CN209305804U - Lander is laid and recovery system - Google Patents
Lander is laid and recovery system Download PDFInfo
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- CN209305804U CN209305804U CN201921174693.0U CN201921174693U CN209305804U CN 209305804 U CN209305804 U CN 209305804U CN 201921174693 U CN201921174693 U CN 201921174693U CN 209305804 U CN209305804 U CN 209305804U
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- recovery system
- lander
- laying
- shell
- catching plate
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Abstract
The utility model belongs to ship and hydrospace detection field, and in particular to lander lay and recovery system.Conventional lander is laid to need to carry out on the quarter manually only to swing with recovery system, has security risk, while being also easy to that maloperation occurs.In order to solve these problems, the utility model discloses a kind of improved lander lay and recovery system, comprising: hanging parts are arranged to and connect the system to external component；Shell, the shell are mechanically connected to hanging parts；Control unit, the control unit are mechanically connected to shell；Gripper, the gripper include: catching plate, are disposed in below control unit and are rigidly connected to control unit；STATEMENT OF FEDERALLY SPONSORED, the STATEMENT OF FEDERALLY SPONSORED are mechanically connected to catching plate；And multiple gripping claws, multiple gripping claw are mechanically connected to STATEMENT OF FEDERALLY SPONSORED and are arranged to equally spaced around catching plate；Wherein, multiple gripping claw is arranged to: is operated in linkage via STATEMENT OF FEDERALLY SPONSORED and catching plate with the lander that discharges or hold with a firm grip.
Description
Technical field
The utility model belongs to ship and hydrospace detection field, and in particular to lander lay and recovery system.
Background technique
Lander is widely used in ship and hydrospace detection field.Lander is laid and recycled usually using release.
A kind of common release is bolt-type release.Lash ship is connect by tail portion A frame and geology cable with release, the release into
One step is connect with lander.Lander is lifted by geology cable and A frame to realize laying and recycling for lander.In benefit
In the case where being laid with geology cable and A frame and recycling lander, when lander is between lash ship deck and the water surface, need
It carries out artificial stop and swings operation.Specifically, respectively arranging a group of people in the two sides relative to lander above deck, swung using stopping
Rope is only swung operation.This artificial operating area for only swinging operation on the quarter, has potential security risk.In addition, making
When laying lander, needed manually to extract release bolt with bolt-type release so that lander be detached from release and under
It is latent.And influence of the bolt of bolt-type release vulnerable to sea conditions, it is easy to happen the maloperation for extracting bolt in advance or inserts
Pin deformation is not drawn out easily.Lander can be made in gravity for example, extracting the maloperation of bolt in advance before lander reaches the water surface
Lower disengaging release is acted on to fall into water, this will cause lander ontology cracking, the attached sensors of lander are lost or are damaged,
The problems such as buoyant spheres crack.
Accordingly, it is desired to provide a kind of improved lander is laid and recovery system is to alleviate the above problem.
Utility model content
A brief summary of one or more aspects is given below to provide to the basic comprehension in terms of these.This general introduction is not
The extensive overview of all aspects contemplated, and be both not intended to identify critical or decisive element in all aspects also non-
Attempt to define the range in terms of any or all.Its unique purpose is provide one or more aspects in simplified form some
Concept is using the preamble as more detailed description given later.
The utility model provide a kind of lander lay and recovery system, it includes: hanging that this, which lays with recovery system,
Component, which, which is arranged to lay this, is connected to external component with recovery system；Shell, the shell are mechanically connected
To hanging parts；Control unit, the control unit are mechanically connected to shell；Gripper, the gripper include: catching plate,
The catching plate is disposed in below control unit and is rigidly connected to control unit；STATEMENT OF FEDERALLY SPONSORED, the STATEMENT OF FEDERALLY SPONSORED are mechanically connected
To catching plate；And multiple gripping claws, multiple gripping claw are mechanically connected to STATEMENT OF FEDERALLY SPONSORED and are arranged to equally spaced around catching plate；
Wherein, multiple gripping claw is arranged to: is operated in linkage via STATEMENT OF FEDERALLY SPONSORED and catching plate with the lander that discharges or hold with a firm grip.
In one embodiment, it further comprises twist component that this, which lays with recovery system, which mechanically connects
It is connected to shell and is located at enclosure interior.
In one embodiment, which may include: multiple tappets corresponding with multiple gripping claw, wherein should
One end of each tappet in multiple tappets is mechanically connected to catching plate and the other end is mechanically connected to corresponding one
Gripping claw；Supporting member, the supporting member are disposed in below catching plate and support the catching plate；And it is corresponding with multiple gripping claw multiple
Connecting rod, wherein one end of each connecting rod in multiple connecting rod be mechanically connected to a corresponding gripping claw and
The other end is connected to supporting member.
In one embodiment, supporting member may include bearing.
In one embodiment, hanging parts may include lifting lug and hydraulic column, wherein lifting lug passes through hydraulic column mechanically
It is connected to the top of shell.
In one embodiment, twist component may include capstan winch and motor, wherein motor is configured to drive capstan winch.
In one embodiment, control unit includes command module and the electric lift for being coupled to the command module, wherein is referred to
Cabin is enabled to be configured to control the lifting of electric lift.
In one embodiment, shell can have the shape of cuboid, cylindrical body or cube.
In one embodiment, gripper can be made of stainless steel.
In one embodiment, it further comprises the limit being installed in multiple gripping claw that this, which lays with recovery system,
Device.
In one embodiment, it further comprises the reinforcing rib being installed on shell that this, which lays with recovery system,.
The utility model lays with recovery system and lander Hard link rather than is connect by hawser, so as to subtract
It is few only to swing operation intensity, improve safety.Meanwhile using the utility model lay and recovery system, can be realized full machinery
Operation, is influenced small by sea situation, is alleviated to be easy to happen using conventional bolt-type release and is extracted bolt in advance
The problem of maloperation or bolt deformation are not drawn out easily.
Detailed description of the invention
When understanding the detailed description being described below in conjunction with attached drawing, the feature, nature and advantages of the utility model will become more
Add obvious.In the accompanying drawings, same reference numerals make respective identification always.It should be noted that described attached drawing only it is schematical simultaneously
And it is non-limiting.In the accompanying drawings, the size of some components can amplify and be not drawn to scale for the purpose of illustrative.
Fig. 1 shows the bolt-type release of the prior art.
Fig. 2 and Fig. 3 respectively illustrates the exemplary main view and side view laid with recovery system of the application.
Fig. 4, which is shown, lays with recovery system the method for laying lander using the exemplary of the application.
Fig. 5, which is shown, lays the method for receiving lander back and forth with recovery system using the exemplary of the application.
Specific embodiment
For the purpose of this utility model, technical solution and advantage is more clearly understood, below in conjunction with specific embodiment, and
The utility model is further described referring to attached drawing.In the following detailed description, numerous specific details are set forth to provide
To the thorough understanding of described exemplary embodiment.It is apparent, however, to one skilled in the art, that can not have
Described embodiment is practiced in the case where there are some or all of these details.In other exemplary embodiments of the invention,
It is not described in well known structure, to avoid the concept for unnecessarily obscuring the disclosure.
Although using ship in the specification of the utility model and the lander in hydrospace detection field is laid and recovery system
It is illustrated, but it should be appreciated by those skilled in the art the technical solution of the utility model may be equally applied to other fields
Lander lay and recovery system (for example, crane etc. for using in harbour, the crane at harbour or other engineerings).
Fig. 1 shows the bolt-type release 100 of the prior art.As shown in Figure 1, bolt-type release 100 includes lifting
Hole 101, lockpin hole 102, clip portion 103, hole 104.By taking ship as an example, conventional lander lay in recovery system, it is female
Geology cable on ship passes through the A frame (not shown) of quarter, suspension hook is housed in the cable end of geology cable, which catches on hole for hoist
101 to lift lander.Meanwhile it discharging rope and being connect across hole 104 with release 100.
When lifting to lander, after fastening clip portion 103, bolt (not shown) is inserted into lockpin hole 102
So that clip portion 103 is stiff.
When laying lander, lander is lifted into water from lash ship deck by geology cable and A frame.Enter in lander
After water, by the way that manually bolt is extracted from lockpin hole 102, pull release rope so that lander be detached from release 100 and under
It is latent.
When recycling lander, on the quarter by the recycling ropes of 4 jiaos of hook hooking landers, will recycling wire saws to stern,
Lander is then lifted by geology cable and A frame by lash ship deck from water.
When lifting lander using geology cable to be laid or be recycled, need to carry out manually only to swing operation.Due to
The operating area on the quarter, therefore has security risk.Meanwhile in use bolt-type release (for example, the bolt-type in Fig. 1
Release 100) when laying lander, needs manually to extract bolt to discharge lander, be easy to happen maloperation.
Fig. 2 shows the exemplary main views laid with recovery system 200 of the application.
As shown in Fig. 2, laying with recovery system 200 includes hanging parts, which may include lifting lug 201 and liquid
Compression leg 202.The hanging parts, which are arranged to lay, is connected to external component with recovery system 200, such as is connected by lifting lug 201
It is connected to A frame.
Laying with recovery system 200 further includes shell 203, which is mechanically connected to hanging parts.For example, hanging
Ear 201 is connected to the top of shell 203 by hydraulic column 202, as shown in Figure 2.The shape of shell 203 is shown in Fig. 2 as length
Cube, but in other implementations, other shapes can also be used.For example, the shape of shell 203 can for cylindrical body, cube,
Or any other 3D shape appropriate.
It lays and also optionally includes twist component with recovery system 200.As shown in Fig. 2, twist component may include capstan winch
204 and motor 205, wherein motor 205 is configured to drive capstan winch 204.Twist component is mechanically connected to shell 203 and is located at
Inside shell 203.For example, twist component can (such as cable, chain, bar etc., show in figure by connection structure appropriate
It is mechanically connected to top, the side etc. of shell 203 out).The function of twist component and using will be said in conjunction with attached drawing 5
It is bright.
Laying with recovery system 200 further includes control unit.Similar to twist component, which can also be by suitable
When connection structure (such as cable, chain, bar etc., be not shown in the figure) be mechanically connected to shell 203 and be located at twist portion
Below part.As shown in Fig. 2, control unit may include command module 206 and electric lift 207, wherein 207 coupling of electric lift
Close command module 206.Command module 206 is configured to control the lifting of electric lift 207.For example, command module 206 can be from mother
Ship receives instruction (for example, releasing order, instruction etc. of holding with a firm grip), and the lifting of electric lift 207 is controlled according to the instruction.
Laying with recovery system 200 further comprises gripper.The gripper includes catching plate, STATEMENT OF FEDERALLY SPONSORED and multiple holds
Pawl, wherein STATEMENT OF FEDERALLY SPONSORED may include tappet, supporting member and connecting rod.As an example, gripper may include catching plate 208, hold
Pawl 210, tappet 209, supporting member (being not shown in Fig. 2) and connecting rod 211.Catching plate 208 is disposed in electric lift 207
Lower section and with electric lift 207 be rigidly connected.Gripping claw 210 is arranged to equally spaced around catching plate 208.Each tappet
209 one end mechanically (such as passing through hinge) is connected to catching plate 208, and the other end mechanically (such as passing through hinge) is connected to phase
A corresponding gripping claw 210.Supporting member is disposed in 208 lower section of catching plate and supports catching plate 208.One end of each connecting rod 211
It is mechanically connected to a corresponding gripping claw 210, and the other end is connected to supporting member.In one example, supporting member can
To include bearing.In other examples, supporting member can use any supporting structure appropriate.
Gripping claw 210, which is arranged to, to be operated in linkage via STATEMENT OF FEDERALLY SPONSORED and catching plate 208 with the lander that discharges or hold with a firm grip.It is specific and
Speech, under the control of the control part, catching plate 208 and gripping claw 210 by STATEMENT OF FEDERALLY SPONSORED (tappet 209, supporting member and connecting rod 211) into
Row combined operation is so that the release of gripping claw 210 or lander of holding with a firm grip.In one embodiment, when command module 206 receives first
When instructing (that is, releasing order), command module 206 indicates that electric lift 207 drive ons catching plate 208(boldly that is, electricity towards lander direction
Dynamic elevator 207 declines), gripping claw 210 is opened, to discharge lander.In another embodiment, when command module 206 receives
When the second instruction (that is, instruction of holding with a firm grip), command module 206 indicates that electric lift 207 is grabbed towards the opposite direction retraction of lander
Disk 208(is that is, electric lift 207 rises), gripping claw 210 is tightened, thus lander of holding with a firm grip.
In Fig. 2, tappet 209 is connected by a hinge with gripping claw 210, and gripping claw 210 and connecting rod 211 are rigidly connected.?
In one alternative embodiment, tappet 209 can be rigidly connected with gripping claw 210, and gripping claw 210 and connecting rod 211 are connected by hinge
It connects.In this alternative embodiment, when electric lift 207 declines, gripping claw 210 is tightened, and when electric lift 207 rises
When, gripping claw 210 is opened.
It should be noted that above-mentioned tappet 209, supporting member (for example, bearing) and connecting rod 211 are only that one of STATEMENT OF FEDERALLY SPONSORED shows
Example.In the concrete realization, those skilled in the art can realize catching plate 208 and gripping claw 210 using any STATEMENT OF FEDERALLY SPONSORED appropriate
Combined operation.
In one embodiment, gripper can be made of stainless steel.Preferably, limit can be installed in gripping claw 210
Device (not shown).Limiter enables gripping claw 210 to hold lander in more accurate position.
In one embodiment, gripper can have 4 gripping claws, 4 corresponding tappets and connecting rod.But it manages
Solution, can also use other an appropriate number of gripping claws, tappet and connecting rod.
Fig. 3 shows the exemplary side view laid with recovery system 200 of the application.For simplicity, it is not shown
Each component inside shell 203.
As shown in figure 3, laying with recovery system 200 can also include reinforcing rib 212.For example, reinforcing rib 212 can be pacified
Mounted in the side of shell 203, top etc..Reinforcing rib 212 can enhance shell under conditions of not increasing by 203 thickness of shell
203 intensity and rigidity, while the deformation of shell 203 can also be alleviated.Although three reinforcing ribs are shown in Fig. 3, wherein one
Across the middle part of housing side, two other reinforcing rib is inclined cross the top and the bottom of housing side respectively, but to understand for reinforcing rib,
This is only a kind of exemplary arrangement of reinforcing rib.In the concrete realization, those skilled in the art can be using any other appropriate
Reinforcing rib arrangement.
Two lifting lugs 201 and two hydraulic columns 202 are shown in Fig. 3.It is appreciated that the number of lifting lug and hydraulic column is only
It is exemplary.In different realizations, any an appropriate number of lifting lug and hydraulic column can be used.
The utility model in order to better understand explains the side for laying and recycling lander below with reference to Fig. 4 and Fig. 5
Method.
Fig. 4, which is shown, lays with recovery system the method 400 of lander of laying using the application.Referring to Fig. 2 and Fig. 3
Lay the method for carrying out key diagram 4 with recovery system 200.
Method 400 starts from step 405.In step 405, it will lay and be placed in above lander with recovery system 200, and will
It lays and is connected to A frame by hanging parts with recovery system 200.
In step 410, A frame is adjusted, so that laying the framework for touching lander with the gripping claw 210 of recovery system 200.
In step 415, lash ship sends the second instruction (that is, instruction of holding with a firm grip) to command module 206 with lander of holding with a firm grip.For example,
When command module 206 receives the second instruction, command module 206 indicates that electric lift 207 is retracted towards lander opposite direction
Catching plate 208(is that is, electric lift 207 rises), catching plate 208 and gripping claw 210 are by STATEMENT OF FEDERALLY SPONSORED progress combined operation so that holding
Pawl 210 is held with a firm grip the framework of lander.In one embodiment, limiter can be installed in gripping claw 210 to facilitate gripping claw 210
The framework of land device is held in more accurate position.
In step 420, it will put outside A frame, decline together with recovery system 200 and lander towards the water surface so that laying.
In step 425, after lander submerges in water, lash ship sends the first instruction (that is, releasing order) to command module 206
To discharge lander.For example, command module 206 indicates 207 direction of electric lift when command module 206 receives the first instruction
Catching plate 208(is drive in lander direction boldly that is, electric lift 207 declines), catching plate 208 and gripping claw 210 are joined by STATEMENT OF FEDERALLY SPONSORED
It is dynamic to be operable so that the opening of gripping claw 210, to discharge land device.
Fig. 5 is shown receives the method 500 of lander with recovery system using laying for the application back and forth.Similar to Fig. 4, ginseng
Carry out the method for key diagram 5 with recovery system 200 according to laying for Fig. 2 and Fig. 3.
Method 500 starts from step 505.In step 505, lander is connected to and is laid and recovery system 200.It is specific and
The recycling rope of lander is connected to the twist component laid with recovery system 200 by speech.In one embodiment, work as lander
When emerging, the coordinate position of the lander can be transmitted to lash ship.Lash ship navigated by water according to the coordinate position received to
Lander is nearby to capture recycling rope and be drawn to lash ship.For example, recycling wire saws to A frame and can be laid and be recycled
The suitable position of 200 lower section of system.In one embodiment, recycling rope can be using horse material energetically, and recycles the broken of rope
Disconnected power is greater than 2 tons.In one embodiment, one end opposite with lander ontology of recycling rope can be connected to and lays and returns
The capstan winch 204 of receipts system 200.
In optional step 510, twist component is opened.Specifically, opening motor 205 to drive capstan winch 204, thus upwards
Recycling rope is withdrawn in traction.
In optional step 515, when gripping claw 210 touches the framework of lander, twist component is closed.Specifically, can
To close motor 205 so that capstan winch 204 stops twist.
It in another embodiment, can not also include twist component, but (such as artificial) will land otherwise
Device draw near lash ship to contact gripping claw.
In step 520, lash ship sends the second instruction (that is, instruction of holding with a firm grip) to command module 206 with lander of holding with a firm grip.For example,
When command module 206 receives the second instruction, command module 206 indicates that electric lift 207 is retracted towards lander opposite direction
Catching plate 208(is that is, electric lift 207 rises), catching plate 208 and gripping claw 210 are by STATEMENT OF FEDERALLY SPONSORED progress combined operation so that holding
Pawl 210 is held with a firm grip the framework of lander.In one embodiment, limiter can be installed in gripping claw 210 to facilitate gripping claw 210
The framework of land device is held in more accurate position.
In step 525, by A frame backswing, recovery position is moved to together with recovery system 200 and lander so that laying.Example
Such as, the designated position on lash ship deck can be moved to together with recovery system 200 and lander by laying.
In step 530, lash ship sends the first instruction (that is, releasing order) to command module 206 to discharge lander.For example,
When command module 206 receives the first instruction, command module 206 indicates that electric lift 207 drive ons catching plate boldly towards lander direction
208(is that is, electric lift 207 declines), catching plate 208 and gripping claw 210 are by STATEMENT OF FEDERALLY SPONSORED progress combined operation so that gripping claw 210
It opens, to discharge land device.Recycling rope is unlocked later, completes recycling.
In method 400 and 500, will lay with recovery system 200 and lander Hard link, avoid logical using geology cable
A frame is crossed to lift lander, reduces the intensity for only swinging operation, improves safety.In addition, being laid and recovery system in use
200 when laying lander, do not need a possibility that manually extracting bolt, reduce artificial incorrect operation.
Claim can be implemented or fall in without representing by describing example in conjunction with the detailed description that attached drawing illustrates above
In the range of all examples.Term " example " and " exemplary " mean when using in the present specification " be used as example, example or
Explain ", it is not intended to " preferred or advantageous over other examples ".
Mean to combine the specific of embodiment description through " one embodiment " or " embodiment " of this specification citation
Feature, structure or characteristic are included at least one embodiment of the utility model.Therefore, the use of these phrases can be with
Not merely refer to one embodiment.In addition, described feature, structure or characteristic can be in one or more embodiments to appoint
What suitable mode combines.
Although having illustrated and described various embodiments, it should be appreciated that, embodiment is not limited to above-mentioned accurate configuration
And component.Can make in the arrangement of system disclosed herein, operation and details will be apparent to those skilled in the art
Various modifications, replacement and improvement are without departing from the scope of the claims.
Claims (11)
1. a kind of lander is laid and recovery system, comprising:
Hanging parts, the hanging parts, which are arranged to, is connected to external component with recovery system for described lay；
Shell, the shell are mechanically connected to the hanging parts；
Control unit, the control unit are mechanically connected to the shell；
Gripper, the gripper include:
Catching plate, the catching plate are disposed in below the control unit and are rigidly connected to the control unit；
STATEMENT OF FEDERALLY SPONSORED, the STATEMENT OF FEDERALLY SPONSORED are mechanically connected to the catching plate；And
Multiple gripping claws, the multiple gripping claw are mechanically connected to the STATEMENT OF FEDERALLY SPONSORED and are arranged to and grabbed with equally spaced around described
Disk；
Wherein, the multiple gripping claw is arranged to: is operated in linkage with the catching plate to discharge or hold with a firm grip via the STATEMENT OF FEDERALLY SPONSORED
The lander.
2. laying and recovery system as described in claim 1, which is characterized in that further comprise twist component, the twist
Component is mechanically connected to the shell and is located at the enclosure interior.
3. laying and recovery system as described in claim 1, which is characterized in that the STATEMENT OF FEDERALLY SPONSORED includes:
Multiple tappets corresponding with the multiple gripping claw, wherein one end of each tappet in the multiple tappet is mechanically
It is connected to the catching plate and the other end is mechanically connected to a corresponding gripping claw；
Supporting member, the supporting member are disposed in below the catching plate and support the catching plate；And
Multiple connecting rods corresponding with the multiple gripping claw, wherein one end of each connecting rod in the multiple connecting rod
It is mechanically connected to a corresponding gripping claw and the other end is connected to the supporting member.
4. laying and recovery system as claimed in claim 3, which is characterized in that the supporting member includes bearing.
5. laying and recovery system as described in claim 1, which is characterized in that the hanging parts include lifting lug and hydraulic
Column, wherein the lifting lug is mechanically connected to the top of the shell by the hydraulic column.
6. laying and recovery system as claimed in claim 2, which is characterized in that the twist component includes capstan winch and motor,
Wherein, the motor is configured to drive the capstan winch.
7. laying and recovery system as described in claim 1, which is characterized in that the control unit includes command module and coupling
To the electric lift in described instruction cabin, wherein described instruction cabin is configured to control the lifting of the electric lift.
8. laying and recovery system as described in claim 1, which is characterized in that the shell have cuboid, cylindrical body or
The shape of cube.
9. laying and recovery system as described in claim 1, which is characterized in that the gripper is made of stainless steel.
10. laying and recovery system as described in claim 1, which is characterized in that further comprise be installed in it is the multiple
Limiter in gripping claw.
11. laying and recovery system as described in claim 1, which is characterized in that further comprise being installed in the shell
On reinforcing rib.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921174693.0U CN209305804U (en) | 2019-07-25 | 2019-07-25 | Lander is laid and recovery system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921174693.0U CN209305804U (en) | 2019-07-25 | 2019-07-25 | Lander is laid and recovery system |
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| Publication Number | Publication Date |
|---|---|
| CN209305804U true CN209305804U (en) | 2019-08-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921174693.0U Active CN209305804U (en) | 2019-07-25 | 2019-07-25 | Lander is laid and recovery system |
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| CN (1) | CN209305804U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115027621A (en) * | 2022-06-20 | 2022-09-09 | 广州海运渤船舶工程有限公司 | Full-sea-depth target salvaging lander |
-
2019
- 2019-07-25 CN CN201921174693.0U patent/CN209305804U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115027621A (en) * | 2022-06-20 | 2022-09-09 | 广州海运渤船舶工程有限公司 | Full-sea-depth target salvaging lander |
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