CN208484805U - A kind of container fishing device - Google Patents
A kind of container fishing device Download PDFInfo
- Publication number
- CN208484805U CN208484805U CN201821002486.2U CN201821002486U CN208484805U CN 208484805 U CN208484805 U CN 208484805U CN 201821002486 U CN201821002486 U CN 201821002486U CN 208484805 U CN208484805 U CN 208484805U
- Authority
- CN
- China
- Prior art keywords
- frame
- steel wire
- underwater robot
- flexible steel
- servo motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Load-Engaging Elements For Cranes (AREA)
Abstract
The utility model discloses a kind of container fishing devices, including fishing robot and salvage recycling frame, wherein, the fishing robot, specifically include that release and recyclable device, underwater robot and clamping device, the release and recyclable device are connected by flexible steel wire with the top of the underwater robot, and the lower part of the underwater robot is provided with the clamping device；Frame, including side recycling frame and recovered overhead frame are recycled in the salvaging；The side recycling frame includes horizontal support bar, support frame and boom hoisting, wherein described horizontal support bar one end is connected to hull sides, support frame as described above is provided on the downside of the other end, the other end of support frame as described above is connected to ipsilateral hull, and the boom hoisting is arranged on the horizontal support bar.Utility model container fishing device rapidly can salvage overboard container to come, and reduce the economic loss of shipowner.
Description
Technical field
The utility model relates to ocean engineering technologies, belong to underwater salvage technical field, and in particular to a kind of container is beaten
Fish out device.
Background technique
With the progress that the scientific and technological level of the mankind is developed the productivity, especially in land resources shortage, population expansion, environment
Under the increasingly serious status of the problems such as deterioration, sight is invested ocean one after another by coastal state, accelerate exploitation to ocean and
It utilizes.Marine resources mainly include food resource and mineral resources, and the direction of exploitation marine food resource is to find new economy
Using object and develop artificial breeding cause.Ocean has become the important supply place of human foods protein, and seawater can be light
Change, the chemical elements such as chlorine, sodium, magnesium and rare element and radioactive element can be extracted from seawater, can be produced from seabed
The various metals such as bulk petroleum, natural gas, coal, iron, manganese and placer utilize the power generation of the power resources such as tide, the benefit in seabed space
With (accumulation and storage of nuke rubbish etc.), the variation for predicting the weather and controlling weather, develop maritime traffic etc..
Marine transportation is to transport a kind of mode of cargo between country variant area by seaway using ship, by
It is not limited by road, track in it, therefore handling capacity is stronger, in addition with politics, economy and trade environment and natural conditions
Variation, marine transportation can adjust course line in time, and adaptability is stronger.Therefore, marine transportation becomes most main in international trade
The means of transportation wanted, there is 2/3rds or more at present in quantum of international trade, China's 90% or more shipping total amount of inlet and outlet is all
It is completed by marine transportation.
Marine transportation often uses container to be transported, and container can be made because of its standardized structure and specification
A whole set of perfect transportation system realizes the standardization running in transportational process each stage, improves safety, the economy of transport
Type, versatility and interchangeability, also substantially increase conevying efficiency.In the cargo handling process of container, some collection are often used
Vanning special hanger, these special hangers are typically mounted at harbour on the bank, and outer dimension and lifting weight are all unsuitable for pacifying on ship
Dress.
When at sea accident occurs for container ship, many containers are fallen in seabed, and great economy is caused to shipowner
Loss, and during container is salvaged, since underwater environment is badly dangerous, beaten in blue water progress sea floor exploration, cargo
Since subsea pressure is larger when fishing and release air bag and detecting devices, diver can not be diverted oneself from loneliness or boredom and operated, therefore, needed
The salvaging and quick release air bag and release when carrying out hull and salvaging that use underwater robot to carry out seabed object
Detecting devices.In addition, the process of salvaging also lacks adaptable boat-carrying lifting equipment and can be convenient efficiently to have salvaged and falls in sea
The container at bottom.Therefore how efficiently and quickly will fall off seabed container salvaging go to sea and be loaded on pick-up boat at
For shipowner all the time and salvage person's concern.
Utility model content
The purpose of the utility model is to overcome the deficiencies in the prior art, a kind of container fishing device and salvaging side are provided
Method, the utility model container fishing device and Refloatation method rapidly can salvage overboard container to come, and reduce ship
The economic loss in east.
The utility model is achieved through the following technical solutions:
A kind of container fishing device, including fishing robot and salvaging recycling frame, wherein
The fishing robot specifically includes that release and recyclable device, underwater robot and clamping device, the release
It is connected by flexible steel wire with the top of the underwater robot with recyclable device, the lower part setting of the underwater robot is
State clamping device；
The release and recyclable device include first servo motor, first shaft coupling, the first flexible steel wire, the first wire hawser
Reeling device, the first vertical bearing seat support and underwater robot release and recycling supporting framework are at the first servo motor
It is connected with the first shaft coupling, the first shaft coupling connects one end of the first flexible steel wire distributor, and described first
The other end of flexible steel wire distributor connects the first vertical bearing seat support, and the first servo motor and described first stand
Formula bearing bracket is fixedly connected on the underwater robot release and recycling support frame, and first flexible steel wire is wrapped in
On the first flexible steel wire distributor；
The underwater robot include underwater robot main equipment storage cabin, searchlight, camera, ROV propeller and
Kentledge, underwater robot main equipment storage cabin top are connected by the flexible steel wire with the flexible steel wire distributor,
The searchlight, the camera, the ROV propeller and the kentledge are all disposed within the underwater robot main equipment
Store wall out of my cabin；
The clamping device is made of the second servo motor, crossbeam, door-shaped frame, clamping part, and the crossbeam is connected to institute
The middle lower portion of underwater robot main equipment storage compartment is stated, the crossbeam lower part and the door-shaped frame top are hinged, described
Second servo motor be arranged on the crossbeam, and by the first hawser connect the door-shaped frame two sides outer wall, it can be achieved that
The door-shaped frame swings relative to the crossbeam；The clamping part includes fixing clip, movable intermediate plate, power device,
The fixing clip is arranged on the door-shaped frame, and the activity intermediate plate top and the fixing clip are rotatablely connected, and is turning
Dynamic junction is additionally provided with spring, so that the movable intermediate plate and fixing clip is kept elastic closure state, the power device is set
It sets on the door-shaped frame, and provides the power of rotation for the movable intermediate plate；
Frame, including side recycling frame and recovered overhead frame are recycled in the salvaging；
The side recycling frame includes horizontal support bar, support frame and boom hoisting, wherein described horizontal support bar one end
Hull sides are connected to, are provided with support frame as described above on the downside of the other end, the other end of support frame as described above is connected to ipsilateral hull, institute
Boom hoisting is stated to be arranged on the horizontal support bar；
The recovered overhead frame is people's glyph framework, and herringbone frame one end is connected on the horizontal support bar
Portion, the other end connect at the top of deck in ship structure.
In above-mentioned technical proposal, the power device includes electric telescopic rod, first bearing pulley and the second hawser, described
Electric telescopic rod is fixed on the door-shaped frame of the fixing clip opposite side, and the door-shaped frame lower end of the side is set
It is equipped with first bearing pulley, second hawser one end connects the lower end of the electric telescopic rod, and the other end passes through described first
It is fixedly connected on after bearing pulley on the movable intermediate plate.
In above-mentioned technical proposal, the clamping device includes the second servo motor of left end, the second servo motor of right end, left end
The first hawser of first hawser and right end, second servo motor of left end are mounted on the left end of the crossbeam and connect the left end
First hawser, left end the first hawser other end are connected to institute by the way that the second bearing pulley of crossbeam left end lower part is arranged in
The left side of door-shaped frame is stated, the right end that second servo motor of right end is mounted on the crossbeam connects first cable of right end
Rope, the first hawser other end are connected to the door-shaped frame by the way that the 3rd bearing pulley of crossbeam right end lower part is arranged in
Right side.
In above-mentioned technical proposal, the crossbeam middle lower portion is provided with the first U-shaped board, is provided at the top of the door-shaped frame
Second U-shaped board, first U-shaped board and the second U-shaped board are realized hinged by the cooperation of spiral shell stern post pin.
In above-mentioned technical proposal, the fixing clip and the movable intermediate plate are internally provided with serration.
In above-mentioned technical proposal, the searchlight, the camera and the ROV propeller are arranged in the underwater
Human agent's equipment stores the rear and front end in cabin, and the top in underwater robot main equipment storage cabin is arranged in the kentledge
Portion.
In above-mentioned technical proposal, the boom hoisting include third servo motor, second shaft coupling, the second flexible steel wire,
Second flexible steel wire distributor, the second vertical bearing seat support, the third servo motor are connected with the second shaft coupling, institute
One end that second shaft coupling connects the second flexible steel wire distributor is stated, the other end of the second flexible steel wire distributor connects
The second vertical bearing seat support is connect, the third servo motor and the second vertical bearing seat support are fixedly connected on institute
It states on horizontal support bar, second flexible steel wire is wrapped on the second flexible steel wire distributor, second wire hawser
Rope end is provided with suspension hook.
In above-mentioned technical proposal, the suspension hook is the suspension hook that opening is elastic closure, it may be convenient to be opened and closed.
In above-mentioned technical proposal, the herringbone frame is made of the first strut and the second strut, first strut
Upper end is fixedly connected with the upper end of second strut, and is in 120 ° of angles.
In above-mentioned technical proposal, the side recycling frame includes two sets of boom hoistings.
Water in above-mentioned technical proposal, between the underwater robot release and recycling support frame and the horizontal support bar
Flat clear distance should be 0.1m~2m, and vertical clearance is from should be 1.5m~2m.
A method of it is salvaged using fishing device described in above-mentioned technical proposal, comprising the following steps:
S1 when salvaging beginning, according to the depth of water is estimated, installs the pressure on underwater robot main equipment storage cabin
Block is carried, and the suspension hook is fixed between the movable intermediate plate of the clamping part and fixing clip, first servo motor is operated, releases
Put the underwater robot；
S2, the seabed image passed back according to the camera manipulate mobile water of ROV propeller of the underwater robot
Lower robot, finds overboard container, and the underwater robot is rested on the determining near bell detent of the container；
S3, adjusting the second servo motor swings the door-shaped frame, determines bell for what the suspension hook was fit into container
Detent controls the power device, opens the movable intermediate plate, discharges the suspension hook；
S4 operates first servo motor, recycles the underwater robot；
S5 repeats S1~S4, the suspension hook is pacified if being provided with multiple boom hoistings on salvaging recycling frame
Mounted in determining in bell detent for the container；
S6 starts the third servo motor, starts to lift by crane overboard container, and container hoisting to the salvaging is recycled
Near frame, it can be used the ground jack on pick-up boat will be on the deck of the container hoisting to pick-up boat.
It the advantages of the utility model and has the beneficial effect that
1. it is described release and recyclable device include first servo motor, shaft coupling, flexible steel wire, flexible steel wire distributor,
Vertical bearing seat support and underwater robot release and recycling supporting framework at, may be implemented underwater robot quick release and
Recycling, has many advantages, such as that easy to operate, stability is good and folding and unfolding speed is fast.
2. underwater robot includes underwater robot main equipment storage cabin, searchlight, ROV propeller and kentledge etc..
Underwater robot main equipment stores the receiving module containing underwater robot, the control equipment of propeller, battery, front and back in cabin
Camera and other equipment, the operator easy for installation searching immersed body of camera and searchlight are held, kentledge adds
Enter the weight that can adjust underwater robot in real time according to the depth of water, is navigated by water convenient for underwater robot to deeper region.Underwater machine
Device people fore body and tail portion install two ROV propellers simultaneously and the route speed of underwater robot can be improved and exist convenient for robot
It is underwater to keep balance.It is connected at the top of underwater robot with flexible steel wire, it is convenient to have the characteristics that discharge and recycle.
3. the clamping device is made of the second servo motor, crossbeam, door-shaped frame, clamping part, when underwater robot arrives
When up to specified areas adjacent, adjusting door-shaped frame by a small margin makes the clamping part swing adjustment position, avoids and is promoted using ROV
Device adjusts the case where underwater robot Large Amplitude Motion, salvages immersed body and release air bag convenient for positioning or detection is set
It is standby, it avoids constantly regulate the time that underwater robot moves back and forth under water, improves salvaging efficiency.
4. the opening and closing of the clamping part are controlled by electric telescopic rod, convenient for salvaging and object is discharged, saving manpower,
Material resources and improve operating efficiency.The fixing clip and the movable intermediate plate are internally provided with serration, effectively subtract
Falling off for object is lacked.In addition, the wired hose for facilitating route to pass through is provided between the crossbeam and the door-shaped frame,
Convenient for passing through for route, any rotation of door-shaped frame is realized, the winding of electric wire is avoided.
5. the application container salvages recycling frame, including frame packet is recycled in side recycling frame and recovered overhead frame, the side
Horizontal support bar, support frame and boom hoisting are included, the recovered overhead frame is people's glyph framework.The container salvages recycling frame pair
The pick-up boat adaptability of various sizes shape is good, has a wide range of application, and structure is simple, and installing and dismounting is simple, convenient and rapid, using the recycling
Overboard container rapidly can be sling recycling by the pick-up boat of frame.
6. described horizontal support bar one end is connected to hull sides, support frame as described above, the branch are provided on the downside of the other end
The other end of support is connected to ipsilateral hull, and herringbone frame one end is connected to the horizontal support bar top, the other end
It connects at the top of deck in ship structure, which ensure that container salvages the stability of recycling frame, and sturdy and durable, failure rate is low.
7. boom hoisting described in the boom hoisting includes third servo motor, second shaft coupling, the second flexible steel wire,
Two flexible steel wire distributors, the second vertical bearing seat support and suspension hook, overboard container can quickly be sling, work as use
When two sets of boom hoistings, the stability for lifting by crane process is increased dramatically, and prevents swing of container during lifting.
8. the attachment device with container is suspension hook, the opening of the suspension hook is elastic closure, can very easily be beaten
Open and close are closed, and have fast implemented suspension hook and container determines the fixation of bell detent, meanwhile, also effectively prevent the de- of container
It falls.
9. being wound with the flexible steel wire of sufficient length on flexible steel wire distributor, the container that can carry out different water depth is beaten
Fishing improves the application range of recycling frame.
10. the salvaging that the present apparatus cannot only be applied to container, it can also be used to which the salvaging of other purposes of seabed has and beats
Fishing speed is fast, stability is good, it is different sea water advanced to meet and advantage that is being easily installed.
Detailed description of the invention
Fig. 1 is the schematic diagram of the utility model embodiment 2,
Fig. 2 is the schematic diagram of fishing robot in the utility model embodiment 2,
Fig. 3 is the schematic diagram of the clamping device of fishing robot and underwater robot in the utility model embodiment 2,
Fig. 4 is the schematic diagram of the clamping device of fishing robot in the utility model embodiment 2,
Fig. 5 is the schematic diagram that recycling frame is salvaged in the utility model embodiment 2,
Fig. 6 is the schematic diagram for carrying out salvage container in the utility model embodiment 2 using single hook,
Fig. 7 is the schematic diagram for carrying out salvage container in the utility model embodiment 2 using double hook,
Fig. 8 is the schematic diagram of container hoisting process in the utility model embodiment 2.
Wherein:
1: first servo motor, 2: first shaft coupling, 3: the first flexible steel wires, 4: the first flexible steel wire distributors, 5: the
One vertical bearing seat support, 6: underwater robot release and recycling support frame, 7: underwater robot main equipment storage cabin, 8: visiting
Illuminator, 9: camera, 10:ROV propeller, 11: kentledge, 12: the first hawser of left end, 13: crossbeam, 14: door-shaped frame, 15:
The first hawser of right end, 16: fixing clip, 17: movable intermediate plate, 18: horizontal support bar, 19: support rod, 20: herringbone frame,
21: electric telescopic rod, 22: first bearing pulley, 23: the second hawsers, 24: the second servo motor of left end, 25: the second servo of right end
Motor, 26: second bearing pulley, 27: 3rd bearing pulley, 28: the first U-shaped boards, 29: the second U-shaped boards, 30: spiral shell stern post pin,
31: serration, 32: third servo motor, 33: second shaft coupling, 34: the second flexible steel wires, 35: the second hawser folding and unfoldings
Device, 36: the second vertical bearing seat supports, 37: suspension hook, 38: the first struts, 39: the second struts, 40: spring.
It for those of ordinary skill in the art, without creative efforts, can be according to above attached
Figure obtains other relevant drawings.
Specific embodiment
In order to make those skilled in the art better understand the scheme of the utility model, combined with specific embodiments below into one
Step illustrates the technical solution of the utility model.
Embodiment 1
A kind of container fishing device, including fishing robot and salvaging recycling frame, wherein the fishing robot, it is main
It include: release and recyclable device, underwater robot and clamping device, the release and recyclable device pass through flexible steel wire and institute
The top for stating underwater robot is connected, and the lower part of the underwater robot is provided with the clamping device；
The release and recyclable device include first servo motor power 80w, first shaft coupling, the first flexible steel wire diameter
0.008m, the first flexible steel wire distributor diameter 0.06m rated load weight 100kg span 1m, the first vertical bearing seat support and
Underwater robot release and recycling supporting framework at, the first servo motor is connected with the first shaft coupling, described first
Shaft coupling connects one end of the first flexible steel wire distributor, described in the other end connection of the first flexible steel wire distributor
First vertical bearing seat support, the first servo motor and the first vertical bearing seat support are fixedly connected on described underwater
In robot release and recycling support frame, first flexible steel wire is wrapped on the first flexible steel wire distributor；It is described
Underwater robot release and recycling support frame are made of band steel, outer dimension long 1.2m, wide 0.5m.
The underwater robot include underwater robot main equipment storage cabin, searchlight, camera, ROV propeller and
Kentledge, underwater robot main equipment storage cabin top are connected by the flexible steel wire with the flexible steel wire distributor,
The front and back in underwater robot main equipment storage cabin is arranged in the searchlight, the camera and the ROV propeller
The top in underwater robot main equipment storage cabin is arranged in both ends, the kentledge, wherein the setting of ROV propeller
Underwater robot main equipment stores the bottom four corners in cabin, and every nook and cranny is each provided with a ROV propeller, and 4 are arranged altogether.Institute
Stating resolution ratio of camera head is 700 tv lines (TV Lines), and the searchlight setting is stored in robot body's equipment under water
The bottom four corners in cabin and top quadrangle, every nook and cranny are each provided with one, and 8 white ultra-bright LED lamps are arranged altogether.Underwater
The control of the signal receiving module, the ROV propeller of the underwater robot is additionally provided with inside human agent's equipment storage cabin
The battery of equipment and 200Ah provides electric energy when work for underwater robot, can reach 5h cruise duration.The underwater
The outer dimension that people (removes kentledge) after being installed is 0.5m × 0.25m × 0.25m, weight 20kg, maximum functional water
Deep 100m, maximum forward speed 1m/s, power 500w.
The clamping device by the second servo motor of 200w, crossbeam (length × width x thickness: 0.4m × 0.1m × 0.02m),
Length × width x thickness of door-shaped frame side plate: 0.18m × 0.18m × 0.02m, clamping part composition, the crossbeam are connected to the water
The middle lower portion of lower robot body's equipment storage compartment, the crossbeam middle lower portion are provided with the first U-shaped board, the door-shaped frame
Top is provided with the second U-shaped version, first U-shaped board and the second U-shaped board and is realized hingedly by the cooperation of spiral shell stern post pin.The clamping
Device includes the second servo motor of left end, the first hawser of the second servo motor of right end, the first hawser of left end and right end, the left end
Second servo motor is mounted on the left end of the crossbeam and connects first hawser of left end, and left end the first hawser other end is logical
Cross be arranged in crossbeam left end lower part second bearing pulley be connected to the door-shaped frame left-external side circular orientation pin,
The right end that second servo motor of right end is mounted on the crossbeam connects first hawser of right end, the first hawser other end
3rd bearing pulley by the way that crossbeam right end lower part is arranged in is connected to the right lateral circular orientation of the door-shaped frame
Pin.The door-shaped frame can be achieved to swing relative to the crossbeam；The clamping part include fixing clip, movable intermediate plate,
Power device, the fixing clip and movable intermediate plate are all length × width x thickness: 0.1m × 0.1m × 0.02m, aluminium material are made, institute
It states fixing clip to be arranged on the door-shaped frame, the activity intermediate plate top and the fixing clip are rotatablely connected, and are being rotated
Junction is additionally provided with spring, and the movable intermediate plate and fixing clip is made to keep elastic closure state, the power device setting
The power of rotation is provided on the door-shaped frame, and for the movable intermediate plate；The power device includes electric telescopic rod (electricity
Press 12V, power 10W, stretch stroke 0.15m), first bearing pulley and the second hawser (diameter 0.003m), the electric expansion
Bar is fixed on the door-shaped frame of the fixing clip opposite side, and the door-shaped frame lower end of the side is provided with first
Bearing pulley, second hawser one end connect the lower end of the electric telescopic rod, and the other end passes through the first bearing pulley
After be fixedly connected on the movable intermediate plate.Serration is provided on the inside of the fixing clip and the movable intermediate plate.
Frame, including side recycling frame and recovered overhead frame are recycled in the salvaging；The side recycling frame includes horizontally-supported
Bar (outer dimension length × width x thickness: 1m × 0.06m × 0.04m), support frame made of band steel (outer dimension length × width x thickness:
1.5m × 0.1m × 0.03m) and boom hoisting, wherein described horizontal support bar one end is connected to hull sides, other end downside
It is provided with support frame as described above, the other end of support frame as described above is connected to ipsilateral hull, and the boom hoisting is arranged in the level
On support rod；The recovered overhead frame is people's glyph framework, and herringbone frame one end is connected on the horizontal support bar
Portion, the other end connect at the top of deck in ship structure.The boom hoisting includes third servo motor power 40KW, second shaft coupling,
Two flexible steel wires (diameter 20mm), the second flexible steel wire distributor rated load weight 15t, span 1.5m, the second vertical bearing seat
Bracket, the third servo motor are connected with the second shaft coupling, and the second shaft coupling connects second flexible steel wire
One end of distributor, the other end of the second flexible steel wire distributor connect the second vertical bearing seat support, and described the
Three servo motors and the second vertical bearing seat support are fixedly connected on the horizontal support bar, second flexible steel wire
It is wrapped on the second flexible steel wire distributor, second flexible steel wire end is provided with suspension hook, and the suspension hook is opening
Place is the suspension hook of elastic closure, it may be convenient to be opened and closed.The herringbone frame is by the first strut and the second strut group
At the upper end of first strut is fixedly connected with the upper end of second strut, and is in 120 ° of angles.The horizontal support bar
One end is connected to salvaging hull sides by the first connecting plate, and the other end of support frame as described above is connected to together by the second connecting plate
Side hull, first connecting plate and second connecting plate all pass through bolt and are fixedly connected with hull.
Water in above-mentioned technical proposal, between the underwater robot release and recycling support frame and the horizontal support bar
Flat clear distance should be 0.5 meter, and vertical clearance is from should be 1.5 meters.
A method of it is salvaged using fishing device described in embodiment 1, comprising the following steps:
S1 when salvaging beginning, according to the depth of water is estimated, installs the pressure on underwater robot main equipment storage cabin
Block is carried, and the suspension hook is fixed between the movable intermediate plate of the clamping part and fixing clip, first servo motor is operated, releases
Put the underwater robot；
S2, the seabed image passed back according to the camera manipulate mobile water of ROV propeller of the underwater robot
Lower robot, finds overboard container, and the underwater robot is rested on the determining near bell detent of the container；
S3, adjusting the second servo motor swings the door-shaped frame, determines bell for what the suspension hook was fit into container
Detent controls the power device, opens the movable intermediate plate, discharges the suspension hook.
S4 operates first servo motor, recycles the underwater robot；
S5 starts the third servo motor, starts to lift by crane overboard container, and container hoisting to the salvaging is recycled
Near frame, it can be used the ground jack on pick-up boat will be on the deck of the container hoisting to pick-up boat.
Before carrying out the fishing device and being salvaged, it is also necessary to the fishing device is mounted on pick-up boat, this installation
Method includes installing the underwater robot and clamping device, carries out function debugging after being installed, when its normal work, then
It is connected with the release and recyclable device installation, installation connection commissioning device again after the completion.The boom hoisting is installed to
On the horizontal support bar, boom hoisting part is debugged, completes that support frame is connected by screw bolts horizontal support bar after debugging, it will
Herringbone frame one end be connected by screw bolts at the top of deck in ship structure (length × width x thickness of connecting plate be about 0.1m ×
0.1m × 0.02m), the other end connects the horizontal support bar top, and (length × width x thickness of connecting plate is about 0.1m × 0.1m
× 0.02m), all use bolt to be secured to salvaging shipboard horizontal support bar and support frame as described above, finally by the underwater
People discharges and recycling support frame is packed in pick-up boat side, and the underwater robot release and recycling support frame and the level are propped up
Net level length between strut is from should be 0.5 meter, and vertical clearance is from should be 1.5 meters.
Embodiment 2
The utility model embodiment 1 efficiently can rapidly complete the salvage of overboard container, in order to expand
The application environment of embodiment 1 further increases the stability of salvaging process, will be arranged in the water on the basis of embodiment 1
It is two sets that the boom hoisting on flat support rod, which increases,.
Based on above-mentioned variation, frame, including side recycling frame and recovered overhead frame are recycled in the salvaging of embodiment 2；It is described
It includes horizontal support bar made of band steel (outer dimension length × width x thickness: 1m × 0.06m × 0.04m), band steel that frame is recycled in side
Manufactured support frame (outer dimension length × width x thickness: 1.5m × 0.1m × 0.03m) and two sets of boom hoistings, wherein the level
Support rod one end is connected to hull sides, is provided with support frame as described above on the downside of the other end, the other end of support frame as described above is connected to
Ipsilateral hull, the boom hoisting are arranged on the horizontal support bar；The recovered overhead frame is people's glyph framework, the people
Glyph framework one end is connected to the horizontal support bar top, and the other end connects at the top of deck in ship structure.The boom hoisting includes
Servo motor power 40KW, shaft coupling, the flexible steel wire of diameter 20mm, flexible steel wire distributor rated load weight 15t, span
1.5m, the second vertical bearing seat support, the third servo motor are connected with the second shaft coupling, and the second shaft coupling connects
One end of the second flexible steel wire distributor is connect, the other end connection described second of the second flexible steel wire distributor is vertical
Bearing bracket, the third servo motor and the second vertical bearing seat support are fixedly connected on the horizontal support bar
On, second flexible steel wire is wrapped on the second flexible steel wire distributor, and second flexible steel wire end is provided with
Suspension hook, the suspension hook are the suspension hooks that opening is elastic closure, it may be convenient to be opened and closed.Two sets of boom hoistings it
Between clear distance be 0.6m.The herringbone frame is made of the first strut and the second strut, the upper end of first strut with it is described
The upper end of second strut is fixedly connected, and is in 120 ° of angles.Described horizontal support bar one end is connected to by the first connecting plate and is beaten
Hull sides are fished out, the other end of support frame as described above is connected to ipsilateral hull, first connecting plate and institute by the second connecting plate
It states the second connecting plate and all passes through bolt and be fixedly connected with hull.
A method of it is salvaged using fishing device described in embodiment 2, comprising the following steps:
S1 when salvaging beginning, according to the depth of water is estimated, installs the pressure on underwater robot main equipment storage cabin
Block is carried, and the suspension hook of one of two sets of boom hoistings is fixed on to the movable intermediate plate and fixing clamp of the clamping part
Between piece, first servo motor is operated, the underwater robot is discharged；
S2, the seabed image passed back according to the camera manipulate mobile water of ROV propeller of the underwater robot
Lower robot, finds overboard container, and the underwater robot is rested on the determining near bell detent of the container；
S3, adjusting the second servo motor swings the door-shaped frame, determines bell for what the suspension hook was fit into container
Detent controls the power device, opens the movable intermediate plate, discharges the suspension hook.
S4 operates first servo motor, recycles the underwater robot；
S5 repeats S1~S4, determines bell for what the suspension hook on the another set of boom hoisting was mounted on the container
In detent；
S6 starts two sets of third servo motors, starts to lift by crane overboard container, by container hoisting to the salvaging
It recycles near frame, can be used the ground jack on pick-up boat will be on the deck of the container hoisting to pick-up boat.
When using two sets of boom hoistings, the stability for lifting by crane process is increased dramatically, and prevents container from lifting by crane
Swing in journey.
Embodiment 3
A kind of container fishing device, including fishing robot and salvaging recycling frame, wherein the fishing robot, it is main
It include: release and recyclable device, underwater robot and clamping device, the release and recyclable device pass through flexible steel wire and institute
The top for stating underwater robot is connected, and the lower part of the underwater robot is provided with the clamping device；
The release and recyclable device include first servo motor power 600w, first shaft coupling, and the first flexible steel wire is straight
Diameter 0.01m, the first flexible steel wire distributor diameter 0.03m rated load weight 100kg span 1m, the first vertical bearing seat support
Discharged with underwater robot and recycle supporting framework at, the first servo motor is connected with the first shaft coupling, described the
One shaft coupling connects one end of the first flexible steel wire distributor, and the other end of the first flexible steel wire distributor connects institute
The first vertical bearing seat support is stated, the first servo motor and the first vertical bearing seat support are fixedly connected on the water
In lower robot release and recycling support frame, first flexible steel wire is wrapped on the first flexible steel wire distributor；Institute
It states underwater robot release and recycling support frame is made of band steel, outer dimension long 1.2m, wide 0.5m.
The underwater robot include underwater robot main equipment storage cabin, searchlight, camera, ROV propeller and
Kentledge, underwater robot main equipment storage cabin top are connected by the flexible steel wire with the flexible steel wire distributor,
The front and back in underwater robot main equipment storage cabin is arranged in the searchlight, the camera and the ROV propeller
The top in underwater robot main equipment storage cabin is arranged in both ends, the kentledge, wherein the setting of ROV propeller
Underwater robot main equipment stores the bottom four corners in cabin, and every nook and cranny is each provided with a ROV propeller, and 4 are arranged altogether.Institute
Stating resolution ratio of camera head is 700 tv lines (TV Lines), and the searchlight setting is stored in robot body's equipment under water
The bottom four corners in cabin and top quadrangle, every nook and cranny are each provided with one, and 8 white ultra-bright LED lamps are arranged altogether.Underwater
The control of the signal receiving module, the ROV propeller of the underwater robot is additionally provided with inside human agent's equipment storage cabin
The battery of equipment and 200Ah provides electric energy when work for underwater robot, can reach 5h cruise duration.The underwater
The outer dimension that people (removes kentledge) after being installed is 0.5m × 0.25m × 0.25m, weight 25kg, maximum functional water
Deep 120m, maximum forward speed 1m/s, power 500w.
The clamping device is by the second servo motor of 200w, crossbeam (length × width x thickness: 0.4m × 0.1m × 0.02m), door
Shape frame (length × width x thickness: 0.18m × 0.18m × 0.02m), door-shaped frame (side plate size length × width x thickness: 0.18m ×
0.18m × 0.02m), clamping part composition, the crossbeam is connected under the centre of the underwater robot main equipment storage compartment
Portion, the crossbeam middle lower portion are provided with the first U-shaped board, are provided with the second U-shaped version, the first U at the top of the door-shaped frame
Template and the second U-shaped board are realized hinged by the cooperation of spiral shell stern post pin.The clamping device includes the second servo motor of left end, right end
The first hawser of second servo motor, the first hawser of left end and right end, second servo motor of left end are mounted on the crossbeam
Left end simultaneously connects first hawser of left end, which, which passes through, is arranged in the of crossbeam left end lower part
Two bearing pulleies are connected to the circular orientation pin of the left-external side of the door-shaped frame, and second servo motor of right end is mounted on institute
The right end for stating crossbeam connects first hawser of right end, and the first hawser other end is by being arranged in crossbeam right end lower part
3rd bearing pulley is connected to the right lateral circular orientation pin of the door-shaped frame.The door-shaped frame can be achieved relative to institute
Crossbeam is stated to swing；The clamping part includes fixing clip, movable intermediate plate, power device, and the fixing clip and activity are pressed from both sides
Piece is all length × width x thickness: 0.12m × 0.12m × 0.02m, and aluminium material is made the fixing clip and is arranged in the door shape frame
On frame, the activity intermediate plate top and the fixing clip are rotatablely connected, and the power device is arranged on the door-shaped frame,
And the power of rotation is provided for the movable intermediate plate；The power device includes electric telescopic rod (10w, stroke 1.5m), first
Bearing pulley and the second hawser (diameter 0.003m), the electric telescopic rod are fixed at the fixing clip opposite side
On door-shaped frame, the door-shaped frame lower end of the side is provided with first bearing pulley, described in the connection of second hawser one end
The lower end of electric telescopic rod, the other end after the first bearing pulley by being fixedly connected on the movable intermediate plate.It is described solid
Serration is provided on the inside of clamp piece and the movable intermediate plate.
Frame, including side recycling frame and recovered overhead frame are recycled in the salvaging；The side recycling frame includes that band steel is made
Horizontal support bar (outer dimension length × width x thickness: 1.5m × 0.06m × 0.04m), support frame (outer dimension made of band steel
Length × width x thickness: 2m × 0.1m × 0.03m) and two sets of boom hoistings, wherein described horizontal support bar one end is connected to hull side
Portion, other end downside are provided with support frame as described above, and the other end of support frame as described above is connected to ipsilateral hull, and the boom hoisting is set
It sets on the horizontal support bar；The recovered overhead frame is people's glyph framework, and herringbone frame one end is connected to described
Horizontal support bar top, the other end connect at the top of deck in ship structure.The boom hoisting includes third servo motor power 40KW,
Two shaft couplings, the second flexible steel wire (20mm diameter), the second flexible steel wire distributor rated load weight 15t, span 1.5m, second
Vertical bearing seat support, the third servo motor are connected with the second shaft coupling, second shaft coupling connection described the
The other end of one end of two flexible steel wire distributors, the second flexible steel wire distributor connects the second vertical bearing seat branch
Frame, the third servo motor and the second vertical bearing seat support are fixedly connected on the horizontal support bar, and described
Two flexible steel wires are wrapped on the second flexible steel wire distributor, and second flexible steel wire end is provided with suspension hook, described
Suspension hook is the suspension hook that opening is elastic closure, it may be convenient to be opened and closed.Clear distance is between two sets of boom hoistings
0.8m.The herringbone frame is made of the first strut and the second strut, the upper end of first strut and second strut
Upper end be fixedly connected, and be in 120 ° of angles.Described horizontal support bar one end is connected to salvaging hull side by the first connecting plate
The other end in portion, support frame as described above is connected to ipsilateral hull by the second connecting plate, and first connecting plate and described second connect
Fishplate bar all passes through bolt and is fixedly connected with hull.
Water in above-mentioned technical proposal, between the underwater robot release and recycling support frame and the horizontal support bar
Flat clear distance should be 0.8 meter, and vertical clearance is from should be 1.8 meters.
A method of it is salvaged using fishing device described in embodiment 3, comprising the following steps:
S1 when salvaging beginning, according to the depth of water is estimated, installs the pressure on underwater robot main equipment storage cabin
Block is carried, and the suspension hook of one of two sets of boom hoistings is fixed on to the movable intermediate plate and fixing clamp of the clamping part
Between piece, first servo motor is operated, the underwater robot is discharged；
S2, the seabed image passed back according to the camera manipulate mobile water of ROV propeller of the underwater robot
Lower robot, finds overboard container, and the underwater robot is rested on the determining near bell detent of the container；
S3, adjusting the second servo motor swings the door-shaped frame, determines bell for what the suspension hook was fit into container
Detent controls the power device, opens the movable intermediate plate, discharges the suspension hook.
S4 operates first servo motor, recycles the underwater robot；
S5 repeats S1~S4, determines bell for what the suspension hook on the another set of boom hoisting was mounted on the container
In detent；
S6 starts two sets of third servo motors, starts to lift by crane overboard container, by container hoisting to the salvaging
It recycles near frame, can be used the ground jack on pick-up boat will be on the deck of the container hoisting to pick-up boat.
The spatially relative terms such as "upper", "lower", "left", "right" have been used in embodiment for ease of explanation, have been used for
Relationship of the elements or features relative to another elements or features shown in explanatory diagram.It should be understood that in addition to figure
Shown in except orientation, spatial terminology is intended to include the different direction of device in use or operation.For example, if in figure
Device be squeezed, the element for being stated as being located at other elements or feature "lower" will be located into other elements or feature "upper".
Therefore, exemplary term "lower" may include both upper and lower orientation.Device, which can be positioned in other ways, (to be rotated by 90 ° or position
In other orientation), it can be interpreted accordingly used herein of the opposite explanation in space.
Moreover, the relational terms of such as " first " and " second " or the like are used merely to one with another with identical
The component of title distinguishes, without necessarily requiring or implying between these components there are any this actual relationship or
Sequentially.
Illustrative description has been done to the utility model above, it should explanation, in the core for not departing from the utility model
In the case where the heart, it is any it is simple deformation, modification or other skilled in the art can not spend creative work etc.
The protection scope of the utility model is each fallen with replacement.
Claims (10)
1. a kind of container fishing device, which is characterized in that including fishing robot and salvage recycling frame, wherein
The fishing robot specifically includes that release and recyclable device, underwater robot and clamping device, described to discharge and return
Receiving apparatus is connected by flexible steel wire with the top of the underwater robot, and the lower part of the underwater robot is provided with the folder
Hold device；
The release and recyclable device include first servo motor, first shaft coupling, the first flexible steel wire, the first flexible steel wire receipts
Device, the first vertical bearing seat support and underwater robot release and recycling supporting framework are put into the first servo motor and institute
It states first shaft coupling to be connected, the first shaft coupling connects one end of the first flexible steel wire distributor, first steel wire
The other end of hawser distributor connects the first vertical bearing seat support, the first servo motor and first vertical shaft
Base supporting is fixedly connected on the underwater robot release and recycling support frame, and first flexible steel wire is wrapped in described
On first flexible steel wire distributor；
The underwater robot includes underwater robot main equipment storage cabin, searchlight, camera, has cable underwater robot to push away
Into device and kentledge, underwater robot main equipment stores cabin top and passes through the flexible steel wire and the flexible steel wire distributor
It is connected, the searchlight, described has cable underwater robot propeller and the kentledge to be all disposed within the water at the camera
Lower robot body's equipment stores wall out of my cabin；
The clamping device is made of the second servo motor, crossbeam, door-shaped frame, clamping part, and the crossbeam is connected to the water
The middle lower portion of lower robot body's equipment storage compartment, the crossbeam lower part and the door-shaped frame top are hinged, and described second
Servo motor setting connects the two sides outer wall of the door-shaped frame, it can be achieved that described on the crossbeam, and through the first hawser
Door-shaped frame swings relative to the crossbeam；The clamping part includes fixing clip, movable intermediate plate, power device, described
Fixing clip is arranged on the door-shaped frame, and the activity intermediate plate top and the fixing clip are rotatablely connected, and connects in rotation
The place of connecing is additionally provided with spring, and the movable intermediate plate and fixing clip is made to keep elastic closure state, and the power device setting exists
On the door-shaped frame, and the power of rotation is provided for the movable intermediate plate；
Frame, including side recycling frame and recovered overhead frame are recycled in the salvaging；
The side recycling frame includes horizontal support bar, support frame and boom hoisting, wherein described horizontal support bar one end connects
In hull sides, it being provided with support frame as described above on the downside of the other end, the other end of support frame as described above is connected to ipsilateral hull, and described
Device for hoisting is arranged on the horizontal support bar；
The recovered overhead frame is people's glyph framework, and herringbone frame one end is connected to the horizontal support bar top, separately
One end connects at the top of deck in ship structure.
2. a kind of container fishing device according to claim 1, which is characterized in that the power device includes electronic stretches
Contracting bar, first bearing pulley and the second hawser, the electric telescopic rod are fixed at the door of the fixing clip opposite side
On shape frame, the door-shaped frame lower end of the side is provided with first bearing pulley, and second hawser one end connects the electricity
The lower end of dynamic telescopic rod, the other end after the first bearing pulley by being fixedly connected on the movable intermediate plate.
3. a kind of container fishing device according to claim 1, which is characterized in that the clamping device includes left end
Two servo motors, the first hawser of the second servo motor of right end, the first hawser of left end and right end, the second servo motor of left end peace
Mounted in the crossbeam left end and connect first hawser of left end, left end the first hawser other end by be arranged in the cross
The second bearing pulley of beam left end lower part is connected to the left side of the door-shaped frame, and second servo motor of right end is mounted on institute
The right end for stating crossbeam connects first hawser of right end, and the first hawser other end is by being arranged in crossbeam right end lower part
3rd bearing pulley is connected to the right side of the door-shaped frame.
4. a kind of container fishing device according to claim 1, which is characterized in that the crossbeam middle lower portion is provided with
First U-shaped board, the door-shaped frame top are provided with the second U-shaped board, and first U-shaped board and the second U-shaped board pass through spiral shell stern post
Pin cooperation is realized hinged.
5. a kind of container fishing device according to claim 1, which is characterized in that the fixing clip and the activity
Intermediate plate is internally provided with serration.
6. a kind of container fishing device according to claim 1, which is characterized in that the searchlight, the camera
With the rear and front end for having cable underwater robot propeller that underwater robot main equipment storage cabin is arranged in, the pressure
Carry the top that underwater robot main equipment storage cabin is arranged in block.
7. a kind of container fishing device according to claim 1, which is characterized in that the boom hoisting includes that third is watched
Take motor, second shaft coupling, the second flexible steel wire, the second flexible steel wire distributor, the second vertical bearing seat support, the third
Servo motor is connected with the second shaft coupling, and the second shaft coupling connects one end of the second flexible steel wire distributor,
The other end of the second flexible steel wire distributor connects the second vertical bearing seat support, the third servo motor and institute
It states the second vertical bearing seat support to be fixedly connected on the horizontal support bar, second flexible steel wire is wrapped in described second
On flexible steel wire distributor, second flexible steel wire end is provided with suspension hook.
8. a kind of container fishing device according to claim 7, which is characterized in that the suspension hook is that opening is elastic
The suspension hook of closure, it may be convenient to open and close.
9. a kind of container fishing device according to claim 1, which is characterized in that the herringbone frame is by first
Bar and the second strut composition, the upper end of first strut are fixedly connected with the upper end of second strut, and are in 120 ° of angles.
10. a kind of container fishing device according to claim 1, which is characterized in that the side recycling frame includes two
Cover boom hoisting, underwater robot release and the net level length between recycling support frame and the horizontal support bar are from should be
0.1m~2m, vertical clearance is from should be 1.5m~2m.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821002486.2U CN208484805U (en) | 2018-06-27 | 2018-06-27 | A kind of container fishing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821002486.2U CN208484805U (en) | 2018-06-27 | 2018-06-27 | A kind of container fishing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208484805U true CN208484805U (en) | 2019-02-12 |
Family
ID=65248829
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821002486.2U Expired - Fee Related CN208484805U (en) | 2018-06-27 | 2018-06-27 | A kind of container fishing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208484805U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108725711A (en) * | 2018-06-27 | 2018-11-02 | 交通运输部科学研究院 | A kind of container fishing device and Refloatation method |
-
2018
- 2018-06-27 CN CN201821002486.2U patent/CN208484805U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108725711A (en) * | 2018-06-27 | 2018-11-02 | 交通运输部科学研究院 | A kind of container fishing device and Refloatation method |
| CN108725711B (en) * | 2018-06-27 | 2023-05-30 | 交通运输部科学研究院 | Container salvaging device and salvaging method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108725711A (en) | A kind of container fishing device and Refloatation method | |
| CN208484804U (en) | A kind of dispensing and fishing robot under water | |
| CN101492140B (en) | Aluminum alloy catamaran whole-boat afloat process | |
| US7011473B2 (en) | Method for underwater transportation and installation or removal of objects at sea | |
| CN106365036B (en) | Submarine pipeline briquetting discharges Combined hanging rack | |
| CN107600326A (en) | A kind of releasable formula gravity anchor system for deep ocean buoy | |
| CN105417403A (en) | Method for installing ultrahigh ultra-large type floating crane in dock | |
| CN105620676B (en) | A kind of unmanned water surface ROV draw off gear | |
| CN208484805U (en) | A kind of container fishing device | |
| CN103883273A (en) | Method for utilizing two cranes on saturation diving support vessel to mount vertical pipe | |
| CN107953975A (en) | Marine machinery Bei Zhidang mechanisms | |
| CN202966592U (en) | Ocean engineering vessel | |
| CN104097750B (en) | A kind of multi-functional repair and maintenance ship | |
| CN208360457U (en) | A kind of container salvaging recycling frame | |
| CN202169997U (en) | Heavy lift vessel with door-shaped trusses | |
| CN206243385U (en) | A kind of sea is transferred platform compensation of undulation anchoring system | |
| US20220227467A1 (en) | Deployment of Unmanned Underwater Vehicles | |
| CN211618000U (en) | Retraction device on seabed mining vehicle ship | |
| JP2002255093A (en) | Method for salvaging sunk ship | |
| CN202987470U (en) | Tuna seine boat | |
| CN104943825A (en) | Mechanical anti-sway method for marine weight lifting | |
| CN204979153U (en) | Transversely take off system of carrying suitable for become large -scale ocean trawler of water layer | |
| CN206446774U (en) | Z-drive tug side of a ship pylon | |
| CN113581396A (en) | Integrated operation platform and method for buoy recovery | |
| CN212047805U (en) | Multifunctional environment-friendly engineering ship |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190212 Termination date: 20210627 |