CN208270235U - A kind of separate type executing agency of the visual sampler in deep-sea - Google Patents
A kind of separate type executing agency of the visual sampler in deep-sea Download PDFInfo
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- CN208270235U CN208270235U CN201820780908.2U CN201820780908U CN208270235U CN 208270235 U CN208270235 U CN 208270235U CN 201820780908 U CN201820780908 U CN 201820780908U CN 208270235 U CN208270235 U CN 208270235U
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Abstract
The utility model proposes a kind of visual sampler in deep-sea separate type executing agency, belong to deep sea hot fluid area investigation detection and sample devices technical field, including peripheral non-bearing frame, and load-carrying construction, grab bucket and grab bucket hydraulic cylinder in the frame；Grab bucket top is fixed by the top of the load-carrying construction and the peripheral non-bearing frame, two bucket-shaped jaws of the grab bucket are respectively by a grab bucket Driven by Hydraulic Cylinder, the center bottom rotation connection of the piston rod top end of the grab bucket hydraulic cylinder and the load-carrying construction；The top of load-carrying construction is detachably connectable by carrying out along the control system of the two separate type suspension centre bindiny mechanisms and the executing agency axially laid perpendicular to the grab bucket hydraulic cylinder, is equipped with video camera and headlamp inside the load-carrying construction.The utility model enables the visual sampler in deep-sea neatly to change power tool, expanding function, operating efficiency height according to target object when executing job task.
Description
Technical field
The utility model belongs to deep sea hot fluid area investigation detection and sample devices technical field, in particular to a kind of deep-sea can
Depending on the separate type executing agency of sampler (DCVS).
Background technique
In recent years, deep sea hot fluid area reconnoitre be in the world ocean investigation a hot fields, and height rely on reconnoitre dress
Standby performance.The standby main detection and sampling cartridge that deep sea hot fluid area investigation at present uses includes: submersible, Deep Sea Towing System
(referred to as " tube workpiece "), TV grab bucket etc..Wherein, submersible is that one kind can move under water, have vision and perception system
System replaces or assists people to go to complete the dress of certain underwater operations by remote control or autonomous operation mode using tools such as manipulators
It sets.There are many type of submersible, wherein manned underwater vehicle, unmanned remotely controlled submersible vehicle (Remotely Operated Vehicle,
ROV), autonomous unmanned submersible (Autonomous Underwater Vehicle, AUV) is the most important submersible of three classes.
Deep Sea Towing System oceanographic research, seabed resources exploitation, ocean salvage relief and in terms of have
It is widely applied.Deep Sea Towing System is mounted on towboat, is made of towed body, towing cable and folding and unfolding towing gear.It drags at some deep-seas
System is draged using level-one towing gear, and is influenced on hawser using guiding device with reducing hawser by ocean current；Some deep-seas
Towing system then uses second level towing gear, and the combination using " the light cable-second level towed body of towboat-weight cable-level-one towed body-" is come
Further promote the stability and safety of tube workpiece；Towing cable send power to the underwater equipment to towed body, and will need
Information transferred back on water surface towboat by towing cable.
The use of both submersibles of ROV and AUV is more universal in conventional deep ocean work, and ROV and AUV are in depth
There is respective benefit and limitation in extra large hot fluid area exploration task.ROV is by the cable that is connected with the water surface to ROV
The energy is provided, the activity duration is not limited by the energy, and operator aboard ship passes through man-machine interaction mode and controls and operates ROV reality
The underwater operation of existing complex environment, ROV main body and umbilical cables have been all made of floating body material, so that it is in suspension in water
State, and then can move freely in water.However there is also certain limitations by ROV: ROV is complicated for operation, needs by by special
The personnel of door training operate, safeguard that usual one complete ROV Operation and Maintenance team at least needs 4~8 people；Under ROV
Latent and recycling is required to special equipment cooperation, long period, low efficiency；The design of ROV uses floating body material to reach
In the loose-jointed purpose in seabed, ROV arbitrarily cannot replace or load other modules, otherwise will appear buoyancy and gravity mismatches
The case where, ROV does not have big weight carrying capacity, has certain limitations to volume, the weight of collecting sample；The working environment of ROV
It is extremely complex changeable, it is easy to be stopped by some undetectable barriers in deep-sea, collide or even block, and then be damaged,
Lose, causes heavy losses.Although AUV is not limited by umbilical cables, maneuverability, continuous working period is by carrying battery
Limitation, work capacity is relatively weak.Hydrothermal solution towing system is the equipment being most widely used in current ocean investigation, with ROV
Etc. equipment compare, have the advantages that it is cheap, easy to operate, but have a single function and do not have small range fining intelligent search
Ability.The outstanding feature of TV grab bucket is not only can directly to carry out seabed observation and record, but also can be distant in boat-carrying control centre
Control is lower to be accurately sampled for target, and single sampling capicity is big (sometimes up to 1 ton or more).
TV grab bucket is that the visual geology sampler combined with grab sample device is observed continuously in a set of deep-sea video recording, grab bucket
It is upper that underwater television camera, light source and power supply device are housed, by armored cable on ship manipulation plate and display be connected；
When work, with winch by the height for transferring to 5~10 meters from seabed of grabbing bucket, navigated by water at a slow speed with 1~2 section and by the display on ship
Device finds sampled targets, once find target transfers grab bucket immediately, and by manipulation plate control grab bucket, completes primary sample.Electricity
Depending on grabbing bucket in deep-sea and ocean mid-oceanic ridge resource investigation, especially adjusted in abyssal floor massive sulphide, polymetallic nodules, manganese crust
Looking into etc. in exploration played an important role.It is most famous in the world at present and using it is relatively broad be German Preussag public
The TV grab bucket of department's production.The advanced research ship in many worlds (POLARSTERN and SONNE scientific investigation ship and Japan such as Germany
Scientific investigation ship) be equipped with this grab bucket.About 2.5 tons of weight of grab bucket, using deck power supply in conjunction with underwater power and hydraulic drive
Flowing mode, bite force is up to 1 ton or more.The first generation TV in China is grabbed bucket by the units development such as Chinese Marine University, in 2003
June in year is received by sea test.The TV grab bucket on " ocean No.1 " research vessel is now equipped by Beijing pioneer's high-tech development public affairs
Department develops, and develops by three generations, has become one of the main investigation apparatus of current ocean investigation, drives system by hydraulic power
The composition such as system, communication control system, deck control system, main frame, bucket body, video camera, headlamp, altimeter.Its external form ruler
Very little 2.0 × 1.5 × 1.8 meters, hydrothermal solution sulfide, rock and all kinds of geology can be carried out in 6000 meters of the depth of water of seabed by 2.4 tons of weight
The sampling of sample, maximum can grab 1 ton or more of sample.Traditional TV grab bucket does not have bottom bracket supporting role, sampling
Easily topple in the process；Can not be according to different job requirements replacement operation tools, execution efficiency is low；It needs to throw when encountering fortuitous event
Abandon entire sampler.
Utility model content
The purpose of this utility model is to overcome the shortcoming of prior art, a kind of visual sampler in deep-sea is provided
Separate type executing agency, the utility model can guarantee the versatility and function expansibility of the visual sampler in deep-sea.
To achieve the goals above, the utility model uses following technical scheme:
The utility model proposes a kind of visual sampler in deep-sea separate type executing agency, including peripheral non-bearing frame
Frame, and load-carrying construction, grab bucket and grab bucket hydraulic cylinder in the frame；Wherein, pass through the load at the top of the grab bucket
Structure and the top of the peripheral non-bearing frame are fixed, and two bucket-shaped jaws of the grab bucket are hydraulic by a grab bucket respectively
Cylinder driving, the bottom cover of the grab bucket hydraulic cylinder are rotatablely connected with corresponding one bucket-shaped jaw, the piston rod top of the grab bucket hydraulic cylinder
End and the center bottom of the load-carrying construction are rotatablely connected；The top of the load-carrying construction passes through along hydraulic perpendicular to the grab bucket
The control system progress of two separate type suspension centre bindiny mechanisms from cylinder shaft to laying and the executing agency is detachably connectable, described to hold
Power inside configuration is equipped with video camera and headlamp；
Each separate type suspension centre bindiny mechanism includes hydraulic cylinder and suspension centre structure, the cylinder body of the hydraulic cylinder with it is described
Control system is connected, the piston rod end of the hydraulic cylinder and the pluggable connection of suspension centre structure, the top of the suspension centre structure
It is connected respectively with the control system and load-carrying construction with lower part；The positioning of the suspension centre structure meets: executing agency's center of gravity with
The center of gravity of end control system is located along the same line thereon.
Preferably, in separate type suspension centre bindiny mechanism, the piston rod end of hydraulic cylinder is equipped with lifting lug, which passes through
T type pin shaft is connected with split pin, which is connect by straight pin with the suspension centre structure；The suspension centre structure is by being used for
It connects the upper end platform sling of the control system and is hung in the platform sling central cavity for connecting the lower end of the load-carrying construction
Ear composition, the straight pin are equipped with anti-horizontal through upper end platform sling and lower end lifting lug, and between the straight pin and upper end platform sling
Sliding spacer.
Preferably, the peripheral non-bearing frame uses upper layer and lower layer structure, is integrally square, and superstructure and lower layer
Structure is detachably connected；Wherein, the superstructure is for ensuring the not run-off the straight in deep ocean work of grabbing bucket, when grab bucket carries out
The superstructure is separated with understructure when deep ocean work；The bottom surface of the understructure is in closed form lower than the grab bucket
Minimum point when state, for ensuring steady placement of this executing agency grab bucket on workboat.
The characteristics of the utility model and the utility model has the advantages that
The utility model proposes a kind of separate type executing agency of the visual sampler in deep-sea, which passes through separate type
Suspension centre bindiny mechanism and the control system of this executing agency upper end are detachably connectable, this makes the visual sampler in deep-sea execute work
Power tool can neatly be changed when industry task according to target object, expanding function promotes operating efficiency.Separate type suspension centre connects
Connection mechanism is driven and is controlled by hydraulic mechanism, and have the advantages of hydraulic cylinder: power-weight ratio is big, can reduce under equal-wattage
The volume and weight of underwater operation equipment；Biggish power or torque are easily obtained, system structure is simple；Rapidity is good, stable drive,
Meet the servo-controlled requirement of some underwater operation tools；It is easily achieved power regulation, convenient for improving underwater operation equipment
Efficiency reduces power consumption.In addition, the utility model determines the bucket-shaped jaw ruler of grab bucket according to Driven by Hydraulic Cylinder efficiency optimization
Two installation point positions of very little, folding angle and hydraulic cylinder of grabbing bucket optimize grab bucket, lifting hydraulic cylinder driving force transmission effect
Rate and grab bucket bite force.It grabs bucket due to the supporting role of peripheral non-bearing frame, is not prone to tip over, sampling process is stablized.
Detailed description of the invention
Fig. 1 is the entirety sectional view of the separate type executing agency of the visual sampler in the utility model deep-sea.
Fig. 2 is the 3-D view that the utility model removes separate type suspension centre bindiny mechanism.
Fig. 3 (a) is the front view of separate type suspension centre bindiny mechanism in Fig. 1, and Fig. 3 (b) is that separate type suspension centre connects machine in Fig. 1
The cross-sectional view of structure.
Fig. 4 is the superstructure 3-D view of peripheral non-bearing frame in Fig. 1.
Fig. 5 is the structure chart of load-carrying construction in Fig. 1, wherein left side is the side view of load-carrying construction, and right side is load
The cross-sectional view of structure.
Fig. 6 (a) is the front view of the single bucket-shaped jaw of grab bucket, and Fig. 6 (b) is the side view of the single bucket-shaped jaw of grab bucket
Figure, 6 (c) be the force analysis figure of the single bucket-shaped jaw of grab bucket.
Fig. 7 is grab bucket Driven by Hydraulic Cylinder efficiency-grab bucket folding angle curve relational graph that this implementation obtains.
Specific embodiment
The utility model proposes the separate type executing agency of the visual sampler in deep-sea a kind of implement in conjunction with attached drawing and one
Detailed description are as follows for example:
The separate type executing agency of the visual sampler in the deep-sea of the utility model embodiment, structure is as shown in Figure 1 and Figure 2,
The executing agency includes peripheral non-bearing frame 1, and load-carrying construction 5, grab bucket 2 and grab bucket hydraulic cylinder 3 in the frame；
Wherein, 2 top of grab bucket is fixed by load-carrying construction 5 and the top of periphery non-bearing frame 1, and the 2 two bucket-shaped jaws of grabbing bucket divide
It is not driven by a grab bucket hydraulic cylinder 3, the bottom cover of the grab bucket hydraulic cylinder is rotatablely connected with corresponding one bucket-shaped jaw, the grab bucket
The piston rod top end of hydraulic cylinder and the center bottom of load-carrying construction 5 are rotatablely connected；The top of load-carrying construction 5 passes through along perpendicular to grabbing
(control system is the control system of two separate type suspension centre bindiny mechanisms 4 axially laying of bucket hydraulic cylinder 3 and the executing agency
The operating control centre of this executing agency, by electrical system, communication system, hydraulic system, propeller, camera shooting and lighting apparatus and
Multiple sensors composition, the control system of the present embodiment using the PC104 computer based on X86-based as hardware platform, with
And Vxworks enters formula real time operating system) carry out it is detachably connectable, video camera and headlamp are installed inside load-carrying construction 5.Respectively
The structure of separate type suspension centre bindiny mechanism 4 is identical, and as shown in Fig. 3 (a), Fig. 3 (b), separate type suspension centre bindiny mechanism 4 includes liquid
The cylinder body 412 of cylinder pressure 41 and suspension centre structure 42, hydraulic cylinder is solid by the control system of fixing piece 413 and this executing agency upper end
Even, 411 end of piston rod of hydraulic cylinder 41 and the pluggable connection of suspension centre structure 42, the upper and lower part of the suspension centre structure respectively with
Control system and load-carrying construction 5 are connected；Specifically, 411 end of piston rod of hydraulic cylinder 41 is equipped with lifting lug, which passes through T-type
Pin shaft 45 is connected with split pin 43, which is connect by straight pin 44 with suspension centre structure 42；Suspension centre structure is by for connecting
Connect the upper end platform sling 421 of the control system and in the platform sling central cavity for connecting the lower end lifting lug of load-carrying construction 5
422 compositions, straight pin 44 is horizontal through upper end platform sling 421 and lower end lifting lug 422, and between straight pin 44 and upper end platform sling 421
Equipped with anti-skidding spacer 423；The positioning of suspension centre structure 42 meets: so that the center of gravity position of executing agency's center of gravity and end control system thereon
In on same straight line.The movement that hydraulic cylinder piston rod 411 is controlled by control system inserts straight pin 44 from suspension centre structure 42
Enter or extract, realization executing agency is mounted or separated with its control system.The utility model executing agency is controlled by upper end
System directly controls, and passes through micro cable both-way communication with boat-carrying water surface console.
The implementation and function declaration of each building block of the utility model embodiment are as follows:
Separate type suspension centre bindiny mechanism 4 drives work of pulling pin by hydraulic cylinder 41 as shown in Fig. 3 (a), 3 (b) in the utility model
Make.When being in an emergency, hydraulic cylinder 41 pulls straight pin 44, realizes the de- of this executing agency and end control system thereon
From straight pin 44 is primarily subjected to the shearing force of this executing agency gravity generation.In the present embodiment, the hydraulic cylinder of suspension centre bindiny mechanism
Using the vertical HA250 Series Hydraulic cylinder of perseverance, operating pressure 21MPa, cylinder diameter 40mm, piston rod diameter is 20mm, and hydraulic cylinder is mentioned
The maximum thrust of confession is 26kN, maximum pull 6.6KN, weight 5.4Kg.The pulling force that hydraulic cylinder 41 generates acts directly on
In split pin 43.By calculating, in the present embodiment separate type suspension centre bindiny mechanism, selecting diameter is the straight pin 44 of 50mm, directly
Diameter is the split pin 43 of 20mm.
Peripheral non-bearing frame 1 uses upper layer and lower layer structure, is integrally square, and superstructure and understructure pass through bolt
It is detachably connected.As shown in figure 4, constituting main body frame by eight support rods, which is equipped between two parties is used for superstructure
The mounting plate 12 of fixed load-carrying construction 5, the additional circle guard circle 15 of the base of frame, and bat type triangle branch is installed in four corners
The further improving stability of forked type support construction 13 is installed in support 14, four sides；The superstructure is for ensuring to grab bucket in depth
Not run-off the straight when extra large operation, when grab bucket carries out deep ocean work, superstructure is separated with understructure.The bottom surface of understructure
Lower than the minimum point of grab bucket in the closure state, it is ensured that (this grab bucket at this time is in non-operation on workboat for this executing agency
State) it can steadily place.
It is advanced optimized as the utility model, the superstructure side of peripheral non-bearing frame 1 is additionally provided with cyclic annular recessed
Type structural framing 11, for installing the DVL being connected with the control system (Doppler anemometer), so that structure is more compact.
Load-carrying construction 5 referring to such as Fig. 5, including top box beam, the box beam by front and back side plate 53, left side plate 54 and on
Lower side panel 56 is fixedly connected with composition, the mounting plate at the top of the front and back side plate 53 of box beam and the superstructure of periphery non-bearing frame
12 are fixedly connected, and front and back side plate 53 protrudes from the part of epipleural and is integrally formed with the lower end lifting lug of separate type suspension centre structure 42,
And it is equipped with the seal cartridge 510 of stainless steel (the present embodiment is made of titanium alloy), the edge between the side plate up and down of box beam
Be parallel to 53 direction of front and back side plate be additionally provided with twice floor 55 for strengthen support；56 place plane of box beam left side plate is flat
The axial direction of row hydraulic cylinder 41 in separate type suspension centre bindiny mechanism.56 bottom end two sides of box beam lower side panel are respectively provided with the company of twice first
Support, two first connecting plate lower parts and 2 one end of grab bucket top are strengthened by floor 52 in fishplate bar 51 and 59, twice the first connecting plate top
Portion's rotation connection；56 center bottom of box beam lower side panel is equipped with the second connecting plate of twice 57, second connecting plate 57 and grab bucket liquid
The rotation connection of pressure cylinder piston bar top；The setting of 5 epipleural of load-carrying construction meets: when grab bucket 2 opens up into maximum angle (this reality
Applying example is 77 degree) when, bucket-shaped jaw highest point is lower than the upper surface of load-carrying construction epipleural.Each connecting plate of the present embodiment is all made of
Shackle structure；The mounting plate of U-shaped cross section is further fixed between the second connecting plate 57 and the first inner connecting plate 59
58, for fixing video camera and headlamp.Headlamp light passing is further respectively had on each side plate and mounting plate 58 in load-carrying construction
Hole.The load-carrying construction of the present embodiment is made of the excellent Q460 low-alloy steel of high-intensitive, welding performance.The utility model
Load-carrying construction 5 is connect with the piston rod end of grab bucket hydraulic cylinder (by hollow bucket hole 25), is primarily subjected to hydraulic cylinder reaction
The torque that power, grab bucket weight, grab bucket rotation generate.
Structure such as Fig. 6 (a) of each bucket-shaped jaw in grab bucket 2, shown in 6 (b), the bucket-shaped jaw of grab bucket is by two front side plates
21, non-occlusive surface cover 23 and curved plate 28 are constituted；Wherein, circular hollow bucket hole 25 is equipped at the top of front side plate 21 to be used for
Connect the first connecting plate 51 and 59 of load-carrying construction 5；It traverses and is equipped in the middle part of the stationary spindle 26 in non-occlusive face of grabbing bucket for connecting
The circular hollow earrings 24 of grab bucket hydraulic cylinder bottom cover provides grab bucket driving force by grab bucket hydraulic cylinder；Grab bucket 28 bottom of curved plate
Installation bucket tooth 27 is for cutting material.
The utility model has carried out structure design and optimization to executing agency's grab bucket in lower layer's frame, and specific steps are such as
Under:
1) optimization aim of grab bucket is set as optimal (the i.e. drive of grab bucket hydraulic cylinder offer of hydraulic-driven power efficiency of transmission
Power direction and vertical plane angle 90- α are as small as possible, and the lighting design for meeting grab bucket under the dbjective state simultaneously is wanted
It asks)；
2) apply constraint condition, be respectively: a) all technical of setting grab bucket is (lower to dig depth, grab and dig area, occlusion
Power etc.), b) periphery non-bearing lengths of frame≤1.2m, c) periphery non-bearing frame height≤1m, d) reserve grab bucket hydraulic cylinder
Do not include fixed part size >=273mm (can be determined according to selected hydraulic cylinder model) of grab bucket hydraulic cylinder travel, e) it sets and grabs
The original dimension of bucket-shaped jaw includes grab bucket occlusion radius surface R and non-occlusive radius surface L of grabbing bucket (referring to Fig. 6 (c))；
3) determine that grab bucket Driven by Hydraulic Cylinder efficiency-grab bucket opens and closes angle curve according to following formula:
FIt stingsL sinα+G0r0=FcxR cosγ-FcyR sin γ=FIt stingsR
FIt stings=Fcx cosγ-Fcy sinγ
Wherein, R indicates that the grab bucket of setting is engaged radius surface, and L indicates that the non-occlusive radius surface of grab bucket of setting, γ indicate grab bucket
Occlusal surface deviate vertical direction angle i.e. grab bucket folding angle, r0Indicate that grab bucket weight arm, α indicate what grab bucket hydraulic cylinder provided
Driving force and non-occlusive face angle, FIt drivesFor the driving force that grab bucket hydraulic cylinder provides, FIt stingsMaterial pair when being engaged for grab bucket bite force
The reaction force that grab bucket generates, Fcx、FcyRespectively FIt stingsComponent in the horizontal and vertical directions, G0It is weight when grab bucket is unloaded
Power.Referring to Fig. 6 (c), in figure, O1For the non-occlusive face of grab bucket and the intersection point of occlusal surface, E is the center of gravity of single bucket-shaped jaw.
4) according to obtained grab bucket Driven by Hydraulic Cylinder efficiency-grab bucket folding angle curve (the present embodiment curve such as Fig. 7 institute
Show), determine the folding angle (the present embodiment is 77 °) grabbed bucket and corresponding grab bucket bite force FIt stings, obtained under the optimization design
Driven by Hydraulic Cylinder power average transmission efficiency optimization solution is 21%；
5) determine that (the present embodiment is to hydraulic cylinder travel according to obtained cylinder pressure driving force average transmission efficiency optimization
133mm), calculating grab bucket hydraulic cylinder minimum mounting distance is the sum of the constraint condition d) of hydraulic cylinder travel and application (the present embodiment
For 406mm), the final position for determining grab bucket two installation point of hydraulic cylinder.The present embodiment grabs bucket hydraulic cylinder using permanent vertical HA250 system
Column hydraulic cylinder, major parameter are as follows: operating pressure 21MPa, cylinder diameter 75mm, piston rod diameter are 50mm, and hydraulic cylinder is provided
Maximum thrust be 92kN, maximum pull 51KN, weight 24.7Kg.Finally obtaining grab bucket length is 850mm, and quality is
115kg, can grab material area is 0.8m2, volume is about 0.2m3。
The grab bucket of the TV used by the utility model embodiment is outer, and executing agency also can be used other and sample or operation work
Tool, such as offshore instrument equipment are laid and recyclable device, biological sampling device, vibrocorer.
The utility model use process, sampler are sent into specified region by the umbilical cables of scientific investigation ship and are sampled, sampled
Send and instruct from boat-carrying control centre to the control system of sampler executing agency in journey, control each hydraulic cylinder of sampler into
Row work.When needing to be acquired task, grab bucket hydraulic cylinder is worked normally, and the illumination that is fitted in load-carrying construction and is taken the photograph
As equipment, control grab bucket folding sampling.When needing replacing power tool or repairing grab bucket, scientific investigation ship will be adopted by umbilical cables
Sample device retracts designated position, and boat-carrying control centre sends instruction control separate type suspension centre bindiny mechanism hydraulic cylinder, makes this execution machine
The control system of structure and upper end is detached from.
The above is only the preferred embodiment of the utility model only, and the non-limiting protection scope of the utility model,
Any modification, equivalent substitution, improvement and etc. done within the spirit and principle of the utility model, the sheet for including are practical new
In the protection scope of type.
Claims (4)
1. a kind of separate type executing agency of the visual sampler in deep-sea, which is characterized in that including peripheral non-bearing frame, Yi Jiwei
In load-carrying construction, grab bucket and grab bucket hydraulic cylinder in the frame；Wherein, at the top of the grab bucket by the load-carrying construction with it is described
The top of peripheral non-bearing frame is fixed, and two bucket-shaped jaws of the grab bucket, should respectively by a grab bucket Driven by Hydraulic Cylinder
The bottom cover of grab bucket hydraulic cylinder is rotatablely connected with corresponding one bucket-shaped jaw, and the piston rod top end of the grab bucket hydraulic cylinder is held with described
The center bottom of power structure is rotatablely connected；The top of the load-carrying construction passes through axially lays along perpendicular to the grab bucket hydraulic cylinder
Two separate type suspension centre bindiny mechanisms and the executing agency control system carry out it is detachably connectable, inside the load-carrying construction
Video camera and headlamp are installed；
Each separate type suspension centre bindiny mechanism includes hydraulic cylinder and suspension centre structure, the cylinder body of the hydraulic cylinder and the control
System is connected, and the piston rod end of the hydraulic cylinder and the pluggable connection of suspension centre structure, the top of the suspension centre structure is under
Portion is connected with the control system and load-carrying construction respectively；The positioning of the suspension centre structure meets: executing agency's center of gravity with thereon
The center of gravity of end control system is located along the same line.
2. the separate type executing agency of the visual sampler in deep-sea as described in claim 1, which is characterized in that the separate type is hung
In point bindiny mechanism, the piston rod end of hydraulic cylinder is equipped with lifting lug, which is connected by T-type pin shaft with split pin, the opening
Pin is connect by straight pin with the suspension centre structure；The suspension centre structure by for connecting the control system upper end platform sling and
For connecting the lower end lifting lug composition of the load-carrying construction in the platform sling central cavity, the straight pin is horizontal through upper end
Platform sling and lower end lifting lug, and anti-skidding spacer is equipped between the straight pin and upper end platform sling.
3. the separate type executing agency of the visual sampler in deep-sea as described in claim 1, which is characterized in that the periphery is non-to hold
Power frame uses upper layer and lower layer structure, is integrally square, and superstructure is detachably connected with understructure；Wherein, on described
Layer structure is for ensuring the not run-off the straight in deep ocean work of grabbing bucket, and when grab bucket carries out deep ocean work, the superstructure is under
Layer structure separation；Minimum point of the bottom surface of the understructure lower than the grab bucket in the closure state, for ensuring originally to hold
Steady placement of the row mechanism grab bucket on workboat.
4. the separate type executing agency of the visual sampler in deep-sea as claimed in claim 2, which is characterized in that the load-carrying construction
Including top box beam, which is fixedly connected with upper and lower side plate and is constituted by front and back side plate, left side plate, the front and back side plate
Be fixedly connected at the top of the superstructure of peripheral non-bearing frame, the front and back side plate protrudes from the part of epipleural and described point
Lower end lifting lug from formula suspension centre structure is integrally formed；Plane where the left side plate is parallel in separate type suspension centre bindiny mechanism
The axial direction of hydraulic cylinder；The bottom end two sides of box beam lower side panel are respectively provided with the first connecting plate of twice, twice the first connecting plate lower part with
The rotation connection of grab bucket top；The center bottom of box beam lower side panel is equipped with the second connecting plate of twice, second connecting plate and grab bucket
The piston rod top end of hydraulic cylinder is rotatablely connected；The setting of the epipleural of the load-carrying construction meets: when grab bucket opens up into maximum angular
When spending, bucket-shaped jaw highest point is lower than the upper surface of the load-carrying construction epipleural；
It is further fixed on video camera and headlamp mounting plate between second connecting plate and the first inner connecting plate, the peace
Headlamp light hole is equipped on each side plate in loading board and the load-carrying construction.
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| CN201820780908.2U CN208270235U (en) | 2018-05-24 | 2018-05-24 | A kind of separate type executing agency of the visual sampler in deep-sea |
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| CN201820780908.2U CN208270235U (en) | 2018-05-24 | 2018-05-24 | A kind of separate type executing agency of the visual sampler in deep-sea |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108489755A (en) * | 2018-05-24 | 2018-09-04 | 清华大学 | A kind of separate type executing agency of the visual sampler in deep-sea |
| CN110208033A (en) * | 2019-06-11 | 2019-09-06 | 苏州船用动力系统股份有限公司 | A kind of Split-type deep sea mobile television grab bucket |
-
2018
- 2018-05-24 CN CN201820780908.2U patent/CN208270235U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108489755A (en) * | 2018-05-24 | 2018-09-04 | 清华大学 | A kind of separate type executing agency of the visual sampler in deep-sea |
| CN108489755B (en) * | 2018-05-24 | 2024-02-06 | 清华大学 | Separated actuating mechanism of deep sea visual sampler |
| CN110208033A (en) * | 2019-06-11 | 2019-09-06 | 苏州船用动力系统股份有限公司 | A kind of Split-type deep sea mobile television grab bucket |
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