CN112429630A - Automatic docking and unlocking device for marine hoisting of large equipment - Google Patents
Automatic docking and unlocking device for marine hoisting of large equipment Download PDFInfo
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- CN112429630A CN112429630A CN202011361524.5A CN202011361524A CN112429630A CN 112429630 A CN112429630 A CN 112429630A CN 202011361524 A CN202011361524 A CN 202011361524A CN 112429630 A CN112429630 A CN 112429630A
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- Prior art keywords
- clamping tongue
- hoisting
- unlocking
- left clamping
- right clamping
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- 238000003032 molecular docking Methods 0.000 title claims description 14
- 210000001503 joint Anatomy 0.000 claims abstract description 14
- 238000011084 recovery Methods 0.000 abstract description 9
- 230000007246 mechanism Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 10
- 230000009471 action Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 230000000149 penetrating effect Effects 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 230000005484 gravity Effects 0.000 description 2
- 238000004064 recycling Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/22—Rigid members, e.g. L-shaped members, with parts engaging the under surface of the loads; Crane hooks
- B66C1/28—Duplicate, e.g. pivoted, members engaging the loads from two sides
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention belongs to the field of offshore deployment and recovery of underwater robots, and particularly relates to an automatic butt joint and unlocking device for offshore lifting of large equipment, which comprises a slewing mechanism, a lock body and a guide frame, wherein the slewing mechanism is used for adjusting the direction of the lock body; the lock body is used for realizing butt joint with the lifting beam, and the clamping tongue can be in a normally open state and a normally closed state by adjusting the position of the hanging spring on the lock body, wherein the normally open state is used for offshore laying of equipment, and the normally closed state is used for recovery; the guide frame is used for automatically guiding the lock body during butt joint so as to align the locking opening and the lifting beam; when the device is used, the two guide ropes penetrate through the guide frame and are guided by the guide ropes. The invention can realize automatic butt joint and unlocking of recovery of offshore equipment, does not need to manually get off a boat auxiliary hook, and effectively reduces the retraction and release risk.
Description
Technical Field
The invention belongs to the field of offshore deployment and recovery of underwater robots, and particularly relates to an automatic docking and unlocking device for offshore hoisting of large equipment.
Background
At present, underwater robots at home and abroad are deployed and recovered on the sea, and basically depend on manual driving of lifeboats to connect hoisting cables with devices to be recovered. There is no difficulty with small size, low weight, easy to operate equipment. However, for devices to be recovered which are large in size and weight, the docking position may be below the water surface, the lifeboat is difficult to access the hoisting connection point, and the manual mode is difficult to operate. The traditional butt-joint hoisting mechanism is only suitable for laying and recovering on the sea with the difference of hundreds of kilograms to hundreds of tons, and can not finish the sea surface hoisting work of large-scale equipment with dozens or hundreds of tons. Therefore, it is necessary to develop a butt joint hoisting device suitable for large offshore equipment, which reduces manual intervention and realizes automatic hooking and automatic unlocking.
Disclosure of Invention
In order to meet the working requirement of large equipment on sea lifting, the invention aims to provide an automatic butt joint and unlocking device for large equipment on sea lifting. The automatic butt joint and unlocking device has two operation states of automatic butt joint and automatic unlocking and can be used according to actual requirements.
The purpose of the invention is realized by the following technical scheme:
the device comprises a rotary sleeve, a closing spring, an unlocking spring, a left clamping tongue, a right clamping tongue, a guide frame, a hoisting body, a guide rope and a hoisting cable, wherein the lower end of the rotary sleeve is rotatably connected with the upper end of the hoisting body, the upper end of the rotary sleeve is used for connecting the hoisting cable, the left side of the lower end of the hoisting body is hinged with the left clamping tongue, and the right side of the lower end of the hoisting body is hinged with the right clamping tongue; one end of each of the left clamping tongue and the right clamping tongue is a contact end in contact with equipment, the other end of each of the left clamping tongue and the right clamping tongue is connected with the hoisting body through the closing spring when the left clamping tongue and the right clamping tongue are automatically butted in a recovery mode, and the outer side surfaces of the left clamping tongue and the right clamping tongue are connected with the hoisting body through the unlocking spring when the automatic unlocking unhooking device is arranged; the lifting body is provided with a guide frame, and a guide rope for lifting or lowering the whole device is arranged in the guide frame in a penetrating way.
Wherein: the end face of the hoisting body is in an inverted U shape or V shape, and the left side and the right side of the opening end are respectively hinged with the left clamping tongue and the right clamping tongue through rotary pin shafts.
The lifting body is divided into a front U-shaped or V-shaped plate and a rear U-shaped or V-shaped plate, the upper ends of the two plates and the lower ends of the two sides of the opening are closed, and the left clamping tongue and the right clamping tongue are respectively accommodated between the two plates.
One end of the left clamping tongue and one end of the right clamping tongue are in a hook shape, the other end of the left clamping tongue and the other end of the right clamping tongue are connected with the upper end of the hoisting body through the closing spring when the left clamping tongue and the right clamping tongue are automatically butted in a recycling mode, and the outer side surfaces of the left clamping tongue and the right clamping tongue are connected with the lower end of the hoisting body through the unlocking spring when the automatic unlocking unhooking device is arranged.
The rotary sleeve is U-shaped, an annular eye shaft is arranged at the opening end of the U-shaped rotary sleeve, and an annular eye of the hoisting cable is connected with the annular eye shaft; the bottom of the U shape is rotatably connected with the upper end of the hoisting body.
The upper end face of the lifting body is provided with a screw which passes through a through hole formed in the lower end of the rotary sleeve, and the screw is axially fixed with the rotary sleeve through a locking nut and has rotational freedom.
The lifting body is provided with two guide frames which are symmetrically and fixedly connected to the left side and the right side of the lower end of the lifting body, and guide ropes are arranged in the guide frames on each side in a penetrating mode.
The invention has the advantages and positive effects that:
1. the invention can realize automatic butt joint and unlocking unhooking of marine large-scale equipment recovery without manually putting a boat to assist in hooking, thereby effectively reducing the risk of retraction and release.
2. The invention can complete the automatic connection with the beam type structure only by the self weight of the device under the state without manual intervention, and the reliability is high after the connection.
3. The invention can realize the automatic unlocking of the device after the equipment is put into water under the state of no manual intervention.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic perspective view of the present invention in a docking state;
FIG. 3 is a schematic perspective view of the present invention in an unlocked state;
FIG. 4 is a schematic structural diagram of a docking process according to the present invention;
FIG. 5 is a second schematic diagram of the docking process of the present invention;
FIG. 6 is a third schematic view of the docking process of the present invention;
FIG. 7 is a schematic structural diagram of an unlocking process according to the present invention;
FIG. 8 is a second schematic diagram of the unlocking process according to the present invention;
FIG. 9 is a third schematic view of an unlocking process according to the present invention;
wherein: the device comprises a rotary sleeve 1, a ring shaft 2, a closing spring 3, an unlocking spring 4, a rotary pin shaft 5, a left clamping tongue 6, a right clamping tongue 7, a guide frame 8, a lifting beam 9, a lifting body 10, a guide rope 11, a locking nut 12 and a lifting cable 13.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 3, the invention comprises a rotary sleeve 1, a closing spring 3, an unlocking spring 4, a left clamping tongue 6, a right clamping tongue 7, a guide frame 8, a hoisting body 10, a guide rope 11 and a hoisting cable 13, wherein the lower end of the rotary sleeve 1 is rotatably connected with the upper end of the hoisting body 10, the upper end of the rotary sleeve 1 is used for connecting the hoisting cable 13, the left side of the lower end of the hoisting body 10 is hinged with the left clamping tongue 6, and the right side of the lower end is hinged with the right clamping tongue 7. One end of the left clamping tongue 6 and one end of the right clamping tongue 7 are contact ends which are contacted with equipment, the other ends of the left clamping tongue 6 and the right clamping tongue 7 are connected with the hoisting body 10 through the closing spring 3 when the left clamping tongue 6 and the right clamping tongue 7 are automatically butted in a recycling mode, and the outer side faces of the left clamping tongue 6 and the right clamping tongue 7 are connected with the hoisting body 10 through the unlocking spring 4 when the left clamping tongue 6 and the right clamping tongue 7 are. The hoisting body 10 is provided with a guide frame 8, and a guide rope 11 for lifting or lowering the whole device is arranged in the guide frame 8 in a penetrating way.
The end face of the lifting body 10 of the embodiment is in an inverted U shape or V shape, the left side and the right side of the opening end are respectively hinged with a left clamping tongue 6 and a right clamping tongue 7 through a rotary pin shaft 5, the left clamping tongue 6 and the right clamping tongue 7 can respectively rotate around the respective rotary pin shaft 5, and the closing spring 3 or the unlocking spring 4 is used for controlling the normal closing or the normal opening of the left clamping tongue 6 and the right clamping tongue 7 so as to correspondingly joint or unlock two working states; specifically, the hoisting body 10 is divided into a front U-shaped or V-shaped plate and a rear V-shaped plate, the upper ends of the two plates and the lower ends of the two sides of the opening are closed, and the left clamping tongue 6 and the right clamping tongue 7 are respectively accommodated between the two plates. The upper end face of the lifting body 10 is provided with a screw rod.
The left clamping tongue 6 and the right clamping tongue 7 of the embodiment have the same shape and structure, one end of the left clamping tongue 6 is in a hook shape, the other end of the left clamping tongue 6 is connected with the upper end of the hoisting body 10 through the closing spring 3 when the left clamping tongue and the right clamping tongue 7 are automatically butted in a recovery mode, and the outer side faces of the left clamping tongue 6 and the right clamping tongue 7 are connected with the lower end of the hoisting body 10 through the unlocking spring 4 when the automatic unlocking unhooking device is.
The rotary sleeve 1 of the embodiment is U-shaped, the opening end of the U-shaped is provided with the annular eye shaft 2, and the annular eye of the hoisting cable 13 is connected with the annular eye shaft 2; a through hole is formed in the bottom of the U shape, a screw rod on the upper end face of the hoisting body 10 penetrates through the through hole formed in the lower end of the rotary sleeve 1, the axial fixation with the rotary sleeve 1 is realized through a locking nut 12, and the rotary freedom degree exists; the rotary sleeve 1 and the hoisting body 10 can rotate relatively, and is used for adjusting the opening of the hoisting body 10.
The leading truck 8 of this embodiment is two, is the cover barrel-shaped, and the symmetry rigid coupling all wears to be equipped with guide rope 11 in the leading truck 8 of every side in the left and right sides of lifting by crane body 10 lower extreme. The guide frame 8 is matched with a tensioned guide rope 11 to play a role in positioning in the process of recovery and butt joint, so that the device automatically falls to a preset connecting position under the action of gravity.
The working principle of the invention is as follows:
taking the invention as an example of butting or unlocking the lifting beam 9, the lifting beam 9 is a beam structure in a large underwater robot to be laid or recycled.
The recovery automatic butt joint process: as shown in fig. 4 to 6, the closing spring 3 is respectively connected with the left latch tongue 6 and the hoisting body 10, and the right latch tongue 7 and the hoisting body 10, and the left latch tongue 6 and the right latch tongue 7 are in a closed state under the action of the pulling force of the closing spring 3; the whole device is lifted or lowered by a lifting cable 13 and falls to a specified butt joint position under the action of a guide rope 11; the guide rope 11 is in a tensioned state, and the rotary sleeve 1 and the hoisting body 10 can rotate relatively in the falling process so that the opening direction is aligned with the hoisting beam 9; when the left clamping tongue 6 and the right clamping tongue 7 are in contact with the lifting beam 9, under the action of gravity, one ends of the left clamping tongue 6 and the right clamping tongue 7 are pushed to be turned outwards and opened by the lifting beam 9; the hoisting beam 9 passes through the left clamping tongue 6 and the right clamping tongue 7 and then enters the opening of the hoisting body 10, and the left clamping tongue 6 and the right clamping tongue 7 are automatically closed under the action of the closing springs 3 connected with each other; the hoisting cable 13 drives the device to integrally lift, and the hoisting beam 9 extrudes one end of the left clamping tongue 6 and one end of the right clamping tongue 7, so that the automatic butt joint is completed.
The process of automatic unlocking and unhooking for laying: as shown in fig. 7 to 9, the unlocking spring 4 is respectively connected with the left latch tongue 6 and the hoisting body 10, and the right latch tongue 7 and the hoisting body 10, and the left latch tongue 6 and the right latch tongue 7 are in a normally open state under the action of the pulling force of the respective unlocking spring 4; aligning the opening on the lifting body 10 with the lifting beam 9, manually closing the left clamping tongue 6 and the right clamping tongue 7 inwards, locking the lifting beam 9 in the opening of the lifting body 10, lifting the lifting cable 13, and extruding one ends of the left clamping tongue 6 and the right clamping tongue 7 by the lifting beam 9 to ensure reliable connection; when the large-scale offshore equipment to be thrown enters water, the whole device continuously falls, the left clamping tongue 6 and the right clamping tongue 7 are separated from the lifting beam 9 and are not subjected to the extrusion force of the lifting beam 9 any more; when the unlocking space is satisfied, the left clamping tongue 6 and the right clamping tongue 7 are turned outwards under the action of the respective unlocking springs 4, and the opening on the hoisting body 10 is opened; the hoisting cable 13 lifts the device, and the device is automatically unlocked to complete unhooking.
Claims (7)
1. The utility model provides an automatic butt joint and unlocking device for large equipment lifts by crane on sea which characterized in that: the device comprises a rotary sleeve (1), a closing spring (3), an unlocking spring (4), a left clamping tongue (6), a right clamping tongue (7), a guide frame (8), a hoisting body (10), a guide rope (11) and a hoisting cable (13), wherein the lower end of the rotary sleeve (1) is rotatably connected with the upper end of the hoisting body (10), the upper end of the rotary sleeve (1) is used for connecting the hoisting cable (13), the left side of the lower end of the hoisting body (10) is hinged with the left clamping tongue (6), and the right side of the lower end is hinged with the right clamping tongue (7); one end of the left clamping tongue (6) and one end of the right clamping tongue (7) are contact ends which are contacted with equipment, the other end of the left clamping tongue (6) and the other end of the right clamping tongue (7) are connected with the hoisting body (10) through the closing spring (3) when the left clamping tongue (6) and the other end of the right clamping tongue (7) are automatically butted, and the outer side surfaces of the left clamping tongue (6) and the right clamping tongue (7) are connected with the hoisting body (10) through the unlocking spring (4) when the automatic unlocking; the hoisting device is characterized in that a guide frame (8) is installed on the hoisting body (10), and a guide rope (11) for lifting or lowering the whole device penetrates through the guide frame (8).
2. The automatic docking and unlocking device for offshore hoisting of large equipment according to claim 1, characterized in that: the end face of the hoisting body (10) is inverted U-shaped or V-shaped, and the left side and the right side of the opening end are respectively hinged with the left clamping tongue (6) and the right clamping tongue (7) through a rotary pin shaft (5).
3. The automatic docking and unlocking device for offshore hoisting of large equipment according to claim 2, characterized in that: the lifting body (10) is divided into a front U-shaped or V-shaped plate and a rear U-shaped or V-shaped plate, the upper ends of the two plates and the lower ends of the two sides of the opening are closed, and the left clamping tongue (6) and the right clamping tongue (7) are respectively accommodated between the two plates.
4. The automatic docking and unlocking device for offshore hoisting of large equipment according to claim 1, characterized in that: the left clamping tongue (6) and one end of the right clamping tongue (7) are in a hook shape, the other end of the left clamping tongue (6) is connected with the upper end of the hoisting body (10) through the closing spring (3) when the left clamping tongue (6) and the right clamping tongue (7) are automatically butted, and the outer side faces of the left clamping tongue (6) and the right clamping tongue (7) are connected with the lower end of the hoisting body (10) through the unlocking spring (4) when the automatic unlocking unhooking device is arranged.
5. The automatic docking and unlocking device for offshore hoisting of large equipment according to claim 1, characterized in that: the rotary sleeve (1) is U-shaped, an eye shaft (2) is installed at the opening end of the U-shaped, and an eye of the hoisting cable (13) is connected with the eye shaft (2); the bottom of the U shape is rotationally connected with the upper end of the hoisting body (10).
6. The automatic docking and unlocking device for offshore hoisting of large equipment according to claim 1, characterized in that: the upper end face of the hoisting body (10) is provided with a screw which passes through a through hole formed in the lower end of the rotary sleeve (1), and the screw is axially fixed with the rotary sleeve (1) through a locking nut (12) and has rotational freedom.
7. The automatic docking and unlocking device for offshore hoisting of large equipment according to claim 1, characterized in that: the two guide frames (8) are symmetrically and fixedly connected to the left side and the right side of the lower end of the hoisting body (10), and guide ropes (11) penetrate through the guide frames (8) on each side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011361524.5A CN112429630A (en) | 2020-11-27 | 2020-11-27 | Automatic docking and unlocking device for marine hoisting of large equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011361524.5A CN112429630A (en) | 2020-11-27 | 2020-11-27 | Automatic docking and unlocking device for marine hoisting of large equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112429630A true CN112429630A (en) | 2021-03-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011361524.5A Pending CN112429630A (en) | 2020-11-27 | 2020-11-27 | Automatic docking and unlocking device for marine hoisting of large equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112429630A (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3983708A (en) * | 1974-07-02 | 1976-10-05 | Schlumberger Technology Corporation | Methods and apparatus for placing underwater guide lines |
| JPH0744800U (en) * | 1993-12-29 | 1995-11-28 | 株式会社伊藤製作所 | Universal joint |
| CN2259393Y (en) * | 1996-07-29 | 1997-08-13 | 章康明 | Swivel-hook |
| JP2000247573A (en) * | 1999-02-25 | 2000-09-12 | Nkk Corp | Underwater suspended matter lifting support device and method |
| CN200967543Y (en) * | 2007-04-10 | 2007-10-31 | 邓茂兴 | Life-float automatic releasing hook |
| CN102070073A (en) * | 2011-01-04 | 2011-05-25 | 中国人民解放军91872部队上海研究室 | Lifting and releasing device with automatic locking and unlocking functions |
| CN203127999U (en) * | 2013-03-25 | 2013-08-14 | 深圳市德润青华水下工程科技股份有限公司 | Automatic hooking structure for hoisting and releasing underwater robot |
| CN104670434A (en) * | 2013-11-30 | 2015-06-03 | 中国科学院沈阳自动化研究所 | Lifting lock mechanism used for recovery of autonomous underwater vehicle |
| CN209667332U (en) * | 2018-12-20 | 2019-11-22 | 中国船舶重工集团公司七五0试验场 | A kind of underwater robot recycling cone rod-type docking traction mechanism |
| CN110816755A (en) * | 2018-08-14 | 2020-02-21 | 中国科学院沈阳自动化研究所 | Winch oscillation stopping mechanism of underwater robot laying and recycling system |
| CN210710362U (en) * | 2019-09-10 | 2020-06-09 | 北京公铁绿链多式联运股份有限公司 | Crane hook |
-
2020
- 2020-11-27 CN CN202011361524.5A patent/CN112429630A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3983708A (en) * | 1974-07-02 | 1976-10-05 | Schlumberger Technology Corporation | Methods and apparatus for placing underwater guide lines |
| JPH0744800U (en) * | 1993-12-29 | 1995-11-28 | 株式会社伊藤製作所 | Universal joint |
| CN2259393Y (en) * | 1996-07-29 | 1997-08-13 | 章康明 | Swivel-hook |
| JP2000247573A (en) * | 1999-02-25 | 2000-09-12 | Nkk Corp | Underwater suspended matter lifting support device and method |
| CN200967543Y (en) * | 2007-04-10 | 2007-10-31 | 邓茂兴 | Life-float automatic releasing hook |
| CN102070073A (en) * | 2011-01-04 | 2011-05-25 | 中国人民解放军91872部队上海研究室 | Lifting and releasing device with automatic locking and unlocking functions |
| CN203127999U (en) * | 2013-03-25 | 2013-08-14 | 深圳市德润青华水下工程科技股份有限公司 | Automatic hooking structure for hoisting and releasing underwater robot |
| CN104670434A (en) * | 2013-11-30 | 2015-06-03 | 中国科学院沈阳自动化研究所 | Lifting lock mechanism used for recovery of autonomous underwater vehicle |
| CN110816755A (en) * | 2018-08-14 | 2020-02-21 | 中国科学院沈阳自动化研究所 | Winch oscillation stopping mechanism of underwater robot laying and recycling system |
| CN209667332U (en) * | 2018-12-20 | 2019-11-22 | 中国船舶重工集团公司七五0试验场 | A kind of underwater robot recycling cone rod-type docking traction mechanism |
| CN210710362U (en) * | 2019-09-10 | 2020-06-09 | 北京公铁绿链多式联运股份有限公司 | Crane hook |
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Application publication date: 20210302 |