CN107472486A - An a kind of container set accepted way of doing sth lays reclaimer and lays recovery method - Google Patents
An a kind of container set accepted way of doing sth lays reclaimer and lays recovery method Download PDFInfo
- Publication number
- CN107472486A CN107472486A CN201710703356.5A CN201710703356A CN107472486A CN 107472486 A CN107472486 A CN 107472486A CN 201710703356 A CN201710703356 A CN 201710703356A CN 107472486 A CN107472486 A CN 107472486A
- Authority
- CN
- China
- Prior art keywords
- container
- hinged
- arm
- connecting rod
- reclaimer
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D90/00—Component parts, details or accessories for large containers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/40—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable
- B65H75/42—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable attached to, or forming part of, mobile tools, machines or vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/60—Rope, cable, or chain winding mechanisms; Capstans adapted for special purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/008—Docking stations for unmanned underwater vessels, or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D2700/00—Capstans, winches or hoists
- B66D2700/01—Winches, capstans or pivots
- B66D2700/0183—Details, e.g. winch drums, cooling, bearings, mounting, base structures, cable guiding or attachment of the cable to the drum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D2700/00—Capstans, winches or hoists
- B66D2700/01—Winches, capstans or pivots
- B66D2700/0183—Details, e.g. winch drums, cooling, bearings, mounting, base structures, cable guiding or attachment of the cable to the drum
- B66D2700/0191—Cable guiding during winding or paying out
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
An a kind of container set accepted way of doing sth lays reclaimer and lays recovery method, including container and lays reclaimer in container；The rear end of the container is provided with dodge gate, and the top of the container is provided with lifting ear；Winch, U-shaped arm frame, transverse arm, oscillating arm mechanisms, slew gear and the butt-joint locking device for laying reclaimer and including being wound with armored cable.The present invention is by submersible and lays reclaimer and is integrated in container, can carry out whole Transporting to container, help to protect submersible without damage；Reclaimer whole Transporting is laid, can be used without putting into other equipment, be favorably improved operating efficiency；When the amplitude of fluctuation for lifting submersible is excessive, slows down the amplitude of fluctuation of submersible using oscillating arm mechanisms, submersible is steadily lifted；Submersible is rotated using slew gear, to adapt to job requirements.
Description
Technical field
Recovery is laid the present invention relates to submersible, an especially a kind of container set accepted way of doing sth lays reclaimer and cloth is put back to
Receiving method.
Background technology
People are typically investigated using submersible to deep-sea, it is therefore desirable to submersible is laid and reclaimed.Tradition
Way be first to transport submersible and winch on ship；Then aboard ship erection bracket, is lifted submersible using winch
To in the sea；During recovery, submersible is lifted using winch；Submersible is returned on ship finally by manpower.It is existing no special
Transport and storage of the door equipment to submersible are protected, and submersible is probably damaged during transport and storage；
In addition, it is necessary to do the preparation of correlation when submersible is constructed at the scene, operating efficiency is low；Laying and reclaiming for submersible is tight
Winch tightly is relied on, the security of operation has much room for improvement.
The content of the invention
The technical problems to be solved by the invention are to provide an a kind of container set accepted way of doing sth and lay reclaimer and lay recovery
Method, lay reclaimer and integrated with submersible, be favorably improved submersible lays organic efficiency, and the protection to submersible is more
It is good.
In order to solve the above technical problems, the technical scheme is that：An a kind of container set accepted way of doing sth lays reclaimer, bag
Include container and lay reclaimer in container；
The rear end of the container is provided with dodge gate, and the top of the container is provided with lifting ear；
It is described lay reclaimer include being wound with the winch of armored cable, U-shaped arm frame, transverse arm, oscillating arm mechanisms, slew gear and
Butt-joint locking device；The winch is fixed on the bottom position in container；The U-shaped arm frame is arranged on the top in container
Position, the U-shaped arm frame include two sleeve pipes symmetrically and along container length direction set, the hydraulic press being arranged in sleeve pipe
Structure and telescopic arm, the telescopic arm take the shape of the letter U, and it includes installing arm and is arranged on the linking arm at installing arm both ends, the linking arm
Stretch into described sleeve pipe and be connected with hydraulic pressure hydraulic mechanism；The transverse arm sets the top of winch, and the both ends of transverse arm respectively at
The sleeve pipe connection of both sides, the centre of the transverse arm are provided with the first pin joint seat, first pulley are articulated with first pin joint seat, twist
Armored cable on car passes through the first pulley；The installing arm is provided with the first hinged seat and the second hinged seat, the pendulum
Arm mechanism includes the rotating shaft being hinged with the first hinged seat, the swing arm, first hydraulic cylinder and the second hydraulic cylinder that are hinged with rotating shaft, described
Rotating shaft is parallel with installing arm, and the direction of rotation of the swing arm and the direction of rotation of rotating shaft are mutually perpendicular to, the both ends point of the rotating shaft
Not She You the 3rd hinged seat and the 4th hinged seat, it is described to be provided with the 5th hinged seat, the cylinder body of the first hydraulic cylinder than swing arm
It is hinged with the second hinged seat, the output shaft of first hydraulic cylinder is hinged with the 3rd hinged seat, the cylinder body of second hydraulic cylinder and the 4th hinge
Joint chair is hinged, and the output shaft of second hydraulic cylinder is hinged with the 5th hinged seat, and the swing arm is located at the centre position of rotating shaft, and described
One hydraulic cylinder and second hydraulic cylinder are located at the both sides of swing arm；The swing arm is provided with the second pin joint seat, is pivotally connected on the second pin joint seat
There is second pulley；The slew gear is arranged on the lower section of swing arm, and the slew gear includes bearing, first gear and first
The second gear of gear engagement and the motor of driving second gear, the first gear are enclosed on the outer ring of bearing, the inner ring of bearing
It is connected with swing arm, the motor is fixed in the fixed plate of swing arm extension；The butt-joint locking device includes the installation of cylinder
Seat, the pressure ring being arranged on below mounting seat, the locking machine for being distributed in the linkage of mounting seat surrounding and being arranged in mounting seat
Structure, the linkage include first connecting rod, second connecting rod and clamping cylinder, and one end and the mounting seat of first connecting rod are hinged, another
One end with second connecting rod is held to be hinged, the other end and the pressure ring of second connecting rod are hinged, and cylinder body and the mounting seat of clamping cylinder are hinged, folder
The output shaft of tight cylinder is hinged with second connecting rod；The retaining mechanism is symmetrical arranged the two pieces of activities of movable doorboard and driving including two pieces
The drive mechanism of door-plate upset, the movable doorboard are provided with groove, and the groove of movable doorboard two combines to form through hole.The present invention will
Submersible and lay reclaimer and be integrated in container, whole Transporting can be carried out to container, help to protect submersible
It is without damage；Reclaimer whole Transporting is laid, can be used without putting into other equipment, be favorably improved operating efficiency；
When the amplitude of fluctuation for lifting submersible is excessive, slows down the amplitude of fluctuation of submersible using oscillating arm mechanisms, enable submersible
Steady lifting；Submersible is rotated using slew gear, to adapt to job requirements.
As an improvement, the winch includes two pieces of symmetrically arranged installing plates and the cylinder being arranged between two pieces of installing plates
Body, the installing plate is L-shaped, and it includes installation portion and supporting part, and the installation portion is provided with screw, and the installation portion passes through spiral shell
Bolt is fixed on the bottom of container.
As an improvement, be provided with support bar between the supporting part of two pieces of installing plates, the both ends of support bar by bolt with
Supporting part connects；Reinforcement is provided between the supporting part and installation portion.
As an improvement, the first pulley is in sustained height with second pulley.
As an improvement, the top of the container is provided with two guide rails set along container length direction, is arranged on two
Skylight between bar guide rail and it is slidably matched that it can cover the slide plate of the skylight with the guide rail.
As an improvement, the side of the container is provided with the dodge gate of disengaging container.
As an improvement, first hinged seat include it is some with the articulated slab of installing arm vertical welding, on the articulated slab
Provided with hinge hole.
As an improvement, the top both sides of the swing arm upwardly extend to form the 6th hinged seat, the rotating shaft is positioned at the 6th hinge
Between joint chair, bearing pin is provided between two the 6th hinged seats, the bearing pin passes through rotating shaft.
As an improvement, the drive mechanism includes being each passed through the first door-hinge of two movable doorboards and the second door-hinge, is oriented to
Seat, guide rod, sliding block, third connecting rod, fourth link, the 5th connecting rod and six-bar linkage, lower end and the sliding block of the guide rod connect
Connect, the upper end of guide rod passes through guide holder, and back-moving spring is provided between sliding block and guide holder；One end hinge of the third connecting rod
The side of sliding block is connected on, the other end of third connecting rod and one end of fourth link are hinged, the other end of fourth link and first
Axis connection；One end of 5th connecting rod is hinged on the opposite side of sliding block, the other end of the 5th connecting rod and one end of six-bar linkage
Be hinged, the other end of six-bar linkage is connected with the second door-hinge.
The present invention lays recovery method, comprises the following steps：
Object is laid：
（1）For the one ends wound of armored cable on winch, the other end sequentially passes through first pulley, second pulley, swing arm and installation
It is connected after seat with the connector of object；
（2）Winch tightens up armored cable and lifts object, two pieces of dodge gates of the connection crown open locking mechanism of object
Plate, after connector passes through movable doorboard, movable doorboard resets naturally, and now connector can not be to by the constraint of movable doorboard
Lower movement；
（3）Start the clamping cylinder on mounting seat periphery, clamping cylinder driving first connecting rod and second connecting rod, pressure ring is integrally moved down
And be pressed on object, object is fixed by upward pulling force and downward pressure；
（4）The dodge gate of the rear end of enabling container, starts the hydraulic cylinder in sleeve pipe, and the dry driving telescopic arm of hydraulic pressure is protruding；
（5）Telescopic arm is stretched out outside container together with oscillating arm mechanisms, slew gear, butt-joint locking device and object, target
The process that thing stretches out, winch follow release armored cable；
（6）Object reaches be appointed as position after, drive mechanism driving movable doorboard open, winch release armored cable, mesh
Mark thing is gradually reduced, and completes laying for object；
The recovery of object：
（7）Start winch to lift object, two pieces of movable doorboards of the connection crown open locking mechanism of object, connector is worn
After crossing movable doorboard, movable doorboard resets naturally, and now connector can not be moved down by the constraint of movable doorboard；
（8）Start the clamping cylinder on mounting seat periphery, clamping cylinder driving first connecting rod and second connecting rod, pressure ring is integrally moved down
And be pressed on object, object is fixed by upward pulling force and downward pressure；
（9）Start the hydraulic cylinder in sleeve pipe, the dry driving telescopic arm of hydraulic pressure resets, and completes the recovery of object.
The caused compared with prior art beneficial effect of the present invention is：
The present invention is by submersible and lays reclaimer and is integrated in container, can carry out whole Transporting to container, help
It is without damage in protection submersible；Reclaimer whole Transporting is laid, can be used without putting into other equipment, help to carry
High operating efficiency；When the amplitude of fluctuation for lifting submersible is excessive, slows down the amplitude of fluctuation of submersible using oscillating arm mechanisms, make
Submersible can be lifted steadily；Submersible is rotated using slew gear, to adapt to job requirements.
Brief description of the drawings
Fig. 1 is container outside schematic diagram.
Fig. 2 is internal container structural representation.
Fig. 3 is to lay reclaimer structural representation.
Fig. 4 is to lay reclaimer decomposition view.
Fig. 5 is U-shaped arm frame structural representation.
Fig. 6 is oscillating arm mechanisms, slew gear, the schematic diagram of butt-joint locking device cooperation.
Fig. 7 is oscillating arm mechanisms, slew gear, butt-joint locking device decomposition view.
Fig. 8 is butt-joint locking apparatus structure schematic diagram.
Fig. 9 is butt-joint locking device decomposition view.
Figure 10 is driving mechanism structure schematic diagram.
Embodiment
With reference to Figure of description, the invention will be further described.
An a kind of container set accepted way of doing sth lays reclaimer, and for laying and reclaiming submersible 7, it includes container 1 and set
In laying reclaimer in container 1.
As shown in figure 1, the container 1 is similar with general container 1, it is rectangle, container 1 can be used to carry and set
It is standby to be carried.The rear end of the container 1 is provided with rear dodge gate 12, as the inlet and outlet for laying reclaimer.The packaging
The side of case 1 is provided with the side dodge gate 11 of disengaging container 1, and operating personnel can be entered in container 1 by side dodge gate to grasp
Lay reclaimer.The top of the container 1 is provided with lifting ear 15, convenient to carry out integral hoisting to container 1.The collection
The top of vanning 1 be provided with two guide rails 14 set along the length direction of container 1, the skylight that is arranged between two guide rails 14 and
Being slidably matched with the guide rail, it can cover the slide plate 13 of the skylight.
As shown in Fig. 2 it is described lay reclaimer include being wound with the winch 3 of armored cable 31, U-shaped arm frame 2, transverse arm,
Oscillating arm mechanisms 4, slew gear 5 and butt-joint locking device 6.
As shown in figure 3, the winch 3 is fixed on an end position of the bottom in container 1；The winch 3 includes two pieces
Symmetrically arranged installing plate, the cylinder being arranged between two pieces of installing plates and the motor for driving cylinder.The installing plate is L-shaped,
It includes installation portion and supporting part, and the installation portion is provided with screw, and the installation portion is bolted on the bottom of container 1
Portion, winch 3 integrate with container 1, whole Transporting.Support bar is provided between the supporting part of two pieces of installing plates, is propped up
The both ends of strut are connected by bolt with supporting part；Reinforcement is provided between the supporting part and installation portion.
As shown in Figure 3,4, the U-shaped arm frame is arranged on the tip position in container 1, and the U-shaped arm frame includes two
The sleeve pipe 21 symmetrically and along the length direction of container 1 set, the hydraulic mechanism and telescopic arm 22 that are arranged in sleeve pipe 21.It is described to stretch
Contracting arm takes the shape of the letter U, and it includes installing arm 222 and is arranged on the linking arm 221 at the both ends of installing arm 222；The linking arm 221 stretches into institute
State in sleeve pipe 21 and be connected with hydraulic pressure hydraulic mechanism, can drive telescopic arm 22 is overall to move forward and backward by hydraulic mechanism.Sleeve pipe
On the one hand 21 setting can protect hydraulic mechanism and telescopic arm, guiding of another convenience as telescopic arm in fact can be steady
Carry out stretch.
As shown in Figure 3,4, the transverse arm 8 sets the top of winch 3, and the both ends of transverse arm 8 sleeve pipe 21 with both sides respectively
Connection, the transverse arm 8 are mutually perpendicular to sleeve pipe 21, and the centre of the transverse arm 8 is provided with the first pin joint seat 81, first pin joint seat
It is articulated with first pulley 82 on 81, the armored cable 31 on winch 3 first passes through the first pulley 82 after drawing.
As shown in Figs. 5 to 7, the installing arm 222 of the telescopic arm end is provided with the first hinged seat 223 and the second hinged seat
224；First hinged seat 223 includes some and articulated slab of the vertical welding of installing arm 222, and the articulated slab is provided be hinged
Hole.The oscillating arm mechanisms 4 include the rotating shaft 46, the swing arm 42 be hinged with rotating shaft 46, the first hydraulic pressure being hinged with the first hinged seat 223
Cylinder 43 and second hydraulic cylinder 47.The rotating shaft 46 is parallel with installing arm 222, and the both ends of rotating shaft 46 are hinged at hinge hole, rotating shaft
46 are freely rotatable, and the direction of rotation and the direction of rotation of rotating shaft 46 of the swing arm are mutually perpendicular to.The both ends of the rotating shaft 46 point
Not She You the 3rd hinged seat 44 and the 4th hinged seat 48, the swing arm 42 is provided with the 5th hinged seat, the first hydraulic cylinder 43
Cylinder body and the second hinged seat 224 it is be hinged, the output shaft of first hydraulic cylinder 43 is hinged with the 3rd hinged seat 44；Second hydraulic cylinder 47
Cylinder body and the 4th hinged seat 48 it is be hinged, the output shaft of second hydraulic cylinder 47 is hinged with the 5th hinged seat 49；The swing arm 42
In the centre position of rotating shaft 46, the first hydraulic cylinder 43 and second hydraulic cylinder 47 are located at the both sides of swing arm 42, first hydraulic cylinder
43 buffering as the swing of swing arm 42, the buffering that second hydraulic cylinder 47 is swung as the left and right directions of swing arm 42.
As shown in fig. 7, the swing arm 42 includes body, the top both sides of body upwardly extend to form the 6th hinged seat 45,
The rotating shaft 46 is provided with bearing pin 451 between the 6th hinged seat 45 between two the 6th hinged seats 45, the bearing pin 451 passes through
Rotating shaft 46, swing arm 42 is set to be swung along the length direction of rotating shaft 46.The side of the swing arm 42 is provided with the second pin joint seat,
Second pulley 41 is articulated with second pin joint seat, the first pulley 82 is in sustained height, armored cable with second pulley 41
31 pass through first pulley 82 after access second pulley 41 and turned at second pulley 41 downward.
As shown in fig. 7, the slew gear 5 is arranged on the lower section of swing arm 42, the bottom of swing arm 42 supplies back provided with fixed plate
Rotation mechanism is installed.The slew gear 5 includes bearing, first gear 51, the second gear 53 engaged with first gear 51 and driven
The motor 52 of dynamic second gear 53.The motor 52 is fixed in the fixed plate of swing arm extension, and the first gear 51 is enclosed on axle
The outer ring held, the inner ring of bearing are connected with swing arm, and motor drives first gear 51 by second gear 53.
As shown in Figure 8,9, the butt-joint locking device 6 includes the mounting seat 61 of cylinder, is arranged on the lower section of mounting seat 61
Pressure ring 63, the retaining mechanism that is distributed in the linkage 62 of the surrounding of mounting seat 61 and is arranged in mounting seat 61.Described first
Gear 51 is connected with the upper end of mounting seat 61, is rotated by the drive installation seat 61 of first gear 51.The linkage 62 includes
First connecting rod 621, second connecting rod 622 and clamping cylinder 623, one end of first connecting rod 621 is be hinged with mounting seat 61, the other end and the
One end of two connecting rods 622 is hinged, and the other end and pressure ring 63 of second connecting rod 622 are be hinged, cylinder body and the mounting seat 61 of clamping cylinder 623
Be hinged, the output shaft of clamping cylinder 623 is be hinged with second connecting rod 622, by the drive link mechanism of clamping cylinder 623, makes on pressure ring 63
Lower motion.The retaining mechanism includes two pieces and is symmetrical arranged the driving machine that two pieces of movable doorboards 64 of movable doorboard 64 and driving are overturn
Structure 65, the movable doorboard 64 are provided with groove 641, and 64 liang of combinations of groove 641 of movable doorboard form through hole, when movable doorboard 64
After upset, through hole is in open mode, and when two pieces of 64 horizontality of movable doorboard, through hole is in minimum state and locks shape
State；The state of movable doorboard 64 can be changed by drive mechanism.As shown in Figure 10, the drive mechanism 65 includes being each passed through two
The first door-hinge 650 and the second door-hinge 657 of movable doorboard 64, guide holder 651, guide rod 652, sliding block 654, third connecting rod 658,
Fourth link 659, the 5th connecting rod 655 and six-bar linkage 656, the lower end of the guide rod 652 are connected with sliding block 654, guide rod
652 upper end passes through guide holder 651, and back-moving spring 653 is provided between sliding block 654 and guide holder 651；The third connecting rod
658 one end is hinged on the side of sliding block 654, and the other end of third connecting rod 658 and one end of fourth link 659 are hinged, and the 4th
The other end of connecting rod 659 is connected with the first door-hinge 650；One end of 5th connecting rod 655 is hinged on the opposite side of sliding block 654,
One end of the other end and six-bar linkage 656 of 5th connecting rod 655 is hinged, and the other end of six-bar linkage 656 connects with the second door-hinge 657
Connect..
The present invention lays recovery method to submersible 7：
Submersible 7 is laid：
（1）For the one ends wound of armored cable 31 on winch 3, the other end sequentially passes through first pulley 82, second pulley 41, swing arm
It is connected with the tapered joint head 71 after mounting seat 61 with submersible 7；
（2）Winch 3 tightens up armored cable 31 and lifts submersible 7, two pieces of work of the connection crown open locking mechanism of submersible 7
Dynamic door-plate 64, after connector passes through movable doorboard 64, movable doorboard 64 resets naturally, and now connector is by movable doorboard 64
Constrain and can not move down；
（3）Start the clamping cylinder 623 on the periphery of mounting seat 61, clamping cylinder 623 drives first connecting rod 621 and second connecting rod 622, makes pressure
Ring 63 is overall to be moved down and is pressed on submersible 7, and submersible 7 is fixed by upward pulling force and downward pressure；
（4）The dodge gate of the rear end of enabling container 1, starts the hydraulic cylinder in sleeve pipe 21, and the dry driving telescopic arm of hydraulic pressure is to overhanging
Go out；
（5）Telescopic arm is stretched out outside container 1 together with oscillating arm mechanisms, slew gear, butt-joint locking device and submersible 7, is dived
The process that hydrophone 7 stretches out, winch 3 follow release armored cable 31；
（6）Submersible 7 reaches be appointed as position after, drive mechanism driving movable doorboard 64 open, winch 3 discharge armored cable
31, submersible 7 is gradually reduced, and completes laying for submersible 7；
The recovery of submersible 7：
（7）Start winch 3 to lift submersible 7, two pieces of movable doorboards 64 of the connection crown open locking mechanism of submersible 7, even
After joint passes through movable doorboard 64, movable doorboard 64 resets naturally, and now connector can not by the constraint of movable doorboard 64
Move down；
（8）Start the clamping cylinder 623 on the periphery of mounting seat 61, clamping cylinder 623 drives first connecting rod 621 and second connecting rod 622, makes pressure
Ring 63 is overall to be moved down and is pressed on submersible 7, and submersible 7 is fixed by upward pulling force and downward pressure；
（9）Start the hydraulic cylinder in sleeve pipe 21, the dry driving telescopic arm of hydraulic pressure resets, and completes the recovery of submersible 7.
The present invention is by submersible 7 and lays reclaimer and is integrated in container 1, can carry out overall fortune to container 1
It is defeated, help to protect submersible 7 without damage；Reclaimer whole Transporting is laid, can be used without putting into other equipment,
It is favorably improved operating efficiency；When the amplitude of fluctuation for lifting submersible 7 is excessive, slow down submersible 7 using oscillating arm mechanisms
Amplitude of fluctuation, submersible 7 is set steadily to lift；Submersible 7 is rotated using slew gear, to adapt to job requirements.
Claims (10)
1. an a kind of container set accepted way of doing sth lays reclaimer, it is characterised in that：Laying including container and in container
Reclaimer；
The rear end of the container is provided with dodge gate, and the top of the container is provided with lifting ear；
It is described lay reclaimer include being wound with the winch of armored cable, U-shaped arm frame, transverse arm, oscillating arm mechanisms, slew gear and
Butt-joint locking device；The winch is fixed on the bottom position in container；The U-shaped arm frame is arranged on the top in container
Position, the U-shaped arm frame include two sleeve pipes symmetrically and along container length direction set, the hydraulic press being arranged in sleeve pipe
Structure and telescopic arm, the telescopic arm take the shape of the letter U, and it includes installing arm and is arranged on the linking arm at installing arm both ends, the linking arm
Stretch into described sleeve pipe and be connected with hydraulic pressure hydraulic mechanism；The transverse arm sets the top of winch, and the both ends of transverse arm respectively with
The sleeve pipe connection of both sides, the centre of the transverse arm are provided with the first pin joint seat, first pulley are articulated with first pin joint seat, twist
Armored cable on car passes through the first pulley；The installing arm is provided with the first hinged seat and the second hinged seat, the pendulum
Arm mechanism includes the rotating shaft being hinged with the first hinged seat, the swing arm, first hydraulic cylinder and the second hydraulic cylinder that are hinged with rotating shaft, described
Rotating shaft is parallel with installing arm, and the direction of rotation of the swing arm and the direction of rotation of rotating shaft are mutually perpendicular to, the both ends point of the rotating shaft
Not She You the 3rd hinged seat and the 4th hinged seat, the swing arm is provided with the 5th hinged seat, the cylinder body of the first hydraulic cylinder with
Second hinged seat is hinged, and the output shaft of first hydraulic cylinder is hinged with the 3rd hinged seat, and the cylinder body of second hydraulic cylinder and the 4th is hinged
Seat is be hinged, and the output shaft of second hydraulic cylinder is hinged with the 5th hinged seat, and the swing arm is located at the centre position of rotating shaft, and described first
Hydraulic cylinder and second hydraulic cylinder are located at the both sides of swing arm；The swing arm is provided with the second pin joint seat, is articulated with the second pin joint seat
Second pulley；The slew gear is arranged on the lower section of swing arm, and the slew gear includes bearing, first gear and the first tooth
Take turns the second gear of engagement and the motor of driving second gear, the first gear is enclosed on the outer ring of bearing, the inner ring of bearing with
Swing arm is connected, and the motor is fixed in the fixed plate of swing arm extension；Mounting seat of the butt-joint locking device including cylinder,
It is arranged on the pressure ring below mounting seat, is distributed in the linkage of mounting seat surrounding and the retaining mechanism being arranged in mounting seat,
The linkage includes first connecting rod, second connecting rod and clamping cylinder, and one end and the mounting seat of first connecting rod are hinged, the other end with
One end of second connecting rod is hinged, and the other end and the pressure ring of second connecting rod are hinged, and cylinder body and the mounting seat of clamping cylinder are hinged, clamping cylinder
Output shaft be hinged with second connecting rod；The retaining mechanism is symmetrical arranged two pieces of movable doorboards of movable doorboard and driving including two pieces
The drive mechanism of upset, the movable doorboard are provided with groove, and the groove of movable doorboard two combines to form through hole.
2. an a kind of container set accepted way of doing sth according to claim 1 lays reclaimer, it is characterised in that：The winch includes
Two pieces of symmetrically arranged installing plates and the cylinder being arranged between two pieces of installing plates, the installing plate is L-shaped, and it includes installation portion
And supporting part, the installation portion are provided with screw, the installation portion is bolted on the bottom of container.
3. an a kind of container set accepted way of doing sth according to claim 1 lays reclaimer, it is characterised in that：Two pieces of installations
Support bar is provided between the supporting part of plate, the both ends of support bar are connected by bolt with supporting part；The supporting part and installation portion
Between be provided with reinforcement.
4. an a kind of container set accepted way of doing sth according to claim 1 lays reclaimer, it is characterised in that：The first pulley
Sustained height is in second pulley.
5. an a kind of container set accepted way of doing sth according to claim 1 lays reclaimer, it is characterised in that：The container
Top is provided with two guide rails set along container length direction, the skylight being arranged between two guide rails and slided with the guide rail
It is dynamic to coordinate it to cover the slide plate of the skylight.
6. an a kind of container set accepted way of doing sth according to claim 1 lays reclaimer, it is characterised in that：The container
Side is provided with the dodge gate of disengaging container.
7. an a kind of container set accepted way of doing sth according to claim 1 lays reclaimer, it is characterised in that：Described first is be hinged
Seat includes some and articulated slab of installing arm vertical welding, and the articulated slab is provided with hinge hole.
8. an a kind of container set accepted way of doing sth according to claim 1 lays reclaimer, it is characterised in that：The top of the swing arm
Portion both sides are upwardly extended to form the 6th hinged seat, and the rotating shaft is provided between the 6th hinged seat between two the 6th hinged seats
Bearing pin, the bearing pin pass through rotating shaft.
9. an a kind of container set accepted way of doing sth according to claim 1 lays reclaimer, it is characterised in that：The drive mechanism
The first door-hinge and the second door-hinge, guide holder, guide rod, sliding block, third connecting rod, the 4th company including being each passed through two movable doorboards
Bar, the 5th connecting rod and six-bar linkage, the lower end of the guide rod are connected with sliding block, and the upper end of guide rod passes through guide holder, and sliding
Back-moving spring is provided between block and guide holder；One end of the third connecting rod is hinged on the side of sliding block, third connecting rod it is another
One end with fourth link is held to be hinged, the other end of fourth link is connected with the first door-hinge；One end of 5th connecting rod is hinged
In the opposite side of sliding block, one end of the other end and six-bar linkage of the 5th connecting rod is hinged, the other end of six-bar linkage and second
Axis connection.
10. what an a kind of a kind of container set accepted way of doing sth as claimed in claim 1 laid reclaimer lays recovery method, its feature exists
In comprising the following steps：
Object is laid：
（1）For the one ends wound of armored cable on winch, the other end sequentially passes through first pulley, second pulley, swing arm and installation
It is connected after seat with the connector of object；
（2）Winch tightens up armored cable and lifts object, two pieces of dodge gates of the connection crown open locking mechanism of object
Plate, after connector passes through movable doorboard, movable doorboard resets naturally, and now connector can not be to by the constraint of movable doorboard
Lower movement；
（3）Start the clamping cylinder on mounting seat periphery, clamping cylinder driving first connecting rod and second connecting rod, pressure ring is integrally moved down
And be pressed on object, object is fixed by upward pulling force and downward pressure；
（4）The dodge gate of the rear end of enabling container, starts the hydraulic cylinder in sleeve pipe, and the dry driving telescopic arm of hydraulic pressure is protruding；
（5）Telescopic arm is stretched out outside container together with oscillating arm mechanisms, slew gear, butt-joint locking device and object, target
The process that thing stretches out, winch follow release armored cable；
（6）Object reaches be appointed as position after, drive mechanism driving movable doorboard open, winch release armored cable, mesh
Mark thing is gradually reduced, and completes laying for object；
The recovery of object：
（7）Start winch to lift object, two pieces of movable doorboards of the connection crown open locking mechanism of object, connector is worn
After crossing movable doorboard, movable doorboard resets naturally, and now connector can not be moved down by the constraint of movable doorboard；
（8）Start the clamping cylinder on mounting seat periphery, clamping cylinder driving first connecting rod and second connecting rod, pressure ring is integrally moved down
And be pressed on object, object is fixed by upward pulling force and downward pressure；
（9）Start the hydraulic cylinder in sleeve pipe, the dry driving telescopic arm of hydraulic pressure resets, and completes the recovery of object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710703356.5A CN107472486B (en) | 2017-08-16 | 2017-08-16 | An a kind of container set accepted way of doing sth lays reclaimer and lays recovery method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710703356.5A CN107472486B (en) | 2017-08-16 | 2017-08-16 | An a kind of container set accepted way of doing sth lays reclaimer and lays recovery method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107472486A true CN107472486A (en) | 2017-12-15 |
| CN107472486B CN107472486B (en) | 2019-04-23 |
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ID=60600667
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710703356.5A Active CN107472486B (en) | 2017-08-16 | 2017-08-16 | An a kind of container set accepted way of doing sth lays reclaimer and lays recovery method |
Country Status (1)
| Country | Link |
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| CN (1) | CN107472486B (en) |
Cited By (5)
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| CN110816790A (en) * | 2018-08-14 | 2020-02-21 | 中国科学院沈阳自动化研究所 | Rope throwing mechanism of underwater robot laying and recycling system |
| CN111392009A (en) * | 2020-03-19 | 2020-07-10 | 哈尔滨工程大学 | UUV carries on to lay puts recovery unit |
| CN111470187A (en) * | 2020-04-21 | 2020-07-31 | 河海大学常州校区 | Buffer device used in cargo transportation process |
| WO2020245601A1 (en) * | 2019-06-07 | 2020-12-10 | Subsea 7 Limited | Deployment of unmanned underwater vehicles |
| CN112758256A (en) * | 2021-01-27 | 2021-05-07 | 上海中车艾森迪海洋装备有限公司 | Underwater robot laying and recycling swing stopper, swing frame and system |
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|---|---|
| CN107472486B (en) | 2019-04-23 |
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