy retraction rack of the present invention;

FIG. 8 is a block diagram of the subsea hydraulic winch of the present invention;

FIG. 9 is a block diagram of the signal triggering device of the present invention;

FIG. 10 is a state diagram of the device of the present invention when the buoy body is released or retracted;

in the figure: 1. the buoy body, 2, a buoy storage rack, 3, an underwater hydraulic winch, 4, a composite cable, 5, a signal trigger device, 6, a wide guide wheel component, 7, a trailing arm component, 8, a bracket, 9, a driven arm component, 10, a storage cylinder, 11, a driving arm component, 12, a base, 13, a driving arm cylinder, 14, a base frame, 15, a lifting plate, 16, a storage cylinder lug plate, 17, a base reinforcing piece, 18, a driving arm bearing seat, 19, a trailing wheel frame, 20, a wheel frame bottom plate, 21, a wheel frame side plate, 22, a supporting rib plate, 23, a supporting rod, 24, a trailing arm cylinder lug plate, 25, a main rib plate, 26, a panel, 27 and a shaft seat, 28, stay bars, 29, upper shaft seat rib plates, 30, main shaft cylinders, 31, trailing arm shaft cylinders, 32, trailing arm rib plates, 33, trailing arm side plates, 34, cylinder driving shafts, 35, guide wheels, 36, guide plates, 37, bracket bottom plates, 38, clamping cylinders, 39, in-place switches, 40, guide wheel assemblies, 41, clamping arms, 42, saddles, 43, clamping arm rotating shafts, 44, rollers, 45, winch frames, 46, rollers, 47, bidirectional screws, 48, cable arranging head frames, 49, hydraulic cutters, 50, pressure compensators, 51, hydraulic motors, 52, photoelectric slip rings, 53, magnet assemblies, 54, magnetic switches, 55 and cable swinging arms.

Detailed Description

The invention will be described in further detail with reference to the accompanying drawings and specific examples.

As shown in fig. 1, the buoy storing and taking-up device comprises a buoy storing frame 2, an underwater hydraulic winch 3 and a composite cable 4, wherein the buoy storing frame 2 and the underwater hydraulic winch 3 are horizontally and oppositely arranged and are not in contact with each other, a buoy body 1 is placed on the buoy storing frame 2, one end of the composite cable 4 is connected to the underwater hydraulic winch 3, the other end of the composite cable 4 sequentially passes through the underwater hydraulic winch 3 and the buoy storing frame 2, penetrates from the bottom of the buoy body 1 and is connected to the interior of the buoy body 1, and the buoy body 1 and the underwater hydraulic winch 3 are electrically connected through the composite cable 4; the buoy retraction frame 2 is communicated with the underwater hydraulic winch 3, and the underwater hydraulic winch 3 is electrically connected with an external PLC controller.

As shown in fig. 2, the buoy retraction frame 2 includes a cylinder towing frame, a bracket 8, a driven arm member 9, a cylinder driving arm frame and a base 12, and the cylinder towing frame, the cylinder driving arm frame and the driven arm member 9 are sequentially installed on the top surface of the base 12 along the length direction of the base 12; the bracket 8 is arranged on the top of the driven arm member 9 and the oil cylinder driving arm framework, and the buoy body 1 is placed on the top surface of the bracket 8; the bracket 8, the oil cylinder dragging framework and the oil cylinder driving arm framework are communicated with the underwater hydraulic winch 3; the other end of the composite cable 4 sequentially passes through the underwater hydraulic winch 3 and the oil cylinder dragging framework, sequentially penetrates from the bottoms of the oil cylinder driving arm framework and the bracket 8 to the bottom of the buoy standard body 1 and penetrates into the buoy standard body 1.

As shown in fig. 2 and 4, the oil cylinder towing frame comprises a wide guide wheel member 6, a towing arm member 7, two towing arm oil cylinders 13 and a towing wheel frame 19, the towing wheel frame 19 comprises a wheel frame bottom plate 20, two wheel frame side plates 21, a supporting rib plate 22, a supporting rod 23 and two towing arm oil cylinder lug plates 24, the wheel frame bottom plate 20 is horizontally arranged on the top surface of one side of the base 12 and is close to the underwater hydraulic winch 3, the two wheel frame side plates 21 are vertically and parallelly arranged on the symmetrical two sides of the top surface of the wheel frame bottom plate 20 at intervals and are parallel to the length direction of the base 12, the supporting rib plate 22 and the supporting rod 23 are horizontally and vertically arranged between the two wheel frame side plates 21, the supporting rib plate 22 and the supporting rod 23 are respectively connected to the top and the middle parts of the two wheel frame side plates 21, and through holes are formed in the wheel frame bottom plate 20 and are positioned between the two wheel frame side plates 21; the two trailing arm cylinder lug plates 24 are vertically and parallelly and vertically arranged on the top surface of the wheel frame bottom plate 20 and positioned on one side close to the cylinder driving arm framework, and the two wheel frame side plates 21 are positioned between the two trailing arm cylinder lug plates 24 and are respectively and parallelly and alternately arranged with the respectively adjacent trailing arm cylinder lug plates 24; the wide guide wheel member 6 is in a roller structure, and the center of the wide guide wheel member 6 is horizontally and movably connected between the lower parts of the two wheel carrier side plates 21; one end of the trailing arm member 7 is horizontally hinged between the two wheel frame side plates 21 and is positioned between the supporting rib plate 22 and the supporting rod 23, and the other end of the trailing arm member 7 is positioned on one side of the wide guide wheel member 6 and is close to the oil cylinder driving arm framework; the piston rods at one end of each of the two trailing arm cylinders 13 are respectively hinged to two symmetrical sides of the middle part of the trailing arm member 7, each wheel carrier side plate 21 and a cylinder body at the other end of each trailing arm cylinder 13 are hinged between the adjacent one of the trailing arm cylinder lug plates 24, and the axle center of the hinged part at the two ends of each trailing arm cylinder 13 is perpendicular to the wheel carrier side plate 21; the two trailing arm cylinders 13 are communicated with the underwater hydraulic winch 3; the other end of the composite cable 4 sequentially passes through the bottom surface of the wide guide wheel component 6 and the bottom surface of the towing arm component 7 of the underwater hydraulic winch 3 and the oil cylinder towing framework, sequentially passes through the bottoms of the oil cylinder driving arm framework and the bracket 8 to the bottom of the buoy standard 1 and is connected to the inside of the buoy standard 1. The supporting rib plates 22 and the supporting rods 23 are welded between the two wheel frame side plates 21 to stabilize the integral structure of the towing wheel frame 19.

As shown in fig. 6, the trailing arm member 7 includes a trailing arm shaft cylinder 31, two trailing arm side plates 33, an oil cylinder driving shaft 34, a guide wheel 35, and two guide plates 36, the two trailing arm side plates 33 are arranged in parallel at intervals and parallel to the wheel carrier side plates 21, the trailing arm shaft cylinder 31 is horizontally installed between one ends of the two trailing arm side plates 33 and penetrates through the two wheel carrier side plates 21 so as to be hinged between the two wheel carrier side plates 21, and a trailing arm rib plate 32 is further provided, and the trailing arm rib plate 32 connects the outer side surface of the trailing arm shaft cylinder 31 and the two trailing arm side plates 33 for connection support; the oil cylinder driving shaft 34 is horizontally arranged between the middle parts of the two trailing arm side plates 33 and penetrates through the two wheel frame side plates 21, the length of the oil cylinder driving shaft 34 is larger than the distance between the two wheel frame side plates 21, two sides of the oil cylinder driving shaft 34 are supported on the side edges of the two wheel frame side plates 21 and are close to the oil cylinder driving arm framework, and piston rods at one end of the two trailing arm oil cylinders 13 are respectively hinged with two ends of the oil cylinder driving shaft 34; the center of the guide wheel 35 is horizontally and movably connected between the other ends of the two trailing arm side plates 33, the two guide plates 36 are vertically arranged at the other ends of the two trailing arm side plates 33 respectively and are opposite to each other, the guide wheel 35 is positioned between the two guide plates 36, the center distance from the edge of the guide plate 36 to the center of the guide wheel 35 is larger than the radius of the guide wheel 35, and the two guide plates 36 are outwards bent upwards so as to facilitate the composite cable 4 to enter the guide wheel 35; the towing arm member 7 is used for towing the composite cable 4 and correcting the towing angle of the composite cable 4; the other end of the composite cable 4 sequentially passes around the bottom surface of the wide guide wheel member 6 of the underwater hydraulic winch 3 and the cylinder towing frame and the bottom surface of the guide wheel 35 of the towing arm member 7.

Two signal triggers 5 are further mounted on one of the wheel frame side plates 21 and one of the trailing arm side plates 33 close to the wheel frame side plate, the signal triggers 5 comprise magnet assemblies 53 and magnetic switches 54, the two magnet assemblies 53 are mounted on the trailing arm side plate 33 at intervals, the two magnetic switches 54 are arranged on the wheel frame side plate 21 at intervals, and when the trailing arm member 7 rotates around the trailing arm shaft barrel 31 and the two magnet assemblies 53 pass through the two magnetic switches 54, the two magnet assemblies are opposite to the respective one of the magnetic switches 54; both magnetic switches 54 are electrically connected to an external PLC controller.

As shown in fig. 7, the bracket 8 includes a bracket bottom plate 37, a clamping cylinder 38, a positioning switch 39, a guide wheel assembly 40, four clamp arms 41, four saddles 42, two clamp arm rotating shafts 43 and four rollers 44, the bracket bottom plate 37 and the two clamp arm rotating shafts 43 are horizontally arranged along the length direction of the base 12, the bottom surfaces of the four saddles 42 are symmetrically arranged on the top surfaces of the four top corners of the bracket bottom plate 37, and one side surface of each saddle 42, which is close to the center of the bracket bottom plate 37, is bent toward the center of the bracket bottom plate 37; the bottom side of each saddle 42 near the oil cylinder driving arm framework is hinged with the root end of a respective clamping arm 41, the four clamping arms 41 are vertically arranged and bent towards the center of the bracket bottom plate 37, the tail end of each clamping arm 41 is hinged with the center of a respective roller 44, the central axis of the hinged position at two ends of each clamping arm 41 is perpendicular to the vertical surface of the base 12 in the length direction, the hinged positions at the root ends of each two opposite clamping arms 41 are synchronously connected through a clamping arm rotating shaft 43 parallel to the length direction of the base 12, and the root end bottoms of two opposite clamping arms 41 positioned at two sides of the length direction of the base 12 are respectively hinged with one end cylinder body and the other end piston rod of the clamping oil cylinder 38; the buoy body 1 is placed on the top surface of the bracket bottom plate 37 and is positioned between the four clamping arms 41 and the four saddles 42, the four idler wheels 44 are tightly clung to the top surface of the buoy body 1, the four saddles 42 are tightly clung to the bottom surface of the buoy body 1, the appearance of the buoy body 1 is streamline, and an antenna for communication and positioning is carried on the top; the clamping arm rotating shaft 43 ensures the synchronous movement of the front clamping arm 41 and the rear clamping arm 41 on the same side, the roller 44 is used for preventing the mark body from being scratched when the clamping arms 41 are clamped, the clamping oil cylinder 38 is used for controlling the clamping and the retraction of the root end of the clamping arms 41, and the saddle 42 is used for preventing the mark body from colliding with the bracket bottom plate 37 when being recovered and positioning and fixing the mark body; the positioning switch 39 and the guide wheel assembly 40 are arranged at the bottom of the bracket bottom plate 37, the guide wheel assembly 40 comprises two guide wheels which are arranged at intervals, the central shafts of the guide wheels are hinged at the bottom of the bracket bottom plate 37 and parallel to the bracket bottom plate 37, through grooves penetrating through the bracket bottom plate 37 are formed in the bracket bottom plate 37 between the positioning switch 39 and the two guide wheels, and the top ends of the positioning switch 39 are in pressure connection with the bottom surface of the buoy body 1; the bottom of the buoy body 1 is provided with a towing rope rocker arm 55, the towing rope rocker arm 55 passes through the bracket bottom plate 37 downwards and then is arranged between and clings to two guide wheels, and the guide wheel assembly 40 is used for guiding the towing rope rocker arm 55; the clamping cylinder 38 is communicated with the underwater hydraulic winch 3; the other end of the composite cable 4 is connected to a towing rope rocker 55 after passing through an oil cylinder towing framework, then penetrates from the bottom of the buoy body 1 and is connected to the interior of the buoy body 1, the composite cable 4 can be used for supplying power to the buoy body 1, controlling the buoy body 1 to act and transmitting acquisition signals, and an internal signal acquisition system can be replaced according to actual requirements; the positioning switch 39 is electrically connected with an external PLC controller, the inside of the positioning switch 39 is composed of a magnetic switch and a magnet assembly, a spring is arranged between the magnetic switch and the magnet assembly, when the buoy body is positioned, the buoy body can press down the magnet assembly, the spring is compressed at the moment, and the magnetic switch sends out an electric signal after detecting a magnetic field and is used for detecting the positioning state of the buoy body 1; the symmetrical two sides of the middle part of the bottom surface of the bracket bottom plate 37 are hinged on the oil cylinder driving arm framework, and the symmetrical two sides of one side of the bottom surface of the bracket bottom plate 37 away from the oil cylinder driving arm framework are hinged on one side of the driven arm member 9 away from the oil cylinder driving arm framework.

As shown in fig. 2 and 5, the oil cylinder driving arm structure comprises two retraction oil cylinders 10 and a driving arm member 11, the driving arm member 11 comprises two main reinforcement plates 25, six panels 26, four shaft seats 27, supporting rods 28 and a main shaft barrel 30, the two main reinforcement plates 25 are of an obtuse angle triangle structure, the two main reinforcement plates 25 are vertically and oppositely arranged at intervals and are parallel to a clamping arm rotating shaft 43, the six panels 26 are respectively arranged on three slat edges of the two main reinforcement plates 25 and are perpendicular to the main reinforcement plates 25 to form an i-shaped section, the four shaft seats 27 are respectively arranged at two included angles of the two main reinforcement plates 25 far away from the oil cylinder dragging structure, and the axes of the four shaft seats 27 are perpendicular to the main reinforcement plates 25; the stay bar 28 is connected between one sides of the two main rib plates 25 far away from the oil cylinder towing framework, and the main shaft barrel 30 is horizontally connected between the other included angles of the two main rib plates 25, namely the included angle between the shortest side and the longest side of the main rib plates 25; two ends of the main shaft barrel 30 are hinged to the top surface of the base 12 and close to the oil cylinder dragging framework, and two shaft seats 27 far away from the oil cylinder dragging framework are respectively hinged to two symmetrical sides in the middle of the bottom of a bracket bottom plate 37 of the bracket 8; the piston rods at one end of the two retraction cylinders 10 are respectively hinged to the other two shaft seats 27, the cylinder bodies at the other ends of the two retraction cylinders 10 are respectively hinged to the symmetrical two sides of the top surface of the base 12 and positioned between the main shaft barrel 30 and one side of the base 12 far away from the cylinder towing framework, the two retraction cylinders 10 are positioned on the symmetrical two sides of the two main reinforcement plates 25, the bracket bottom plate 37 is positioned between the two main reinforcement plates 25, and the central shafts of the hinged positions at the two ends of the two retraction cylinders 10 are perpendicular to the main reinforcement plates 25; the driving arm member 11 is further provided with an upper shaft seat rib plate 29, and the upper shaft seat rib plate 29 is welded between the shaft seat 27 and the main rib plate 25 opposite to the longest side for reinforcing the structural strength of the shaft seat. The two retraction cylinders 10 are communicated with the underwater hydraulic winch 3.

The driven arm member 9 is of a rectangular frame structure and is formed by welding steel plates and steel pipes, the steel pipes are welded between the two steel plates for connecting and supporting, two adjacent vertex angles on one side of the driven arm member 9 are hinged on two symmetrical sides of the bottom of a bracket bottom plate 37 of the bracket 8 and are positioned on one side of the bracket bottom plate 37 far away from an oil cylinder towing framework, and two adjacent vertex angles on the other side of the driven arm member 9 are hinged on two symmetrical sides of the bottom of the base 12 through two ends of a circular pipe connected between the two adjacent vertex angles and are positioned in the middle of the bracket bottom plate 37; the length of the driven arm member 9 is equal to the length of the longest side of the main gusset 25.

Two signal triggers 5 are further installed on the side top surface of one main rib plate 25 and the side top surface of the base 12 close to the main rib plate, the signal triggers 5 comprise a magnet assembly 53 and a magnetic switch 54, one magnet assembly 53 is installed on the shortest side of the main rib plate 25 through a mounting piece, the other magnet assembly 53 is installed on the longest side of the main rib plate 25, the two magnetic switches 54 are installed on the side top surface of the base 12 and are located on two sides of one end of the main shaft barrel 30, when the main arm member 11 rotates around the main shaft barrel 30, when the shortest side of the main rib plate 25 is close to the side top surface of the base 12, the magnet assembly 53 installed on the shortest side of the main rib plate 25 is opposite to one magnetic switch 54 when the longest side of the main rib plate 25 is close to the side top surface of the base 12, and the magnet assembly 53 installed on the longest side of the main rib plate 25 is opposite to the other magnetic switch 54; both magnetic switches 54 are electrically connected to an external PLC controller.

As shown in fig. 3, the base 12 includes a base frame 14, four retractable cylinder ear plates 16, two base reinforcing members 17 and two driving arm bearing seats 18, the base frame 14 is a rectangular connecting frame formed by two long channel steel and four short channel steel, the base reinforcing members 17 are vertically and oppositely welded near a third short channel steel beam outside the long channel steel, and threaded holes are formed in the base reinforcing members for installing the driving arm bearing seats 18; the two ends of the main shaft cylinder 30 are hinged on the base frame 14 through two base reinforcements 17 and two driving shaft bearing seats 18 which are arranged on the base frame 14; the cylinder bodies at the other ends of the two retractable cylinders 10 are hinged on the base frame 14 through four retractable cylinder lug plates 16; the base 12 further includes a plurality of lifting plates 15, and the two ends of the long channel steel are welded with the lifting plates 15, and each lifting plate 15 is welded at the periphery of the base frame 14, and is used for moving and transporting the base frame 14, etc.

As shown in fig. 8, the underwater hydraulic winch 3 includes a winch frame 45, a large gear, two pinions, a drum 46, a bidirectional screw 47, a cable-arranging head frame 48, a hydraulic cutter 49, a pressure compensator 50, two hydraulic motors 51, a photoelectric slip ring 52 and a sprocket mechanism, the drum 46 is installed in the winch frame 45, the central axis of the drum 46 is horizontal and perpendicular to the length direction of the base 12, one end of the central axis of the drum 46 is movably connected to the winch frame 45, the other end of the central axis of the drum 46 is synchronously connected to the center of the vertically arranged large gear and is further movably connected to the winch frame 45, the two hydraulic motors 51 and the photoelectric slip ring 52 are installed on one side of the winch frame 45 close to the large gear, the other end of the central axis of the drum 46 is synchronously connected to the moving end of the photoelectric slip ring 52, the two hydraulic motors 51 are installed below the photoelectric slip ring 52, the output shafts of the two hydraulic motors 51 are synchronously connected to the centers of the vertically arranged two pinions, the two pinions are located right below the large gear and are meshed with the large gear, and the fixed ends of the photoelectric slip ring 52 are respectively connected to the ends of the two hydraulic motors 51 far from the two pinions through the two connecting pieces to remain stationary; the chain wheel mechanism is arranged on one side of the winch frame 45 far away from the large gear, the bidirectional screw rod 47 is hinged in the winch frame 45, one end of the bidirectional screw rod 47 is hinged on the winch frame 45 in a horizontal direction and perpendicular to the length direction of the base 12, the other end of the bidirectional screw rod 47 is synchronously connected with one side of the chain wheel mechanism, the other side of the chain wheel mechanism is synchronously connected with one end of the central shaft of the roller 46, the bidirectional screw rod 47 is connected with the roller 46 through chain transmission, and the cable arranging headstock 48 is driven to transversely move along with the position of a cable; the cable arranging head frame 48 is arranged on the winch frame 45 through two connecting rods and is far away from the oil cylinder dragging frame, a lower cable arranging mode is adopted, one side, far away from the oil cylinder dragging frame, of the cable arranging head frame 48 is bent towards the roller 46 to form an outgoing channel, and the hydraulic cutter 49 is arranged on the cable arranging head frame 48; the pressure compensator 50 is arranged on the winch frame 45 and used for compensating the underwater pressure by the hydraulic system, and the hydraulic cutter 49, the pressure compensator 50, the bracket 8, the oil cylinder dragging framework and the oil cylinder driving framework are communicated with two hydraulic motors 51; the two hydraulic motors 51 and the photoelectric slip ring 52 are electrically connected with an external PLC controller; the drum 46 is provided with a plurality of annular grooves at intervals along the circumferential direction of the drum 46, one end of the composite cable 4 is electrically connected to the movable end of the photoelectric slip ring 52 and fixed on the side plate of the drum 46 through a rope pressing plate, and after being led out, the composite cable is sequentially wound around the annular grooves of the drum 46 and the bottom surface of the lead-out channel of the cable arranging head frame 48 and then led out from the bottom surface of the drum 46 to the oil cylinder dragging frame, and the hydraulic cutter 49 is close to the composite cable 4 on the cable arranging head frame 48 and is used for cutting the composite cable 4 in an emergency.

The sprocket mechanism comprises a large sprocket, a middle sprocket, a small sprocket and a chain, wherein the large sprocket and the two small sprockets are vertically arranged on the same vertical side face of the winch frame 45 at intervals, the central axes of the large sprocket and the two small sprockets are parallel to the central axis of the roller 46, the center of one small sprocket is synchronously connected with one end of the central axis of the roller 46, the center of the large sprocket is synchronously connected with the other end of the bidirectional screw rod 47, the other small sprocket is positioned between one small sprocket and the large sprocket, the chain is wound on the large sprocket and one small sprocket in a closing mode, and the upper side of the chain winds the bottom face of the other small sprocket to play a role of tightening the chain.

As shown in fig. 9, the drum 46 is further provided with a plurality of magnet assemblies 53, the winch frame 45 is further provided with two magnetic switches 54, each magnet assembly 53 is arranged on one side surface of the drum 46 close to the sprocket mechanism and uniformly spaced along the circumferential direction of the side surface of the drum 46, the two magnetic switches 54 are arranged on one end of the winch frame 45 close to each magnet assembly 53 at intervals, and the distance from each magnetic switch 54 to the central axis of the drum 46 is the same as the distance from each magnet assembly 53 to the central axis of the drum 46; the two magnetic switches 54 are electrically connected to an external PLC controller.

As shown in fig. 1 and 10, the buoy storing and retrieving device can be stored in the deep sea carrier cabin when in a non-working state for storing the buoy body 1, and the buoy body 1 is placed on the bracket bottom plate 37 of the bracket 8; when the buoy retraction storage device needs to release the buoy body 1, firstly, the underwater hydraulic winch 3 is switched to a tension mode, two hydraulic motors 51 of the underwater hydraulic winch 3 are controlled by an external PLC controller to further control piston rods of two retraction cylinders 10 and two trailing arm cylinders 13 to extend, so that the trailing arm member 7 rotates around the trailing arm shaft barrel 31, the driving arm member 11 rotates around the main shaft barrel 30, meanwhile, the photoelectric slip ring 52 is controlled to drive the central shaft of the roller 46 to rotate so as to loosen the composite cable 4, the roller 46 obtains the rotation angle of the roller 46 through each magnet assembly 53 and the magnetic switch 54 on the roller 46 during rotation so as to further control the loosening length of the composite cable 4, at the moment, the longest edges of two main ribs 25 of the driving arm member 11 and the driven arm member 9 rotate to a vertical state and lift the bracket 8, the bracket 8 is always kept horizontal, the magnet component 53 and the magnetic switch 54 of the signal trigger 5 on the trailing arm component 7 and the driving arm component 11 are opposite to each other, and output the positioning signals of the trailing arm component 7 and the driving arm component 11 to an external PLC controller, at the moment, the buoy retraction storage device releases the buoy body 1, the underwater hydraulic winch 3 is switched to a retraction mode, the piston rod is retracted through the clamping cylinder 38 to drive the root ends of the two clamping arms 41 to rotate, so that the two clamping arms 41 are far away from each other, the root ends of the other two clamping arms 41 are driven by the two clamping arm rotating shafts 43 to rotate, so that the other two clamping arms 41 are far away from each other, at the moment, the photoelectric slip ring 52 is controlled to drive the central shaft of the roller 46 to rotate, so as to further release the composite cable 4, the buoy body 1 is released from the bracket bottom plate 37 of the bracket 8, the buoy body 1 is far away from the positioning switch 39, the positioning switch 39 sends a release signal to the external PLC controller, the buoy body 1 is released, and then the bracket 8 is controlled to fall, and after the preset cable laying length of the composite cable 4 is reached, the hydraulic winch 3 brakes under water to finish the release of the buoy standard body 1.

When the buoy body 1 needs to be recovered, the bracket 8 is controlled to ascend, the underwater hydraulic winch 3 firstly pulls the buoy body 1 to be close to the bracket 8 through tightening the composite cable 4 in a retraction mode, the clamping oil cylinder 38 controls the clamping arm member to open, then the underwater hydraulic winch 3 continues to tighten the composite cable 4 until the buoy body 1 falls into the bracket 8, the buoy body 1 is pressed on the in-place switch 39, the in-place switch 39 sends an in-place signal to an external PLC controller, the underwater hydraulic winch 3 brakes, the clamping oil cylinder 38 controls the clamping arm member to fold and clamp the buoy body 1, then the underwater hydraulic winch 3 is switched to a tension mode, the bracket 8 is controlled to fall, the dragging arm oil cylinder 13 is controlled to retract the dragging arm member 7, and the underwater hydraulic winch 3 brakes to complete the recovery of the buoy body 1.

Claims

1. The utility model provides a buoy receive and releases storage device which characterized in that: the buoy comprises a buoy retraction frame (2), an underwater hydraulic winch (3) and a composite cable (4), wherein the buoy retraction frame (2) and the underwater hydraulic winch (3) are horizontally and oppositely arranged and are not in contact with each other, a buoy body (1) is placed on the buoy retraction frame (2), one end of the composite cable (4) is connected to the underwater hydraulic winch (3), the other end of the composite cable (4) sequentially winds the underwater hydraulic winch (3) and the buoy retraction frame (2) and then penetrates from the bottom of the buoy body (1) and is connected to the inside of the buoy body (1), and the buoy body (1) and the underwater hydraulic winch (3) are electrically connected through the composite cable (4); the buoy retraction frame (2) is communicated with the underwater hydraulic winch (3), and the underwater hydraulic winch (3) is electrically connected with an external PLC controller.

2. A buoy retraction storage device according to claim 1, wherein: the buoy retraction frame (2) comprises an oil cylinder dragging frame, a bracket (8), a driven arm member (9), an oil cylinder driving arm frame and a base (12), wherein the oil cylinder dragging frame, the oil cylinder driving arm frame and the driven arm member (9) are sequentially arranged on the top surface of the base (12) along the length direction of the base (12); the bracket (8) is arranged at the tops of the driven arm member (9) and the oil cylinder driving arm framework, and the buoy body (1) is arranged on the top surface of the bracket (8); the bracket (8), the oil cylinder dragging framework and the oil cylinder driving arm framework are communicated with the underwater hydraulic winch (3); the other end of the composite cable (4) sequentially passes through the underwater hydraulic winch (3) and the oil cylinder dragging framework, then sequentially penetrates through the bottoms of the oil cylinder driving arm framework and the bracket (8) to the bottom of the buoy standard body (1) and penetrates into the buoy standard body (1).

3. A buoy retraction storage device according to claim 2, wherein: the oil cylinder towing framework comprises a wide guide wheel component (6), a towing arm component (7), two towing arm oil cylinders (13) and a towing wheel frame (19), wherein the towing wheel frame (19) comprises a wheel frame bottom plate (20), two wheel frame side plates (21), a supporting rib plate (22), a supporting rod (23) and two towing arm oil cylinder lug plates (24), the wheel frame bottom plate (20) is horizontally arranged on the top surface of one side of the base (12) and is close to the underwater hydraulic winch (3), the two wheel frame side plates (21) are vertically and parallelly arranged on the symmetrical two sides of the top surface of the wheel frame bottom plate (20) and are parallel to the length direction of the base (12), the supporting rib plate (22) and the supporting rod (23) are horizontally and vertically arranged between the two wheel frame side plates (21), the supporting rib plate (22) and the supporting rod (23) are respectively connected to the top and the middle of the two wheel frame side plates (21), and through holes are formed in the wheel frame bottom plate (20) and are positioned between the two wheel frame side plates (21); the two trailing arm oil cylinder lug plates (24) are vertically and parallelly arranged on the top surface of the wheel frame bottom plate (20) and positioned on one side close to the oil cylinder driving arm framework, and the two wheel frame side plates (21) are positioned between the two trailing arm oil cylinder lug plates (24) and are respectively arranged at intervals in parallel with the respectively close trailing arm oil cylinder lug plates (24); the wide guide wheel component (6) is in a roller structure, and the center of the wide guide wheel component (6) is horizontally and movably connected between the lower parts of the two wheel carrier side plates (21); one end of the trailing arm component (7) is horizontally hinged between the two wheel frame side plates (21) and positioned between the supporting rib plate (22) and the supporting rod (23), and the other end of the trailing arm component (7) is positioned at one side of the wide guide wheel component (6) and is close to the oil cylinder driving arm framework; piston rods at one end of each of the two trailing arm cylinders (13) are respectively hinged to two symmetrical sides of the middle part of the trailing arm member (7), each wheel frame side plate (21) and a cylinder body at the other end of each trailing arm cylinder (13) are hinged between one adjacent trailing arm cylinder lug plate (24), and the axle center of the hinged part at the two ends of each trailing arm cylinder (13) is perpendicular to the wheel frame side plate (21); the two trailing arm cylinders (13) are communicated with the underwater hydraulic winch (3); the other end of the composite cable (4) sequentially passes through the bottom surface of the wide guide wheel component (6) of the underwater hydraulic winch (3) and the oil cylinder towing framework and the bottom surface of the towing arm component (7), then sequentially penetrates through the bottoms of the oil cylinder driving arm framework and the bracket (8) to the bottom of the buoy standard body (1) and penetrates into the buoy standard body (1).

4. A buoy retraction storage device according to claim 3, wherein: the drag arm component (7) comprises a drag arm shaft cylinder (31), two drag arm side plates (33), an oil cylinder driving shaft (34), a guide wheel (35) and two guide plates (36), wherein the two drag arm side plates (33) are arranged at intervals in parallel and parallel to the wheel frame side plates (21), the drag arm shaft cylinder (31) is horizontally arranged between one ends of the two drag arm side plates (33) and penetrates through the two wheel frame side plates (21) so as to be hinged between the two wheel frame side plates (21); the oil cylinder driving shaft (34) is horizontally arranged between the middle parts of the two trailing arm side plates (33) and penetrates through the two wheel frame side plates (21), the length of the oil cylinder driving shaft (34) is larger than the distance between the two wheel frame side plates (21), two sides of the oil cylinder driving shaft (34) are supported on the side edges of the two wheel frame side plates (21) and are close to the oil cylinder driving arm framework, and piston rods at one ends of the two trailing arm oil cylinders (13) are respectively hinged with two ends of the oil cylinder driving shaft (34); the centers of the guide wheels (35) are horizontally and movably connected between the other ends of the two trailing arm side plates (33), the two guide plates (36) are vertically arranged at the other ends of the two trailing arm side plates (33) respectively and are opposite to each other, and the guide wheels (35) are positioned between the two guide plates (36); the other end of the composite cable (4) sequentially winds the bottom surface of a wide guide wheel component (6) of the underwater hydraulic winch (3) and the oil cylinder towing framework and the bottom surface of a guide wheel (35) of the towing arm component (7);

Two signal triggers (5) are further mounted on one wheel frame side plate (21) and one dragging arm side plate (33) close to the wheel frame side plate, each signal trigger (5) comprises a magnet assembly (53) and a magnetic switch (54), the two magnet assemblies (53) are mounted on the dragging arm side plate (33) at intervals, the two magnetic switches (54) are arranged on the wheel frame side plate (21) at intervals, and when the dragging arm component (7) rotates around the dragging arm shaft cylinder (31) and the two magnet assemblies (53) respectively face to one magnetic switch (54) through the two magnetic switches (54); both magnetic switches (54) are electrically connected to an external PLC controller.

5. A buoy retraction storage device according to claim 2, wherein: the bracket (8) comprises a bracket bottom plate (37), a clamping cylinder (38), a positioning switch (39), a guide wheel assembly (40), four clamping arms (41), four saddles (42), two clamping arm rotating shafts (43) and four rollers (44), wherein the bracket bottom plate (37) and the two clamping arm rotating shafts (43) are horizontally arranged along the length direction of the base (12), the bottom surfaces of the four saddles (42) are symmetrically arranged on the top surfaces of four top angles of the bracket bottom plate (37), and one side surface of each saddle (42) close to the center of the bracket bottom plate (37) is bent towards the center of the bracket bottom plate (37); the bottom side surface of each saddle (42) close to the oil cylinder driving arm framework is hinged with the root end of a respective clamping arm (41), the four clamping arms (41) are vertically arranged and bent towards the center of a bracket bottom plate (37), the tail end of each clamping arm (41) is hinged with the center of a respective roller (44), the central axis of the hinged position at the two ends of each clamping arm (41) is perpendicular to the vertical surface of the base (12), the hinged position at the root end of each two opposite clamping arms (41) is synchronously connected through a clamping arm rotating shaft (43) parallel to the length direction of the base (12), and the root end bottoms of two opposite clamping arms (41) positioned at two sides of the length direction of the base (12) are respectively hinged with one end cylinder body and the other end piston rod of the clamping oil cylinder (38); the buoy body (1) is arranged on the top surface of the bracket bottom plate (37) and positioned between the four clamping arms (41) and the four saddles (42), the four rollers (44) are clung to the top surface of the buoy body (1), and the four saddles (42) are clung to the bottom surface of the buoy body (1); the locating switch (39) and the guide wheel assembly (40) are arranged at the bottom of the bracket bottom plate (37), the guide wheel assembly (40) comprises two guide wheels which are arranged at intervals, the central shaft of each guide wheel is hinged at the bottom of the bracket bottom plate (37) and parallel to the bracket bottom plate (37), through grooves penetrating through the bracket bottom plate (37) are formed in the bracket bottom plate (37) between the locating switch (39) and the two guide wheels, and the top end of the locating switch (39) is in pressure connection with the bottom surface of the buoy body (1); the bottom of the buoy body (1) is provided with a towing rope rocker arm (55), and the towing rope rocker arm (55) downwards passes through the bracket bottom plate (37) and is arranged between and clings to the two guide wheels; the clamping oil cylinder (38) is communicated with the underwater hydraulic winch (3); the other end of the composite cable (4) is connected to a towing rope rocker arm (55) after passing through an oil cylinder towing framework and then penetrates from the bottom of the buoy body (1) and is connected to the inside of the buoy body (1); the in-place switch (39) is electrically connected with an external PLC controller; the symmetrical two sides of the middle part of the bottom surface of the bracket bottom plate (37) are hinged on the oil cylinder driving arm framework, and the symmetrical two sides of one side of the bottom surface of the bracket bottom plate (37) away from the oil cylinder driving arm framework are hinged on one side of the driven arm component (9) away from the oil cylinder driving arm framework.

6. The buoy retraction storage device of claim 5 wherein: the oil cylinder driving arm support structure comprises two retraction oil cylinders (10) and a driving arm component (11), the driving arm component (11) comprises two main reinforcement plates (25), six panels (26), four shaft seats (27), a supporting rod (28) and a main shaft barrel (30), the two main reinforcement plates (25) are of an obtuse angle triangle structure, the two main reinforcement plates (25) are vertically opposite to each other and are arranged in parallel with an arm clamping rotating shaft (43), the six panels (26) are respectively arranged on three edges of each of the two main reinforcement plates (25) and are perpendicular to the main reinforcement plates (25), the four shaft seats (27) are respectively arranged at two included angles of the two main reinforcement plates (25) far away from the oil cylinder dragging structure, and the shaft centers of the four shaft seats (27) are perpendicular to the main reinforcement plates (25); the stay bar (28) is connected between one sides of the two main reinforcement plates (25) far away from the oil cylinder towing framework, and the main shaft barrel (30) is horizontally connected between the other included angles of the two main reinforcement plates (25), namely the included angle between the shortest side and the longest side of the main reinforcement plates (25); two ends of the main shaft cylinder (30) are hinged to the top surface of the base (12) and close to the oil cylinder dragging framework, and two shaft seats (27) far away from the oil cylinder dragging framework are respectively hinged to two symmetrical sides in the middle of the bottom of a bracket bottom plate (37) of the bracket (8); the piston rods at one end of the two retraction cylinders (10) are respectively hinged to the other two shaft seats (27), the cylinder bodies at the other ends of the two retraction cylinders (10) are respectively hinged to the symmetrical two sides of the top surface of the base (12) and positioned between the main shaft cylinder (30) and one side of the base (12) far away from the cylinder dragging framework, the two retraction cylinders (10) are positioned on the symmetrical two sides of the two main reinforcement plates (25), the bracket bottom plate (37) is positioned between the two main reinforcement plates (25), and the central shafts of the hinged positions at the two ends of the two retraction cylinders (10) are perpendicular to the main reinforcement plates (25); the two retraction cylinders (10) are communicated with the underwater hydraulic winch (3);

The driven arm component (9) is of a rectangular frame structure, two adjacent vertex angles on one side of the driven arm component (9) are hinged to two symmetrical sides of the bottom of a bracket bottom plate (37) of the bracket (8) and are positioned on one side of the bracket bottom plate (37) far away from the oil cylinder dragging framework, and two adjacent vertex angles on the other side of the driven arm component (9) are hinged to two symmetrical sides of the bottom of the base (12) through two ends of a circular tube connected between the two adjacent vertex angles and are positioned in the middle of the bracket bottom plate (37); the length of the driven arm member (9) is equal to the length of the longest side of the main rib plate (25);

two signal triggers (5) are further arranged on the side top surface of one main rib plate (25) and the base (12) close to the main rib plate, the signal triggers (5) comprise magnet assemblies (53) and magnetic switches (54), one magnet assembly (53) is arranged on the shortest side of the main rib plate (25) through a mounting piece, the other magnet assembly (53) is arranged on the longest side of the main rib plate (25), the two magnetic switches (54) are arranged on the side top surface of the base (12) and are positioned on two sides of one end of the main shaft barrel (30), when the main arm component (11) rotates around the main shaft barrel (30), when the shortest side of the main rib plate (25) is close to the side top surface of the base (12), the magnet assembly (53) arranged on the shortest side of the main rib plate (25) is opposite to the magnetic switch (54), and when the longest side of the main rib plate (25) is close to the side top surface of the base (12), the magnet assembly (53) arranged on the longest side of the main rib plate (25) is opposite to the other magnetic switch (54); both magnetic switches (54) are electrically connected to an external PLC controller.

7. A buoy retraction storage device according to claim 2, wherein: the underwater hydraulic winch (3) comprises a winch frame (45), a large gear, two pinions, a roller (46), a bidirectional screw (47), a cable arranging headstock (48), a hydraulic cutter (49), a pressure compensator (50), two hydraulic motors (51), a photoelectric slip ring (52) and a chain wheel mechanism, wherein the roller (46) is arranged in the winch frame (45), the central shaft of the roller (46) is horizontal and vertical to the length direction of a base (12), one end of the central shaft of the roller (46) is movably connected to the winch frame (45), the other end of the central shaft of the roller (46) is synchronously connected with the center of the vertically arranged large gear and then is movably connected to the winch frame (45), the two hydraulic motors (51) and the photoelectric slip ring (52) are arranged on one side, close to the large gear, the other end of the central shaft of the roller (46) is synchronously connected with the movable end of the photoelectric slip ring (52), the two hydraulic motors (51) are arranged below the photoelectric slip ring (52), the output shafts of the two hydraulic motors (51) are synchronously connected with the centers of the vertically arranged pinions, and the two pinions are positioned below the two pinions and are meshed with the two end parts of the two pinions (52) and are respectively meshed with the two pinions; the chain wheel mechanism is arranged on one side of the winch frame (45) far away from the large gear, the bidirectional screw rod (47) is hinged in the winch frame (45), the bidirectional screw rod (47) is horizontal and vertical to the length direction of the base (12), one end of the bidirectional screw rod (47) is hinged on the winch frame (45), the other end of the bidirectional screw rod (47) is synchronously connected with one side of the chain wheel mechanism, and the other side of the chain wheel mechanism is synchronously connected with one end of the central shaft of the roller (46); the cable arranging head frame (48) is arranged on the winch frame (45) through two connecting rods and is far away from the oil cylinder dragging frame, one side of the cable arranging head frame (48) far away from the oil cylinder dragging frame is bent towards the roller (46) to form an outlet channel, and the hydraulic cutter (49) is arranged on the cable arranging head frame (48); the pressure compensator (50) is arranged on the winch frame (45), and the hydraulic cutter (49), the pressure compensator (50), the bracket (8), the oil cylinder dragging framework and the oil cylinder driving framework are communicated with two hydraulic motors (51); the two hydraulic motors (51) and the photoelectric slip ring (52) are electrically connected with an external PLC; the circumference along cylinder (46) on cylinder (46) is equipped with the annular groove of a plurality of intervals, and compound cable (4) one end electricity is connected to the moving end of photoelectricity sliding ring (52) and draws forth the back and winds ring groove and the draw-out way bottom surface of arranging cable headstock (48) of cylinder (46) in proper order and then draws forth to hydro-cylinder drag the framework from the bottom surface of cylinder (46), and hydraulic cutter (49) are close to compound cable (4) on arranging cable headstock (48).

8. The buoy retraction storage device of claim 7 wherein: the chain wheel mechanism comprises a large chain wheel, a middle chain wheel, a small chain wheel and a chain, wherein the large chain wheel and the two small chain wheels are vertically arranged on the same vertical side face of a winch frame (45) at intervals, the central shafts of the large chain wheel and the two small chain wheels are parallel to the central shaft of a roller (46), the center of one small chain wheel is synchronously connected with one end of the central shaft of the roller (46), the center of the large chain wheel is synchronously connected with the other end of a bidirectional screw rod (47), the other small chain wheel is positioned between one small chain wheel and the large chain wheel, the chain is wound on the large chain wheel and one small chain wheel in a closing mode, and the upper side of the chain is wound on the bottom face of the other small chain wheel.

9. The buoy retraction storage device of claim 7 wherein: a plurality of magnet assemblies (53) are further arranged on the roller (46), two magnetic switches (54) are further arranged on the winch frame (45), each magnet assembly (53) is arranged on one side surface of the roller (46) close to the chain wheel mechanism and is uniformly arranged at intervals along the circumferential direction of the side surface of the roller (46), the two magnetic switches (54) are arranged at intervals on one end of the winch frame (45) close to each magnet assembly (53), and the distance from each magnetic switch (54) to the central shaft of the roller (46) is the same as the distance from each magnet assembly (53) to the central shaft of the roller (46); the two magnetic switches (54) are electrically connected with an external PLC controller.

10. A method of controlling a buoy retraction storage device according to any one of claims 1 to 9, wherein: when the buoy storing and retrieving device is in a non-working state, the buoy body (1) is placed on a bracket bottom plate (37) of the bracket (8); when the buoy retraction storage device needs to release the buoy standard body (1), firstly, the underwater hydraulic winch (3) is switched to a tension mode, two hydraulic motors (51) of the underwater hydraulic winch (3) are controlled by an external PLC controller to further control piston rods of two retraction cylinders (10) and two trailing arm cylinders (13) to extend, so that the trailing arm member (7) rotates around the trailing arm shaft cylinder (31), the driving arm member (11) rotates around the main shaft cylinder (30), meanwhile, the photoelectric slip ring (52) is controlled to drive the central shaft of the drum (46) to rotate and further release the composite cable (4), the drum (46) obtains the rotation angle of the drum (46) through each magnet assembly (53) and a magnetic switch (54) on the drum (46) during rotation, and further controls the release length of the composite cable (4), at the moment, the longest edges of two main ribs (25) of the driving arm member (11) and the driven arm member (9) rotate to a vertical state and lift the bracket (8), the bracket (8) is always kept horizontal, the trailing arm member (7) and the driving arm member (11) trigger the central shaft of the drum (46) to rotate and further release the composite cable (4), and the magnet assemblies (53) on the driving arm member (11) trigger the buoy (11) to be in position when the drum (46) rotates, and the buoy (46) is in position, the signal is released by the magnetic switch (54) and the outer device is controlled to release the buoy (1), switching the underwater hydraulic winch (3) to a retraction mode, retracting a piston rod through a clamping oil cylinder (38) to drive the root ends of two clamping arms (41) to rotate so that the two clamping arms (41) are far away from each other, driving the root ends of the other two clamping arms (41) to rotate through two clamping arm rotating shafts (43) so that the other two clamping arms (41) are far away from each other, driving the central shaft of a roller (46) to rotate through a control photoelectric slip ring (52) at the moment so as to continuously loosen the composite cable (4), releasing the buoy body (1) from a bracket bottom plate (37) of a bracket (8), releasing the buoy body (1) from a positioning switch (39), sending a release signal to an external PLC (programmable logic controller) by the positioning switch (39), releasing the buoy body (1), and then controlling the bracket (8) to drop, and after reaching the preset cable releasing length of the composite cable (4), braking of the underwater hydraulic winch (3) to finish releasing the buoy body (1).

When the buoy body (1) needs to be recovered, firstly, the bracket (8) is controlled to ascend, the underwater hydraulic winch (3) is firstly pulled to be close to the bracket (8) through the tightening of the composite cable (4) in a retraction mode, meanwhile, the clamping arm component is controlled to be opened by the clamping oil cylinder (38), then, the underwater hydraulic winch (3) continues to tighten the composite cable (4) until the buoy body (1) falls into the bracket (8), the buoy body (1) is pressed on the positioning switch (39), the positioning switch (39) sends a positioning signal to an external PLC controller, the underwater hydraulic winch (3) brakes, meanwhile, the clamping oil cylinder (38) controls the clamping arm component to be folded to clamp the buoy body (1), then, the underwater hydraulic winch (3) is switched to a tension mode, the bracket (8) is controlled to fall down, the dragging arm component (7) is controlled to be retracted by the dragging arm oil cylinder (13), and the underwater hydraulic winch (3) brakes to complete the recovery of the buoy body (1).