CN117602522A - Folding arm crane is retrieved to unmanned ship of compact - Google Patents
Folding arm crane is retrieved to unmanned ship of compact Download PDFInfo
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- CN117602522A CN117602522A CN202410085909.5A CN202410085909A CN117602522A CN 117602522 A CN117602522 A CN 117602522A CN 202410085909 A CN202410085909 A CN 202410085909A CN 117602522 A CN117602522 A CN 117602522A
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- lifting
- arm
- folding arm
- guide wheel
- assembly
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- 230000007246 mechanism Effects 0.000 claims abstract description 26
- 238000011084 recovery Methods 0.000 claims abstract description 18
- 230000000712 assembly Effects 0.000 claims abstract description 16
- 238000000429 assembly Methods 0.000 claims abstract description 16
- 238000004804 winding Methods 0.000 claims description 28
- 230000001154 acute effect Effects 0.000 claims description 6
- 230000008602 contraction Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 2
- 230000001360 synchronised effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
- B66C23/52—Floating cranes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/64—Jibs
- B66C23/68—Jibs foldable or otherwise adjustable in configuration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Jib Cranes (AREA)
Abstract
The invention provides a compact unmanned ship recovery folding arm crane, which belongs to the technical field of ship equipment and comprises two lifting assemblies and winch mechanisms, wherein the two lifting assemblies are used for lifting a lifting mounting plate loaded with an unmanned ship and are oppositely arranged, the winch mechanisms are arranged between the two lifting assemblies, the two lifting assemblies are identical in structural arrangement, the structure of the two lifting assemblies comprises a supporting frame, a folding arm assembly and a lifting cylinder, the folding arm assembly is connected with the movable end of the lifting cylinder, lifting ropes are wound on the winch mechanisms, the other ends of the two lifting ropes are respectively wound on the two folding arm assemblies and are fixed on the opposite sides of the lifting mounting plate after being stretched out, and the lifting of the unmanned ship is realized through the winch mechanisms. According to the invention, the lifting mounting plate and the winch mechanism are positioned between the two lifting assemblies, so that the crane is more compact and occupies smaller volume, and synchronous lifting of two sides of the lifting mounting plate is realized.
Description
Technical Field
The invention relates to the technical field of unmanned ship recovery, in particular to a compact unmanned ship recovery folding arm crane.
Background
With the development of technology, unmanned ship technology has become an important technology in the field of ocean engineering. An unmanned ship, also known as an autonomous navigational ship, is a ship that can navigate without a human pilot. Such watercraft achieve autopilot through the use of various sensors, navigation systems and autonomous decision making algorithms. After completion of various tasks, these unmanned vessels need to be recovered for maintenance and reuse.
In the recovery of unmanned vessels, a crane needs to be provided on the mother vessel, and the crane for recovering unmanned vessels is often required to be designed to be small-sized to reduce the occupied space because of the limited deck space of the mother vessel. Miniaturized cranes typically have lighter weight and smaller dimensions, which make them easier to install and handle on deck. To further reduce the space occupation, the design of the crane requires a high degree of integration, which means that the various parts of the crane, such as the hoisting mechanism, the rotation mechanism, the luffing mechanism, etc., can be compactly combined together, thereby reducing the overall size.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the compact unmanned ship recovery folding arm crane, and the structural design of the folding arm realizes the larger rotation angle range of the folding arm and the main arm, further realizes the larger transverse coverage of the lifting point and can meet the requirement of miniaturization of the crane during unmanned ship recovery.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the utility model provides a compact unmanned ship retrieves and rolls over arm hoist, includes winch mechanism, the connection winch mechanism of power and is used for placing unmanned ship's lift string, the lifting subassembly that is connected with the lift string of lifting mounting plate, the quantity of lifting subassembly is two, two lifting subassembly structure sets up the same;
the left lifting assembly and the right lifting assembly comprise a supporting frame, a folding arm assembly, a limiting block, a rotating shaft and a hinging seat, wherein the folding arm assembly is rotatably supported on the supporting frame through the rotating shaft, the movable end of a lifting cylinder drives the folding arm assembly to rotate and realize contraction and expansion, and the base of the lifting cylinder is rotatably arranged on the supporting frame through the hinging seat;
the folding arm assembly comprises a driving arm and a folding arm, when the folding arm assembly is in an extending state, the folding arm rotates to one side of the driving arm and has an included angle of approximately 90 degrees, and when the folding arm assembly is in a contracting state, the folding arm rotates to the other side of the driving arm and has an included angle of an acute angle;
the support frame is provided with a guide wheel assembly, the folding arm is provided with a guide wheel assembly, one end of the lifting rope is connected with the lifting mounting plate through the lifting hook assembly, and the other end of the lifting rope is wound on the winch mechanism after sequentially bypassing the guide wheel assembly and the guide wheel assembly on the left lifting assembly and the right lifting assembly;
lifting ropes stretched out by folding arm assemblies on the left lifting assembly and the right lifting assembly are connected to two sides of the lifting mounting plate, and the folding arm assemblies are contracted and stretched, so that the horizontal positions of initial lifting points of the lifting ropes can be changed, and lifting operations of unmanned ship lifting rope fixing assemblies at different horizontal positions are realized.
Further, the left lifting assembly and the right lifting assembly further comprise bearing rails, the folding arm assembly further comprises a supporting arm, a folding arm shaft, a supporting shaft and a guide wheel shaft, the guide wheel assembly comprises a first guide wheel, a second guide wheel and a third guide wheel which are arranged on the supporting frame, and the guide wheel assembly comprises a first guide wheel and a second guide wheel which are arranged on the folding arm;
the bearing rail comprises a first limiting block, a second limiting block, a guide rail body and a bearing sliding block, wherein the guide rail body is arranged on the upper part of the supporting frame, the first limiting block and the second limiting block are respectively arranged at two ends of the guide rail body, the section of the guide rail body is of an inverted T shape, the bearing sliding block is slidably arranged in an inverted T-shaped slideway of the guide rail body, and the bearing sliding block is positioned between the first limiting block and the second limiting block to slide;
the bearing slide block is rotatably provided with a supporting arm through a supporting shaft, the supporting arm is fixedly provided with a folding arm through a folding arm shaft, and a fixed angle is formed between the supporting arm and the folding arm, namely the folding arm can not rotate relative to the supporting arm;
one end of the driving arm is rotatably arranged on the supporting frame through a rotating shaft, the other end of the driving arm is rotatably arranged on the folding arm shaft, a piston rod of the lifting cylinder is hinged with the driving arm, and a cylinder barrel of the lifting cylinder is rotatably arranged on the supporting frame through a hinging seat;
the lifting cylinder drives the driving arm to rotate, so that the bearing sliding block is driven to slide in the guide rail body, and meanwhile, the whole body formed by the supporting arm and the folding arm rotates relative to the bearing sliding block, so that the folding arm contracts and extends relative to the driving arm.
Further, a first rope guide wheel is rotatably arranged on the folding arm shaft, and a second rope guide wheel is rotatably arranged on the other end, far away from the folding arm shaft, of the folding arm through a guide wheel shaft;
a first guide wheel is arranged at the position, close to the first limiting block of the bearing rail, of the support frame, and when the bearing sliding block abuts against the first limiting block, the position of the first guide wheel is lower than the first guide wheel;
a second guide wheel is arranged on the support frame below the first guide wheel, the lifting rope extends downwards in an approximately vertical direction after leaving the first guide wheel, and then the lifting rope is wound on the second guide wheel;
the lifting rope is arranged on the supporting frame, the second guide wheel is arranged at the same height as the lifting rope, the lifting rope is arranged on the supporting frame, the lifting rope leaves the second guide wheel and extends to the third guide wheel in an approximately horizontal direction, and the lifting rope bypasses the third guide wheel and extends to the winch mechanism in an approximately horizontal direction.
Further, the winch mechanism comprises a driving motor, a winding drum seat, a first winding drum, a flange plate and a second winding drum, wherein the first winding drum and the second winding drum are rotatably arranged on the winding drum seat, the first winding drum and the second winding drum are fixedly connected and coaxially rotate, the flange plate is arranged in the middle of the first winding drum and the second winding drum, and the driving motor drives the first winding drum and the second winding drum to jointly rotate;
the lifting rope is wound on the first winding drum after leaving from a third guide wheel on the right lifting assembly;
the lifting rope is wound on the second winding drum after leaving from a third guide wheel on the left lifting assembly;
the winding direction of the lifting rope on the first winding drum is opposite to the winding direction on the second winding drum.
Further, the distance between the upper folding arm shaft of the driving arm and the rotating shaft is L, the vertical distance between the rotating shaft and the bearing rail is H, and the constraint relation L > H is satisfied;
when the driving arm rotates from the left limit position to the right limit position, the supporting arm rotates from the lower part of the bearing rail to the upper part of the bearing rail;
when the driving arm is at the right limit position, the included angle between the supporting arm and the bearing rail is A, wherein A is an acute angle smaller than 30 degrees;
when the driving arm moves leftwards from the right limit position, the driving arm drives the bearing sliding block to slide leftwards in the guide rail body through the supporting arm;
when the driving arm is at the left limit position, the included angle between the folding arm and the driving arm is a, and when the driving arm is at the right limit position, the included angle between the folding arm and the driving arm is b;
the maximum angle at which the folding arm can rotate relative to the driving arm is a+b.
Further, a limiting block is arranged on the supporting frame, when the folding arm assembly is in a contracted state, the limiting block is abutted to the lower portion of the driving arm, the folding arm is in a non-vertical state, and the second rope guiding wheel is located on one side, away from the first guiding wheel, of the first rope guiding wheel in the horizontal direction, so that the lifting rope cannot be separated from the second rope guiding wheel.
Compared with the prior art, the invention provides the compact unmanned ship recovery folding arm crane, which has the following beneficial effects:
1. the structure of the driving arm, the supporting arm and the folding arm realizes the larger rotation range of the folding arm relative to the driving arm, the folding arm in the prior art only enables the included angle between the folding arm and the driving arm to be zero to the greatest extent when the folding arm is contracted, and the folding arm in the invention can realize the negative included angle between the folding arm and the driving arm, namely, the folding arm is arranged on one side of the driving arm when the folding arm assembly is in an extending state, the included angle between the folding arm and the driving arm is positive, and the included angle between the folding arm and the driving arm is arranged on the opposite side of the driving arm when the folding arm assembly is in a contracting state, so that the folding arm assembly can realize larger transverse coverage of a hanging point through smaller volume.
2. According to the invention, the first guide wheel and the limiting block are arranged at the positions, and when the folding arm assembly is contracted, the lifting rope can be prevented from being separated from the first guide rope wheel by making the first guide wheel lower than the first guide rope wheel; when the folding arm assembly is contracted, the second rope guiding wheel is located on one side, far away from the first rope guiding wheel, of the first rope guiding wheel, so that the lifting rope can be prevented from being separated from the second rope guiding wheel.
3. The left lifting assembly and the right lifting assembly are symmetrically arranged, and the lifting mounting plate is positioned between the left lifting assembly and the right lifting assembly, so that the crane is more compact and occupies smaller volume, and simultaneously, the lifting ropes on the left lifting assembly and the right lifting assembly are synchronously driven by one winch mechanism, so that synchronous lifting of two sides of the lifting mounting plate is realized, and the situation that the lifting mounting plate is inclined in the lifting process is prevented.
Drawings
FIG. 1 is a schematic view of an unmanned ship recovery folding arm crane of the present invention;
FIG. 2 is a schematic view of the whole structure of the folding arm crane of the present invention;
FIG. 3 is a schematic top view of the folding arm crane of the present invention;
FIG. 4 is a schematic view of a lift assembly of one side of the present invention;
FIG. 5 is a schematic view of the folding arm assembly of the present invention when retracted;
FIG. 6 is a schematic view of the folding arm assembly of the present invention when unfolded;
FIG. 7 is a partial schematic view of the present invention at a load rail;
FIG. 8 is a partial schematic view of the winch mechanism of the present invention;
fig. 9 is a transmission schematic diagram of the folding arm assembly of the present invention, wherein a portion a in fig. 9 is a schematic diagram of the driving arm in a right limit position, a portion B in fig. 9 is a schematic diagram of the driving arm in an intermediate position, and a portion C in fig. 9 is a schematic diagram of the driving arm in a left limit position;
in the figure: the left lifting assembly 1, the supporting frame 101, the bearing rail 102, the first limiting block 1021, the second limiting block 1022, the guide rail body 1023, the bearing slide block 1024, the first guide wheel 103, the second guide wheel 104, the third guide wheel 105, the folding arm assembly 11, the lifting cylinder 111, the driving arm 112, the supporting arm 113, the folding arm 114, the first guide wheel 115, the second guide wheel 116, the folding arm shaft 117, the supporting shaft 118, the guide wheel shaft 119, the limiting block 12, the rotating shaft 13, the hinge seat 14, the right lifting assembly 2, the winch mechanism 3, the driving motor 31, the drum seat 32, the first drum 33, the flange 34, the second drum 35, the lifting rope 36, the lifting mounting plate 4 and the unmanned ship lifting rope fixing assembly 5.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention is described in detail below according to fig. 1-9, and the compact unmanned ship recovery folding arm crane comprises a left lifting assembly 1, a right lifting assembly 2, a winch mechanism 3 and a lifting mounting plate 4, wherein the left lifting assembly 1 and the right lifting assembly 2 have the same structure and are symmetrically arranged at two sides of the winch mechanism 3 and the lifting mounting plate 4;
the left lifting assembly 1 and the right lifting assembly 2 comprise a supporting frame 101, a folding arm assembly 11, a limiting block 12, a rotating shaft 13 and a hinging seat 14, wherein the folding arm assembly 11 is rotatably supported on the supporting frame 101 through the rotating shaft 13, the movable end of a lifting cylinder 111 drives the folding arm assembly 11 to rotate and realize contraction and expansion, and the base part of the lifting cylinder 111 is rotatably arranged on the supporting frame 101 through the hinging seat 14;
the folding arm assembly 11 comprises a driving arm 112 and a folding arm 114, when the folding arm assembly 11 is in an extended state, the folding arm 114 rotates to one side of the driving arm 112 and has an included angle of approximately 90 degrees, and when the folding arm assembly 11 is in a contracted state, the folding arm 114 rotates to the other side of the driving arm 112 and has an included angle of an acute angle;
a guide wheel assembly is arranged on the supporting frame 101, a rope guiding wheel assembly is arranged on the folding arm 114, one end of the lifting rope 36 is connected with the lifting mounting plate 4 through a lifting hook assembly, and the other end of the lifting rope is wound on the winch mechanism 3 after sequentially bypassing the rope guiding wheel assemblies and the guide wheel assemblies on the left lifting assembly 1 and the right lifting assembly 2;
lifting ropes 36 extending from folding arm assemblies 11 on the left lifting assembly 1 and the right lifting assembly 2 are connected to two sides of the lifting mounting plate 4, and the folding arm assemblies 11 can be contracted and expanded to change the horizontal positions of initial lifting points of the lifting ropes 36 so as to realize lifting operation of the unmanned ship lifting rope fixing assembly 5 at different horizontal positions.
Further, the left lifting assembly 1 and the right lifting assembly 2 further comprise a bearing rail 102, the folding arm assembly 11 further comprises a supporting arm 113, a folding arm shaft 117, a supporting shaft 118 and a guide wheel shaft 119, the guide wheel assembly comprises a first guide wheel 103, a second guide wheel 104 and a third guide wheel 105 which are arranged on the supporting frame 101, and the guide wheel assembly comprises a first guide wheel 115 and a second guide wheel 116 which are arranged on the folding arm 114;
the bearing rail 102 comprises a first limiting block 1021, a second limiting block 1022, a guide rail body 1023 and a bearing slide block 1024, the guide rail body 1023 is arranged on the upper portion of the supporting frame 101, the first limiting block 1021 and the second limiting block 1022 are respectively arranged at two ends of the guide rail body 1023, the section of the guide rail body 1023 is of an inverted T shape, the bearing slide block 1024 is slidably arranged in an inverted T-shaped slide way of the guide rail body 1023, and the bearing slide block 1024 is positioned between the first limiting block 1021 and the second limiting block 1022 to slide;
the bearing slider 1024 is rotatably provided with a support arm 113 through a support shaft 118, the support arm 113 is fixedly provided with a folding arm 114 through a folding arm shaft 117, and a fixed angle is formed between the support arm 113 and the folding arm 114, that is, the folding arm 114 cannot rotate relative to the support arm 113;
one end of the driving arm 112 is rotatably arranged on the supporting frame 101 through a rotating shaft 13, the other end of the driving arm 112 is rotatably arranged on the folding arm shaft 117, a piston rod of the lifting cylinder 111 is hinged with the driving arm 112, and a cylinder barrel of the lifting cylinder 111 is rotatably arranged on the supporting frame 101 through a hinging seat 14;
the lifting cylinder 111 drives the driving arm 112 to rotate, so as to drive the carrying slider 1024 to slide in the guide rail body 1023, and the whole body formed by the supporting arm 113 and the folding arm 114 rotates relative to the carrying slider 1024, so that the folding arm 114 contracts and extends relative to the driving arm 112.
Further, a first rope guiding wheel 115 is rotatably arranged on the folding arm shaft 117 of the folding arm 114, and a second rope guiding wheel 116 is rotatably arranged on the other end, far away from the folding arm shaft 117, of the folding arm 114 through a guiding wheel shaft 119;
a first guide wheel 103 is arranged at a position, close to a first limiting block 1021 of the bearing rail 102, on the supporting frame 101, and when the bearing slider 1024 abuts against the first limiting block 1021, the position of the first guide wheel 103 is lower than that of the first guide wheel 115;
a second guide wheel 104 is arranged on the supporting frame 101 below the first guide wheel 103, the lifting rope 36 extends downwards in an approximately vertical direction after leaving the first guide wheel 103, and then the lifting rope 36 is wound on the second guide wheel 104;
a third guide wheel 105 is arranged on the supporting frame 101 at the same height as the second guide wheel 104, the lifting rope 36 extends to the third guide wheel 105 in an approximately horizontal direction after leaving the second guide wheel 104, and the lifting rope 36 extends to the winch mechanism 3 in an approximately horizontal direction after bypassing the third guide wheel 105.
Further, the winch mechanism 3 includes a driving motor 31, a reel seat 32, a first reel 33, a flange 34 and a second reel 35, the first reel 33 and the second reel 35 are rotatably disposed on the reel seat 32, the first reel 33 and the second reel 35 are fixedly connected and coaxially rotate, the flange 34 is disposed in the middle of the first reel 33 and the second reel 35, and the driving motor 31 drives the first reel 33 and the second reel 35 to jointly rotate;
the lifting rope 36 is wound on the first winding drum 33 after leaving from the third guiding wheel 105 on the right lifting assembly 2;
the lifting rope 36 is wound on the second winding drum 35 after leaving from the third guiding wheel 105 on the left lifting assembly 1;
the winding direction of the lift cord 36 on the first reel 33 is opposite to the winding direction on the second reel 35.
As shown in fig. 8, the distance between the arm shaft 117 and the rotating shaft 13 on the driving arm 112 is L, the vertical distance from the rotating shaft 13 to the carrying rail 102 is H, and the constraint relation L > H is satisfied;
so that when the driving arm 112 rotates from the left limit position to the right limit position, the supporting arm 113 rotates from the lower side of the carrying rail 102 to the upper side of the carrying rail 102;
when the driving arm 112 is at the right limit position, the included angle between the supporting arm 113 and the bearing rail 102 is a, wherein a is an acute angle smaller than 30 degrees;
when the driving arm 112 moves leftwards from the right limit position, the driving arm 112 drives the bearing slide block 1024 to slide leftwards in the guide rail body 1023 through the supporting arm 113;
when the driving arm 112 is at the left limit position, the included angle between the folding arm 114 and the driving arm 112 is a, and when the driving arm 112 is at the right limit position, the included angle between the folding arm 114 and the driving arm 112 is b;
the maximum angle at which the folding arm 114 can rotate relative to the driving arm 112 is a+b.
Further, a limiting block 12 is disposed on the supporting frame 101, when the folding arm assembly 11 is in a contracted state, the limiting block 12 abuts against the lower portion of the driving arm 112, and the folding arm 114 is in a non-vertical state, and the second guide sheave 116 is located on a side, away from the first guide sheave 103, in the horizontal direction of the first guide sheave 115, so that the lifting rope 36 cannot be separated from the second guide sheave 116.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides a compact unmanned ship retrieves and rolls over arm hoist, its characterized in that includes winch mechanism, the connection winch mechanism of power and is used for placing unmanned ship's lift string, the lifting subassembly that is connected with the lift string of lifting mount board, the quantity of lifting subassembly is two, two lifting subassembly structure sets up the same;
the left lifting assembly (1) and the right lifting assembly (2) comprise a supporting frame (101), a folding arm assembly (11), a limiting block (12), a rotating shaft (13) and a hinging seat (14), wherein the folding arm assembly (11) is rotatably supported on the supporting frame (101) through the rotating shaft (13), the movable end of a lifting cylinder (111) drives the folding arm assembly (11) to rotate and realize contraction and expansion, and the base of the lifting cylinder (111) is rotatably arranged on the supporting frame (101) through the hinging seat (14);
lifting ropes (36) extending out of folding arm assemblies (11) on the left lifting assembly (1) and the right lifting assembly (2) are connected to two sides of the lifting mounting plate (4), and the folding arm assemblies (11) can be contracted and expanded to change the horizontal positions of initial lifting points of the lifting ropes (36) so as to realize lifting operation of the unmanned ship lifting rope fixing assembly (5) at different horizontal positions.
2. The compact unmanned ship recovery folding arm crane of claim 1, wherein:
the folding arm assembly (11) comprises a driving arm (112) and a folding arm (114), when the folding arm assembly (11) is in an extending state, the folding arm (114) rotates to one side of the driving arm (112) and has an included angle of approximately 90 degrees, and when the folding arm assembly (11) is in a contracting state, the folding arm (114) rotates to the other side of the driving arm (112) and has an included angle of an acute angle;
the lifting device is characterized in that a guide wheel assembly is arranged on the supporting frame (101), a rope guiding wheel assembly is arranged on the folding arm (114), one end of the lifting rope (36) is connected with the lifting mounting plate (4) through a lifting hook assembly, and the other end of the lifting rope is wound on the winch mechanism (3) after sequentially bypassing the rope guiding wheel assembly and the guide wheel assembly on the left lifting assembly (1) and the right lifting assembly (2).
3. The compact unmanned ship recovery folding arm crane of claim 2, wherein:
the left lifting assembly (1) and the right lifting assembly (2) further comprise bearing rails (102), the folding arm assembly (11) further comprises a supporting arm (113), a folding arm shaft (117), a supporting shaft (118) and a guide wheel shaft (119), the guide wheel assembly comprises a first guide wheel (103), a second guide wheel (104) and a third guide wheel (105) which are arranged on the supporting frame (101), and the guide wheel assembly comprises a first guide wheel (115) and a second guide wheel (116) which are arranged on the folding arm (114);
the bearing rail (102) comprises a first limiting block (1021), a second limiting block (1022), a guide rail body (1023) and a bearing sliding block (1024), the guide rail body (1023) is arranged on the upper portion of the supporting frame (101), the first limiting block (1021) and the second limiting block (1022) are respectively arranged at two ends of the guide rail body (1023), the section of the guide rail body (1023) is of an inverted T shape, the bearing sliding block (1024) is slidably arranged in an inverted T-shaped slideway of the guide rail body (1023), and the bearing sliding block (1024) is arranged between the first limiting block (1021) and the second limiting block (1022).
4. A compact unmanned ship recovery folding arm crane according to claim 3, wherein:
a supporting arm (113) is rotatably arranged on the bearing slide block (1024) through a supporting shaft (118), a folding arm (114) is fixedly arranged on the supporting arm (113) through a folding arm shaft (117), and a fixed angle is formed between the supporting arm (113) and the folding arm (114), namely the folding arm (114) can not rotate relative to the supporting arm (113);
one end of the driving arm (112) is rotatably arranged on the supporting frame (101) through a rotating shaft (13), the other end of the driving arm (112) is rotatably arranged on the folding arm shaft (117), a piston rod of the lifting cylinder (111) is hinged with the driving arm (112), and a cylinder barrel of the lifting cylinder (111) is rotatably arranged on the supporting frame (101) through a hinging seat (14);
the lifting cylinder (111) drives the driving arm (112) to rotate, so that the bearing slider (1024) is driven to slide in the guide rail body (1023), and meanwhile, the whole body formed by the supporting arm (113) and the folding arm (114) rotates relative to the bearing slider (1024), so that the folding arm (114) contracts and stretches relative to the driving arm (112).
5. The compact unmanned ship recovery folding arm crane of claim 4, wherein:
a first rope guide wheel (115) is rotatably arranged on the folding arm shaft (117) on the folding arm (114), and a second rope guide wheel (116) is rotatably arranged on the other end, far away from the folding arm shaft (117), of the folding arm (114) through a guide wheel shaft (119);
the position of a first limiting block (1021) on the supporting frame (101) close to the bearing rail (102) is provided with a first guide wheel (103), and when the bearing slider (1024) abuts against the first limiting block (1021), the position of the first guide wheel (103) is lower than the first guide wheel (115).
6. The compact unmanned ship recovery folding arm crane of claim 5, wherein:
a second guide wheel (104) is arranged on the support frame (101) below the first guide wheel (103), the lifting rope (36) extends downwards in an approximately vertical direction after leaving the first guide wheel (103), and then the lifting rope (36) is wound on the second guide wheel (104);
a third guide wheel (105) is arranged on the supporting frame (101) at the same height as the second guide wheel (104), the lifting rope (36) extends to the third guide wheel (105) in an approximately horizontal direction after leaving the second guide wheel (104), and the lifting rope (36) extends to the winch mechanism (3) in an approximately horizontal direction after bypassing the third guide wheel (105).
7. The compact unmanned ship recovery folding arm crane of claim 6, wherein:
winch mechanism (3) are including driving motor (31), reel seat (32), first reel (33), ring flange (34) and second reel (35), rotatable first reel (33) and second reel (35) of being provided with on reel seat (32), first reel (33) and second reel (35) fixed connection and coaxial rotation, and be provided with ring flange (34) in the middle, driving motor (31) drive first reel (33) and second reel (35) are rotation jointly.
8. The compact unmanned ship recovery folding arm crane of claim 7, wherein:
the lifting rope (36) is wound on the first winding drum (33) after leaving from the third guide wheel (105) on the right lifting assembly (2);
the lifting rope (36) is wound on the second winding drum (35) after leaving from the third guide wheel (105) on the left lifting assembly (1);
the winding direction of the lifting rope (36) on the first winding drum (33) is opposite to the winding direction on the second winding drum (35).
9. The compact unmanned ship recovery folding arm crane of claim 8, wherein:
the distance between the upper folding arm shaft (117) of the driving arm (112) and the rotating shaft (13) is L, the vertical distance between the rotating shaft (13) and the bearing rail (102) is H, and the constraint relation L > H is satisfied;
when the driving arm (112) rotates from the left limit position to the right limit position, the supporting arm (113) rotates from the lower part of the bearing rail (102) to the upper part of the bearing rail (102);
when the driving arm (112) is at the right limit position, the included angle between the supporting arm (113) and the bearing rail (102) is A, wherein A is an acute angle smaller than 30 degrees;
when the driving arm (112) moves leftwards from the right limit position, the driving arm (112) drives the bearing slide block (1024) to slide leftwards in the guide rail body (1023) through the supporting arm (113);
when the driving arm (112) is at the left limit position, an included angle between the folding arm (114) and the driving arm (112) is a, and when the driving arm (112) is at the right limit position, an included angle between the folding arm (114) and the driving arm (112) is b;
the maximum angle at which the folding arm (114) can rotate relative to the driving arm (112) is a+b.
10. The compact unmanned ship recovery folding arm crane of claim 9, wherein:
be provided with stopper (12) on support frame (101), when folding arm assembly (11) are in the shrink state, stopper (12) butt in the below of actuating arm (112), and make folding arm (114) are in non-vertical state, second guide sheave (116) are located keep away from on the horizontal direction of first guide sheave (115) one side of first guide sheave (103), make lifting rope (36) can not break away from second guide sheave (116).
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| CN202410085909.5A CN117602522B (en) | 2024-01-22 | 2024-01-22 | Folding arm crane is retrieved to unmanned ship of compact |
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| CN202410085909.5A CN117602522B (en) | 2024-01-22 | 2024-01-22 | Folding arm crane is retrieved to unmanned ship of compact |
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|---|---|
| CN117602522B (en) | 2024-04-19 |
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