CN107187548B - Device for removing winding object of navigation channel buoy cable - Google Patents
Device for removing winding object of navigation channel buoy cable Download PDFInfo
- Publication number
- CN107187548B CN107187548B CN201710566841.2A CN201710566841A CN107187548B CN 107187548 B CN107187548 B CN 107187548B CN 201710566841 A CN201710566841 A CN 201710566841A CN 107187548 B CN107187548 B CN 107187548B
- Authority
- CN
- China
- Prior art keywords
- arm
- clamping member
- buoy
- support arm
- winding
- 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.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
- B63B22/16—Buoys specially adapted for marking a navigational route
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/04—Fastening or guiding equipment for chains, ropes, hawsers, or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/20—Adaptations of chains, ropes, hawsers, or the like, or of parts thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B2021/003—Mooring or anchoring equipment, not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Sawing (AREA)
- Surgical Instruments (AREA)
Abstract
The invention discloses a device for removing entanglement of a buoy cable of a navigation channel, which comprises a mechanical arm arranged on a buoy maintenance ship, wherein the free end of the mechanical arm is connected with a mechanical hand used for grabbing entanglement on the buoy ship cable. The invention has the advantages of high automation degree, high working efficiency, capability of cleaning the winding on the mooring rope of the buoy vessel in all directions and convenient operation.
Description
Technical Field
The invention relates to the technical field of channel maintenance, in particular to a device for removing entanglement of a channel buoy cable.
Background
The navigation mark maintenance ship is responsible for navigation mark laying, routing inspection, supply, repair and maintenance, and has good maneuverability and low-speed sailing performance. Every year flood season or high flood water level period, the winding thing (pasture and water, floating wood, plastic bag etc.) is numerous on the surface of water, pile into the piece sometimes, if not clear away in time, under the rivers effect, the winding thing often can twine on the hawser of buoy boat, can lead to buoy boat slope, the heaving even runs off when serious, influence buoy boat's normal use, cause very big economic loss, but also can bring very big potential safety hazard, so need the buoy boat to maintain the miscellaneous article of winding on the buoy boat hawser and carry out periodic inspection and processing.
In order to ensure the normal use of the buoy vessel, the winding objects need to be removed in time. For a long time, each related department mainly removes the winding on the mooring rope by manpower, the staff is transported to the vicinity of the buoy vessel by the buoy maintenance vessel, then the staff stands at one end of the buoy maintenance vessel to clean the winding on the mooring rope of the buoy vessel, the tools adopted during cleaning are mainly iron hooks and hacking knives or directly removed by hands, the removal efficiency is very low, the labor intensity is very high, and in the process of removing the winding, the buoy maintenance vessel can float on the water surface, and the life safety of the operating staff is seriously threatened.
Chinese patent CN 106800072A discloses a device for removing entanglement of a mooring rope of a water floater and a entanglement removing method thereof, which comprises a grass hanging plate, a suspender and a mechanical winch; the grass hanging plate is provided with a through hole, and the grass hanging plate slides along the floating mooring line through the through hole to collect the winding and hanging objects and then strips the winding and hanging objects from the floating mooring line; the grass hanging plate is connected with a weeding mooring rope, the weeding mooring rope is connected with the mechanical winch through a pulley fixed on the hanging rod, and the mechanical winch is used for pulling the weeding mooring rope to lift the grass hanging plate above the water surface.
The device for removing the entanglement on the water floating tool mooring line and the entanglement removing method thereof utilize the grass hanging plate to gather the entanglement on the floating tool mooring line, then utilize the mechanical winch to hoist the grass hanging plate above the front deck of the working boat, and then remove the entanglement on the grass hanging plate. The following drawbacks still exist: 1. when there are many entanglement or entanglement and the mooring rope of the floating tool are tightly entangled, the grass hanging plate cannot well gather the entanglement above the front deck of the working boat, so that the entanglement cannot be well removed. 2. When clearing up the winding, need gather the preceding armor top of work ships and light boats with the winding earlier, then manual cutting is in order to clear away the winding, increases staff's intensity of labour, reduces work efficiency moreover. 3. Degree of automation is low, and the operation is inconvenient moreover, extravagant manpower and materials.
Disclosure of Invention
Aiming at the defects of the prior art, the technical problems to be solved by the invention are as follows: how to provide a degree of automation height, work efficiency is high, convenient operation's channel buoy hawser winding thing clearing device.
In order to solve the technical problems, the invention adopts the following technical scheme:
in this application, use manipulator centre gripping end place direction as the place ahead, manipulator installation end direction is the rear.
The device for removing the winding objects on the mooring rope of the navigation channel buoy comprises a mechanical arm arranged on a navigation mark maintenance ship, wherein the free end of the mechanical arm is connected with a mechanical arm used for grabbing the winding objects on the mooring rope of the navigation mark maintenance ship.
In the technical scheme, a mechanical arm is arranged on the buoy maintenance ship, the free end of the mechanical arm is connected with a mechanical arm, and the mechanical arm is used for grabbing wound winding objects on a mooring rope of the buoy ship. In use, the smaller windings can be picked up directly by the robot and then thrown elsewhere. And the mechanical arm is also provided with a cutting tool, and the cutting tool can reciprocate along the length direction of the mechanical arm to cut the winding object grabbed by the mechanical arm. This device is when the action, earlier utilize the manipulator to snatch winding thing on with the hawser, for avoiding cutting tool miscut hawser, after the winding thing is grabbed to the manipulator, whether the manipulator centre gripping is to the hawser in order to judge the manipulator pull back with the arm, when confirming the manipulator does not centre gripping to the hawser, make cutting tool move and cut the winding thing that the manipulator centre gripping arrived, after the cutting is accomplished, operate the arm, make the manipulator move the winding thing to other places, so that the winding thing washes away along with the rivers, reach the purpose of the winding thing on the clearance hawser. The winding on the mooring rope of the buoy ship can be cleaned by the device, so that the time required for channel maintenance can be greatly reduced, manpower and material resources are saved, the winding cleaning efficiency is improved, the device is safer, and the automation degree is higher. Moreover, after the winding is cut by the cutter, the winding is washed away by water flow, so that pollution is avoided, and the ecology is protected better. The arm of this device can also be carried the heavy object, for example navigation mark, and better liberation manpower for the application occasion of this device is more.
As an optimization, the manipulator includes first clamping part and second clamping part, first clamping part and second clamping part all are the hook shape, the interior concave surface of first clamping part and second clamping part sets up relatively, the inner of first clamping part and second clamping part has at least one to articulate on the free end of arm, still be provided with on the free end of arm and be used for controlling first clamping part and second clamping part are the clamping part control mechanism of the motion that opens and shuts.
Like this, first clamping part and second clamping part are through clamping part control mechanism and are the motion of opening and shutting in order to press from both sides tightly or loosen the winding, make things convenient for cutting tool to cut the winding. First clamping part and second clamping part are the hook shape, and two interior concave surfaces set up relatively, and when being in clamping status, the winding can be fixed in the space between two interior concave surfaces for the centre gripping is more reliable firm. After the cut is complete, the robotic arm and gripping member control mechanism can be operated to throw the windings elsewhere to clean the windings on the buoy vessel cable.
As an optimization, the inner end of the first clamping part is fixedly installed on the free end of the mechanical arm, the inner end of the second clamping part is hinged on the free end of the mechanical arm, the clamping part control mechanism comprises an installation support and a first telescopic mechanism, the installation support is fixedly installed on the free end of the mechanical arm, and two ends of the first telescopic mechanism in the telescopic direction are respectively hinged on the installation support and the hinged end of the second clamping part.
Like this, during the use first clamping part can insert earlier in the winding on the buoy boat hawser, then the action of first telescopic machanism of control for the second clamping part is to the direction motion of being close to first clamping part, in order to realize the centre gripping to the winding, the reliability of improvement centre gripping that can be better.
Preferably, the inner sides of the first clamping component and the second clamping component opposite to the opening and closing directions are respectively provided with a blade.
Therefore, the winding with low hardness and low density can be cut by directly utilizing the first clamping component and the second clamping component, and the cutting efficiency is improved.
Preferably, the number of the mechanical arms is two, and the mechanical arms are respectively arranged on two sides of the cutting tool.
Like this, carry out the centre gripping to the winding from the both sides of cutter, make things convenient for the cutting of cutter more for the cutting motion of cutter is steady reliable more.
As an optimization, the cutting tool is disc-shaped and the edge of the disc is a cutting edge, the cutter reciprocating mechanism is fixedly mounted with a motor for driving the cutting tool to rotate, the cutter reciprocating mechanism and the mechanical arm are provided with a second telescopic mechanism for driving the cutter reciprocating mechanism to move along the length direction of the mechanical arm in a reciprocating manner, and two ends of the second telescopic mechanism are respectively hinged to the mounting bracket and the mechanical arm.
Like this, the cutting tool is the disc and disc edge is the cutting edge, and the realization that can be better is to the cutting of the winding on the buoy boat hawser. Utilize the second telescopic machanism to drive the cutter motion, when need not using cutting tool, when needs utilize the arm to carry or use the manipulator to cut promptly, can withdraw cutting tool, better saving can facilitate the use.
Preferably, the navigation mark maintenance ship is fixedly connected with a base, and one end, which is not provided with a mechanical arm, of the mechanical arm is rotatably connected to the base.
Like this, the arm is not provided with the one end of manipulator and rotates to be connected the base can adjust the direction of arm, and during the use, it is rotatory to need not the navigation mark to maintain the ship, can realize diversified clearance, saves time, raises the efficiency.
As optimization, the mechanical arm comprises a first support arm horizontally and rotatably mounted on the base and a second support arm, one end of the second support arm can be hinged to the first support arm in an up-and-down rotating mode, a third telescopic mechanism is further arranged between the first support arm and the second support arm, and two ends of the third telescopic mechanism in the telescopic direction are respectively hinged to the first support arm and the second support arm; still include the third support arm, third support arm one end can the tilting articulate on the second support arm, still be provided with fourth telescopic machanism between second support arm and the third support arm, the both ends of the flexible direction of fourth telescopic machanism articulate respectively the second support arm with the third support arm, the one end that the second support arm was kept away from to the third support arm with the setting is connected to the manipulator, erection support, cutter reciprocating motion mechanism, second telescopic machanism all connect the setting and are in on the third support arm.
Like this, but the arm includes interconnect and first support arm, second support arm and the third support arm of angle of adjustment each other, can be so that the arm is more nimble, realizes diversified clearance to the winding on the buoy boat hawser.
Preferably, the first telescopic mechanism, the second telescopic mechanism, the third telescopic mechanism and the fourth telescopic mechanism are all hydraulic telescopic systems.
Therefore, the hydraulic telescopic system can be adjusted more conveniently, noise is reduced, the adjusting process is more stable, and the use is convenient.
Preferably, the second support arm comprises a front section, a rear section and a rotating disc arranged between the front section and the rear section, the central line of the rotating disc is arranged along the length direction of the second support arm, and the front section of the second support arm is rotatably arranged on the rear section of the second support arm through the rotating disc.
Like this, the second support arm anterior segment can revolute the driving disk and rotate, cooperates the horizontal rotation of first support arm to and the upper and lower rotation between first support arm and second support arm, second support arm and the third support arm can realize omnidirectional rotation, and the better weeds to the hawser is cleared up, clears up more thoroughly, and efficiency is higher.
In conclusion, the invention has the advantages of high automation degree, high working efficiency, capability of cleaning the winding on the cable of the buoy vessel in all directions and convenient operation.
Drawings
Fig. 1 is a schematic structural view of a channel buoy cable wrap removal device according to an embodiment.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
In the specific implementation: as shown in fig. 1, the clearing device for the winding on the buoy cable of the navigation channel comprises a mechanical arm arranged on a buoy maintenance ship 1, wherein the free end of the mechanical arm is connected with a mechanical arm 2 used for grabbing the winding on the buoy cable, the clearing device further comprises a cutting tool 3, a cutting edge exposed out of the side surface of the front end of the mechanical arm is arranged on the cutting tool 3, the cutting tool 3 is installed on the mechanical arm through a tool reciprocating mechanism, and the tool reciprocating mechanism is used for driving the cutting tool 3 to reciprocate along the length direction of the mechanical arm.
Therefore, a mechanical arm is arranged on the buoy maintenance ship, the free end of the mechanical arm is connected with a mechanical hand, and the mechanical hand is used for grabbing wound objects on the mooring rope of the buoy ship. In use, the smaller windings can be picked up directly by the robot and then thrown elsewhere. And the mechanical arm is also provided with a cutting tool, and the cutting tool can reciprocate along the length direction of the mechanical arm so as to cut the winding object grabbed by the mechanical arm. This device is when the action, earlier utilize the manipulator to snatch winding thing on with the hawser, for avoiding cutting tool miscut hawser, after the winding thing is grabbed to the manipulator, whether the manipulator centre gripping is to the hawser in order to judge the manipulator pull back with the arm, when confirming the manipulator does not centre gripping to the hawser, make cutting tool move and cut the winding thing that the manipulator centre gripping arrived, after the cutting is accomplished, operate the arm, make the manipulator move the winding thing to other places, so that the winding thing washes away along with the rivers, reach the purpose of the winding thing on the clearance hawser. The winding on the mooring rope of the buoy ship can be cleaned by the device, so that the time required for channel maintenance can be greatly reduced, manpower and material resources are saved, the winding cleaning efficiency is improved, the device is safer, and the automation degree is higher. Moreover, after the winding is cut by the cutter, the winding is washed away by water flow, so that pollution is avoided, and the ecology is better protected. The arm of this device can also be carried the heavy object, for example navigation mark, and better liberation manpower for the application occasion of this device is more.
In this embodiment, manipulator 2 includes first hold assembly and second hold assembly, first hold assembly and second hold assembly all are the hook, the relative setting of concave surface of first hold assembly and second hold assembly, the inner of first hold assembly and second hold assembly has at least one to articulate on the free end of arm, still be provided with on the free end of arm and be used for control the hold assembly control mechanism that first hold assembly and second hold assembly do the motion that opens and shuts.
Like this, first clamping part and second clamping part are through clamping part control mechanism and are the motion of opening and shutting in order to press from both sides tightly or loosen the winding, make things convenient for cutting tool to cut the winding. First clamping part and second clamping part are the hook shape, and two interior concave surfaces set up relatively, and when being in clamping status, the winding can be fixed in the space between two interior concave surfaces for the centre gripping is more reliable firm. After the cut is complete, the robotic arm and gripping member control mechanism can be operated to throw the windings elsewhere to clean the windings on the buoy vessel cable.
In this specific embodiment, the inner end of the first clamping component is fixedly mounted on the free end of the mechanical arm, the inner end of the second clamping component is hinged on the free end of the mechanical arm, the clamping component control mechanism comprises a mounting support 41 and a first telescopic mechanism 4, the mounting support 41 is fixedly mounted on the free end of the mechanical arm, and two ends of the telescopic direction of the first telescopic mechanism 4 are respectively hinged on the mounting support 41 and the hinged end of the second clamping component.
Like this, during the use first clamping part can insert earlier in the winding on the buoy boat hawser, then the action of first telescopic machanism of control for the second clamping part is to the direction motion of being close to first clamping part, in order to realize the centre gripping to the winding, the reliability of improvement centre gripping that can be better.
In this embodiment, the first clamping member and the second clamping member are provided with blades on the inner sides thereof facing in the opening and closing direction, respectively.
Therefore, the winding with low hardness and low density can be cut by directly utilizing the first clamping component and the second clamping component, and the cutting efficiency is improved.
In this embodiment, two manipulators 2 are provided, and are respectively provided on both sides of the cutting tool 3.
Like this, carry out the centre gripping to the winding from the both sides of cutter, make things convenient for the cutting of cutter more for the cutting motion of cutter is steady reliable more. Of course, in practice, the number of the manipulators can be one, and the manipulator is also within the range of the device.
In this embodiment, cutting tool 3 is disc and disc edge is the cutting edge, fixed mounting is used for driving on the cutter reciprocating motion mechanism cutting tool pivoted motor 31, cutter reciprocating motion mechanism with set up between the arm and be used for driving cutter reciprocating motion mechanism follows arm length direction reciprocating motion's second telescopic machanism 5, the both ends of second telescopic machanism 5 articulate respectively the installing support with on the arm.
Like this, cutting tool is the disc and disc edge is the cutting edge, and the realization that can be better is to the cutting of the winding on the buoy boat. Utilize the second telescopic machanism to drive the cutter motion, when need not using cutting tool, when needs utilize the arm to carry or use the manipulator to cut promptly, can withdraw cutting tool, better saving can facilitate the use.
In this embodiment, a base 11 is fixedly connected to the beacon maintenance ship 1, and one end of the mechanical arm, which is not provided with the manipulator 2, is rotatably connected to the base 11.
Like this, the arm is not provided with the one end of manipulator and rotates to be connected the base can adjust the direction of arm, and during the use, it is rotatory to need not the navigation mark to maintain the ship, can realize diversified clearance, saves time, raises the efficiency.
In this embodiment, the mechanical arm includes a first support arm 6 horizontally and rotatably mounted on the base 11, and further includes a second support arm 7, one end of the second support arm 7 is hinged to the first support arm 6 in a manner that it can rotate up and down, a third telescopic mechanism 71 is further disposed between the first support arm 6 and the second support arm 7, and two ends of the third telescopic mechanism 71 in a telescopic direction are respectively hinged to the first support arm 6 and the second support arm 7; still include third support arm 8, 8 one end of third support arm can the tilting articulate on second support arm 7, still be provided with fourth telescopic machanism 81 between second support arm 7 and the third support arm 8, the both ends of the flexible direction of fourth telescopic machanism 81 articulate respectively second support arm 7 with third support arm 8, third support arm 8 keep away from the one end of second support arm 7 with manipulator 2 is connected and is set up, erection support 41, cutter reciprocating motion mechanism, second telescopic machanism 5 are all connected and are set up on the third support arm 8.
Like this, but the arm includes interconnect and first support arm, second support arm and the third support arm of angle of adjustment each other, can be so that the arm is more nimble, realizes diversified clearance to the winding on the buoy boat hawser.
In the present embodiment, the first telescoping mechanism 4, the second telescoping mechanism 5, the third telescoping mechanism 71, and the fourth telescoping mechanism 81 are all hydraulic telescoping systems.
Therefore, the hydraulic telescopic system can be adjusted more conveniently, noise is reduced, the adjusting process is more stable, and the use is convenient. In specific implementation, the first telescopic mechanism, the second telescopic mechanism, the third telescopic mechanism and the fourth telescopic mechanism can be all electric push rods, and the device also belongs to the implementable range of the device.
In this embodiment, the second support arm 7 includes a front section and a rear section and a rotating disc 9 disposed between the front section and the rear section, a central line of the rotating disc 9 is disposed along a length direction of the second support arm 7, and the front section of the second support arm 7 is rotatably mounted on the rear section of the second support arm 7 through the rotating disc 9.
Like this, the second support arm anterior segment can revolute the driving disk and rotate, cooperates the horizontal rotation of first support arm to and the upper and lower rotation between first support arm and second support arm, second support arm and the third support arm can realize omnidirectional rotation, and the better weeds to the hawser is cleared up, clears up more thoroughly, and efficiency is higher.
Claims (10)
1. The utility model provides a channel buoy hawser winding thing clearing device, is including setting up the arm on buoy maintenance ship (1), the free end of arm is connected and is provided with manipulator (2) that are used for snatching the winding thing on the buoy ship hawser, its characterized in that still includes cutting tool (3), be provided with the cutting edge that outwards exposes out in the arm front end side surface on cutting tool (3), cutting tool (3) are installed on the arm through cutter reciprocating motion mechanism, cutter reciprocating motion mechanism is used for driving cutting tool (3) and follows arm length direction reciprocating motion.
2. The device for removing entanglement of a navigation buoy cable as claimed in claim 1, wherein the manipulator (2) comprises a first clamping member and a second clamping member, the first clamping member and the second clamping member are both in a sickle shape, concave surfaces of the first clamping member and the second clamping member are arranged oppositely, at least one of inner ends of the first clamping member and the second clamping member is hinged to a free end of the robot arm, and a clamping member control mechanism for controlling the first clamping member and the second clamping member to move open and close is further arranged on the free end of the robot arm.
3. The fairway buoy cable entanglement removal device of claim 2, wherein the inner end of the first clamping member is fixedly mounted to the free end of the robotic arm and the inner end of the second clamping member is hinged to the free end of the robotic arm, the clamping member control mechanism comprises a mounting support (41) and a first telescoping mechanism (4), the mounting support (41) is fixedly mounted to the free end of the robotic arm, and the two ends of the first telescoping mechanism (4) in the telescoping direction are hinged to the mounting support (41) and the hinged end of the second clamping member, respectively.
4. The device for removing entanglement of a channel buoy cable as claimed in claim 3, wherein the first and second clip members are provided with cutting edges on the inner sides thereof facing in the opening and closing direction.
5. The fairway buoy cable entanglement removal device of claim 2, characterized in that said robot (2) is provided in two and respectively on both sides of said cutting tool.
6. The clearing device for the winding material on the navigation buoy cable of claim 3, characterized in that the cutting tool (3) is disc-shaped and the edge of the disc is a blade, the tool reciprocating mechanism is fixedly provided with a motor (31) for driving the cutting tool to rotate, a second telescoping mechanism (5) for driving the tool reciprocating mechanism to reciprocate along the length direction of the mechanical arm is arranged between the tool reciprocating mechanism and the mechanical arm, and two ends of the second telescoping mechanism (5) are respectively hinged on the mounting bracket and the mechanical arm.
7. A channel buoy cable entanglement removal device as claimed in claim 6, characterized in that a base (11) is fixedly attached to the beacon maintenance vessel (1), and the end of the robot arm not provided with the robot arm (2) is pivotally attached to the base (11).
8. A clearing device for a fairway buoy cable winding as claimed in claim 7, characterized in that said robot arm comprises a first arm (6) horizontally rotatably mounted on said base (11), and further comprises a second arm (7), one end of said second arm being hinged to said first arm (6) in a manner capable of rotating up and down, a third telescopic mechanism (71) being provided between said first arm (6) and said second arm (7), and both ends of said third telescopic mechanism (71) in the telescopic direction being hinged to said first arm (6) and said second arm (7), respectively; still include third support arm (8), third support arm (8) one end can be from top to bottom pivoted articulate on second support arm (7), still be provided with fourth telescopic machanism (81) between second support arm (7) and third support arm (8), the both ends of the flexible direction of fourth telescopic machanism (81) articulate respectively second support arm (7) with third support arm (8), third support arm (8) keep away from the one end of second support arm (7) with manipulator (2) are connected and are set up, erection support (41), cutter reciprocating motion mechanism, second telescopic machanism (5) are all connected and are set up on third support arm (8).
9. The fairway buoy cable wrap clearing apparatus as claimed in claim 8, characterized in that the first (4), second (5), third (71) and fourth (81) telescoping mechanisms are all hydraulic telescoping systems.
10. The fairway buoy cable entanglement removal device of claim 8, wherein said second arm (7) comprises a front section and a rear section and a rotatable disc (9) disposed therebetween, a centerline of said rotatable disc (9) being disposed along a length of said second arm (7), said front section of said second arm (7) being rotatably mounted to said rear section of said second arm (7) by said rotatable disc (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710566841.2A CN107187548B (en) | 2017-07-12 | 2017-07-12 | Device for removing winding object of navigation channel buoy cable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710566841.2A CN107187548B (en) | 2017-07-12 | 2017-07-12 | Device for removing winding object of navigation channel buoy cable |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107187548A CN107187548A (en) | 2017-09-22 |
| CN107187548B true CN107187548B (en) | 2022-07-08 |
Family
ID=59882428
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710566841.2A Active CN107187548B (en) | 2017-07-12 | 2017-07-12 | Device for removing winding object of navigation channel buoy cable |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107187548B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108656081A (en) * | 2018-05-16 | 2018-10-16 | 大连海事大学 | Buoy Work machine arm and its application method |
| FR3082988B1 (en) * | 2018-06-26 | 2021-09-10 | Framatome Sa | INTERVENTION DEVICE ON A NUCLEAR FUEL ASSEMBLY |
| CN115069731A (en) * | 2022-05-26 | 2022-09-20 | 巢湖市国力航标器材有限公司 | Portable steel cable navigation mark ship twines thing cutting equipment |
| CN115127526B (en) * | 2022-06-27 | 2024-01-09 | 浙江海洋大学 | Tidal division river reach channel treatment continental beach water depth measuring device |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2803270B1 (en) * | 2000-01-04 | 2002-03-29 | Droff Yves Le | DEVICE FOR RECOVERING POLLUTING MATERIALS, PARTICULARLY HYDROCARBONS |
| CN201633019U (en) * | 2010-01-13 | 2010-11-17 | 段富银 | Beacon deposit eliminating mechanical hand |
| CN101830273B (en) * | 2010-05-14 | 2012-12-26 | 河海大学常州校区 | Float clearing boat |
| CN205113653U (en) * | 2015-11-17 | 2016-03-30 | 山东科技大学 | Remote control manipulator rubbish clearing boat |
| CN205675189U (en) * | 2016-06-17 | 2016-11-09 | 张家港市海丰水面环保机械有限公司 | The multi-functional cleaning in river course ship |
| TWM534022U (en) * | 2016-08-16 | 2016-12-21 | Wang Xin Ning | Toy grabbing device |
| CN207141321U (en) * | 2017-07-12 | 2018-03-27 | 长江重庆航运工程勘察设计院 | A kind of channel buoy cable takeup thing remove device |
-
2017
- 2017-07-12 CN CN201710566841.2A patent/CN107187548B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN107187548A (en) | 2017-09-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107187548B (en) | Device for removing winding object of navigation channel buoy cable | |
| CN203652095U (en) | Novel multifunctional underwater robot | |
| CN201071502Y (en) | Device for clearing floater on water surface | |
| CN205835318U (en) | A kind of over-water floats catching robot | |
| CN102425202B (en) | Water bottom waste cleaning device | |
| KR101552645B1 (en) | Automatic Shelfish Picking Machine | |
| CN206984271U (en) | A kind of channel buoy cable takeup thing saws formula remove device | |
| KR102109038B1 (en) | Underwater waste lifting device | |
| CN107329446B (en) | Method for monitoring and processing winding of buoy cable of navigation channel | |
| CN210238465U (en) | Marine floater fishing device with quick fishing function | |
| US20100071630A1 (en) | Mechanized collector of juvenile lobsters | |
| CN111535282A (en) | Intelligent unmanned aerial vehicle for cleaning water surface dirt | |
| CN207141321U (en) | A kind of channel buoy cable takeup thing remove device | |
| CN110815410B (en) | Multifunctional fine grid sundry cleaning robot | |
| CN203575396U (en) | Lifting structure of floating ball traction machine | |
| CN113734386A (en) | Multifunctional fishing net detection arm | |
| CN110861105A (en) | Screw clearance robot | |
| CN206691338U (en) | Water surface dirt salvages system | |
| KR100481167B1 (en) | Multi-Purpose Marine Waste Cleaning Ship with Orange Grapple | |
| CN216809824U (en) | Enteromorpha algae salvage ship | |
| CN201313622Y (en) | Enteromorpha prolifera collecting device | |
| KR910001778Y1 (en) | Harvesting machine of marine products | |
| CN216403378U (en) | Self-cleaning fishing net thread winding device for ocean fishing | |
| CN206895231U (en) | A kind of new river course pasture and water rapid cutting device | |
| CN214216118U (en) | Anchor boat rudder system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |