WO2021238299A1 - Lifting device for marina - Google Patents

Lifting device for marina Download PDF

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Publication number
WO2021238299A1
WO2021238299A1 PCT/CN2021/075440 CN2021075440W WO2021238299A1 WO 2021238299 A1 WO2021238299 A1 WO 2021238299A1 CN 2021075440 W CN2021075440 W CN 2021075440W WO 2021238299 A1 WO2021238299 A1 WO 2021238299A1
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WIPO (PCT)
Prior art keywords
platform
lifting
arm
mechanical arm
lifting device
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PCT/CN2021/075440
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French (fr)
Chinese (zh)
Inventor
张健
韩文栋
王崇信
赵庆亮
周陈超
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江苏科技大学
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Application filed by 江苏科技大学 filed Critical 江苏科技大学
Priority to JP2022531643A priority Critical patent/JP7350399B2/en
Publication of WO2021238299A1 publication Critical patent/WO2021238299A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/44—Floating buildings, stores, drilling platforms, or workshops, e.g. carrying water-oil separating devices

Definitions

  • the invention relates to a lifting device, in particular to a yacht pier lifting device.
  • the yacht industry originated in Europe in the 17th century. After more than three centuries of evolution, it has now developed into a modern consumer industry integrating navigation, sports, entertainment, sightseeing, leisure, and business. In recent years, the country has paid more attention to the yacht industry. Eastern coastal provinces such as Shanghai, Shandong, Fujian, Liaoning, Zhejiang, and Guangdong have formulated relevant plans for the yacht industry to promote the high-quality development of the yacht industry. With the explosion of the number of yachts, yacht sightseeing has become a form of entertainment and leisure. Various localities have actively introduced policies to promote the development of the industry. However, whether the yacht itself is in a seaworthy state during the sailing process will become the yacht industry. An important part of the operation process.
  • the inspection and certification of open boats in operation in my country is mainly from various local ship inspection agencies. According to the inspection rules, the outer bottom of the boat must be inspected during the annual inspection. During the inspection, the open boat is generally moored at the yacht pier. External inspection is difficult. If you pass the open boat shoal, it may cause certain damage to the hull structure and propeller.
  • the object of the invention is to provide a yacht pier lifting device that is convenient for surveyors to inspect the outside of the bottom of the ship when inspecting an open boat moored on the yacht pier.
  • the present invention includes a fixed base fixed at the yacht pier, a displacement platform is installed symmetrically on both sides of the top of the fixed base, a rotating platform is installed on the top of the displacement platform, and a lifting platform is installed on the top of the rotating platform.
  • a slewing drive is fixed on the center line of the top plate of the lifting platform, and a mechanical arm is connected to the slewing drive.
  • the mechanical arm is provided with toggle plates.
  • the toggle plates are located on both sides of the slewing drive.
  • the arm, the displacement platform, the rotating platform, the lifting platform and the slewing drive are all electrically connected with the central control platform.
  • the rotating platform is installed on the bearing panel of the displacement platform through a backing plate, and the rotating platform can drive the mechanical arm to rotate within a certain range of the horizontal plane.
  • the lifting platform is connected with the rotating platform through a flange, and the lifting platform uses its own lifting function to move the open boat on a vertical surface and lift the open boat out of the water.
  • a support arm is connected between the lifting platform and the robotic arm.
  • One end of the support arm is welded to both sides of the top plate of the lifting platform, and the other end is welded to the flywheel fixed on the robotic arm, which can fix and support the machinery.
  • the function of the arm can also reduce the frictional resistance caused by the rotation of the mechanical arm.
  • the toggle plate has a built-in flywheel, and the flywheel is sleeved on the mechanical arm, which can not only fix and support the mechanical arm, but also reduce the frictional resistance caused by the mechanical arm when it rotates.
  • the load-bearing arm is a curved load-bearing arm, the outer side of which is wrapped with rubber gaskets to prevent damage to the fiber-reinforced plastic hull when the open boat is lifted.
  • the central control platform is arranged in the cab, and the cab is welded on the fixed base.
  • the present invention has the following advantages:
  • the displacement platform can drive the overall device to move in a straight line during the initial stage of the lift, so as to place the robotic arm in a suitable force position of the open boat and avoid uneven force on the whole open boat during the lifting process, which may cause damage to the hull structure. damage.
  • the open boat that is lifted off the water surface can be rotated to an area accessible to the surveyor, so that the surveyor can perform an external inspection of the bottom of the boat during the annual survey.
  • a flywheel is built in both the reinforced toggle plate and the support arm, which can not only fix and support the mechanical arm, but also reduce the frictional resistance caused by the mechanical arm when it rotates.
  • the lifting platform uses its own lifting function to move the open boat on the vertical surface and lift the open boat out of the water so that the surveyor can inspect the hull under the waterline.
  • the slewing drive can realize the rotation of the robotic arm in the vertical plane, thereby driving the curved bearing arm wrapped with rubber gaskets on the robotic arm to rotate, so that the curved bearing arm can be placed on the bottom of the ship, and the open boat can be seated on it for later lifting Get out of the water to make preliminary preparations.
  • the curved load-bearing arm is fastened to the mechanical arm with bolts, which facilitates the maintenance of the curved load-bearing arm and the replacement of rubber gaskets.
  • Figure 1 is a top view of the present invention
  • Figure 2 is a partial enlarged view of Figure 1;
  • Figure 3 is a front view of the present invention.
  • the present invention includes a fixed base 2.
  • the fixed base 2 is fixed on the yacht pier along its circumference by fastening bolts 3.
  • the fixed base 2 is welded with a cab 1 at a position behind the center line of the fixed base 2 ,
  • a central control platform 14 is installed in the cab 1.
  • Various control buttons and operating handles are arranged on the central control platform 14.
  • the central control platform 14 is electrically connected with the displacement platform 4, the rotating platform 6, the lifting platform 7 and the slewing drive 8.
  • Displacement platforms 4 are symmetrically installed on the left and right sides of the cab 1.
  • the two displacement platforms 4 on each side are fixed on the fixed base 2 in parallel by bolts.
  • the two displacement platforms 4 on each side are moved forward synchronously through a set of control devices. And back.
  • the displacement platform 4 can drive the whole device to move in a straight line during the initial stage of lifting, so as to place the robotic arm 11 in a suitable force position of the open boat, avoiding uneven force on the whole open boat during the lifting process and causing damage to the hull structure .
  • a rotating platform 6 is installed on the top of the displacement platform 4, and the rotating platform 6 is fixed on a load-bearing panel on the top of the displacement platform 4 through a backing plate 5.
  • the rotating platform 6 can drive the robotic arm 11 to rotate within a certain range of the horizontal plane.
  • the range of the robotic arm 11 enclosed on the horizontal plane can be expanded, so that open boats of different ship widths can be placed on a rubber cushion.
  • Above the curved carrying arm 12 of the sheet 13; the rotating platform 6 can rotate the lifted and lifted open boat from the water surface to an area accessible to the surveyor, so that the surveyor can perform the external inspection of the bottom of the boat during the annual survey.
  • the top of the rotating platform 6 is connected to the lifting platform 7 through a flange.
  • the lifting platform 7 uses its own lifting function to make the open boat move on the vertical surface and lift the open boat out of the water so that the surveyor can inspect the hull below the waterline.
  • a slewing drive 8 is fixed on the center line of the top of the lifting platform 7, and a mechanical arm 11 is connected to the slewing drive 8.
  • the mechanical arms 11 located on both sides of the slewing drive 8 are each installed with a reinforced toggle 9 and the reinforced toggle 9 has a built-in flywheel.
  • the outer diameter of the flywheel is firmly fixed on the toggle plate through the key.
  • the inner diameter of the flywheel matches the outer diameter of the robot arm 11.
  • the robot arm 11 is fixed to the inner diameter of the flywheel by the key. At this time, it can fix and support the robot arm 11. , It can also reduce the frictional resistance brought by the mechanical arm 11 when it rotates.
  • the function of the slewing drive 8 is mainly to realize the rotation of the robotic arm 11 in the vertical plane, thereby driving the curved carrying arm 12 on the robotic arm 11 to rotate, so that the curved carrying arm 12 is placed on the bottom of the ship, and the open boat is seated on it. Rise out of the water for preliminary preparations.
  • the upper part of the robotic arm 11 is also fixed with three rows of curved load-bearing arms 12 evenly spaced, and the curved load-bearing arm 12 is fastened to the robot arm 11 with fastening bolts 3, which is convenient for the later maintenance of the curved load-bearing arm 12 and the rubber gasket 13 Replace it.
  • the mechanical arm 11 at the contact position is polished to increase the contact area.
  • Three curved load-bearing arms 12 are provided to increase the force-bearing area.
  • the outer side of the curved load-bearing arm 12 is also wrapped with a rubber gasket 13 to prevent it from lifting the open boat. Damage to the fiber-reinforced plastic hull.
  • a support arm 10 is also fixed between the top of the lifting platform 7 and the mechanical arm 11.
  • the support arm 10 is welded to the top of the lifting platform 7, and the other end is welded to the outer diameter of the flywheel connected to the support arm 11.
  • the flywheel is located on the curved carrying arm 12 below.
  • the entire support arm 10 looks like an isosceles triangle.
  • the inner diameter of the robot arm 11 and the flywheel are fixed by keys. At this time, it can not only fix and support the robot arm 11, but also reduce the frictional resistance caused by the robot arm when it rotates. .
  • the strengthened toggle plate 9 ensure that the mechanical arm 11 will not be twisted when it passes through the rotary drive 8, the strengthened toggle plate 9, and the support arm 10.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Architecture (AREA)
  • Ocean & Marine Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Ship Loading And Unloading (AREA)
  • Bridges Or Land Bridges (AREA)
  • Placing Or Removing Of Piles Or Sheet Piles, Or Accessories Thereof (AREA)

Abstract

Disclosed is a lifting device for a marina, comprising a fixed base (2) fixed to the marina; displacement platforms (4) are symmetrically mounted on two sides of the top of the fixed base (2); a rotating platform (6) is mounted at the top of each displacement platform (4); a lifting platform (7) is arranged on the top of each rotating platform (6); a rotary driver (8) is fixed to a center line surface of a top plate of each lifting platform (7); a mechanical arm (11) is connected in each rotary driver (8); toggle plates (9) are arranged on each mechanical arm (11); the toggle plates (9) are arranged on two sides of each rotary driver (8); a plurality of bearing arms (12) are further fixed to an upper portion of each mechanical arm (11); and the displacement platforms (4), the rotating platforms (6), the lifting platforms (7) and the rotary drivers (8) are electrically connected to a central control platform (14). The lifting device can lift an open boat out from the marina to an area above the water surface where the boat can be touched by a marine surveyor, so that the marine surveyor may perform an external inspection on the bottom of the boat, and damage caused to the structure of the hull and to the propeller in a process in which a small boat comes into shallow waters is avoided.

Description

一种游艇码头举升装置Lifting device for yacht dock 技术领域Technical field
本发明涉及一种举升装置，尤其涉及一种游艇码头举升装置。The invention relates to a lifting device, in particular to a yacht pier lifting device.
背景技术Background technique
游艇业起源于17世纪的欧洲，历经三个多世纪的演变，如今已经发展成为一种集航海、运动、娱乐、观光、休闲和商务等多种功能于一体的现代消费业。近年来，国家对游艇产业给予了更多重视，上海、山东、福建、辽宁、浙江、广东等东部沿海省份纷纷制定了游艇产业的相关规划，促进游艇产业高质量发展。伴随游艇数量呈现井喷式的爆发，乘坐游艇观光旅游成为一种娱乐休闲方式，各地积极出台政策促进该行业的发展，但游艇在航行过程中其自身是否处于一种适航状态，将作为游艇行业运营过程中的重要一环。The yacht industry originated in Europe in the 17th century. After more than three centuries of evolution, it has now developed into a modern consumer industry integrating navigation, sports, entertainment, sightseeing, leisure, and business. In recent years, the country has paid more attention to the yacht industry. Eastern coastal provinces such as Shanghai, Shandong, Fujian, Liaoning, Zhejiang, and Guangdong have formulated relevant plans for the yacht industry to promote the high-quality development of the yacht industry. With the explosion of the number of yachts, yacht sightseeing has become a form of entertainment and leisure. Various localities have actively introduced policies to promote the development of the industry. However, whether the yacht itself is in a seaworthy state during the sailing process will become the yacht industry. An important part of the operation process.
目前我国对营运敞开艇检验发证的主要是各个地方船舶检验机构，根据检验规则，在年度检验过程中需搭配艇底外部检查，检验时敞开艇一般停泊在游艇码头上，此时对艇底外部检查造成困难，若通过敞开艇浅滩可能会对艇体结构、螺旋桨造成一定的损伤。At present, the inspection and certification of open boats in operation in my country is mainly from various local ship inspection agencies. According to the inspection rules, the outer bottom of the boat must be inspected during the annual inspection. During the inspection, the open boat is generally moored at the yacht pier. External inspection is difficult. If you pass the open boat shoal, it may cause certain damage to the hull structure and propeller.
发明内容Summary of the invention
发明目的：本发明目的是提供一种方便验船师对停泊在游艇码头上的敞开艇进行检验时对船底外部进行检查的游艇码头举升装置。Object of the invention: The object of the invention is to provide a yacht pier lifting device that is convenient for surveyors to inspect the outside of the bottom of the ship when inspecting an open boat moored on the yacht pier.
技术方案：本发明包括固定在游艇码头的固定基座，所述固定基座顶部的两侧对称安装有位移平台，所述的位移平台顶部安装有旋转 平台，旋转平台顶部安装有升降平台，所述升降平台顶板的中线面上固定有回转驱动，回转驱动内连接有机械臂，所述的机械臂上设有肘板，肘板位于回转驱动两侧，机械臂的上部还固定有多个承载臂，所述的位移平台、旋转平台、升降平台及回转驱动均与中控平台电连接。Technical solution: The present invention includes a fixed base fixed at the yacht pier, a displacement platform is installed symmetrically on both sides of the top of the fixed base, a rotating platform is installed on the top of the displacement platform, and a lifting platform is installed on the top of the rotating platform. A slewing drive is fixed on the center line of the top plate of the lifting platform, and a mechanical arm is connected to the slewing drive. The mechanical arm is provided with toggle plates. The toggle plates are located on both sides of the slewing drive. The arm, the displacement platform, the rotating platform, the lifting platform and the slewing drive are all electrically connected with the central control platform.
所述的旋转平台通过垫板安装在位移平台的承载面板上，旋转平台可以带动机械臂在水平面一定范围内进行旋转。The rotating platform is installed on the bearing panel of the displacement platform through a backing plate, and the rotating platform can drive the mechanical arm to rotate within a certain range of the horizontal plane.
所述的升降平台通过法兰与旋转平台连接，升降平台通过自身的升降功能以使敞开艇在垂直面上运动，将敞开艇举升出水面。The lifting platform is connected with the rotating platform through a flange, and the lifting platform uses its own lifting function to move the open boat on a vertical surface and lift the open boat out of the water.
所述的升降平台与机械臂之间连接有支撑臂，所述支撑臂的一端焊接在升降平台顶板的两侧，另一端与固定在机械臂上的飞轮焊接，既可起到固定、支撑机械臂的作用，又可减少机械臂在旋转时带来的摩擦阻力。A support arm is connected between the lifting platform and the robotic arm. One end of the support arm is welded to both sides of the top plate of the lifting platform, and the other end is welded to the flywheel fixed on the robotic arm, which can fix and support the machinery. The function of the arm can also reduce the frictional resistance caused by the rotation of the mechanical arm.
所述的肘板内置有飞轮，所述的飞轮套在机械臂上，既可起到固定、支撑机械臂的作用，又可减少机械臂在旋转时带来的摩擦阻力。The toggle plate has a built-in flywheel, and the flywheel is sleeved on the mechanical arm, which can not only fix and support the mechanical arm, but also reduce the frictional resistance caused by the mechanical arm when it rotates.
所述的承载臂为弯曲承载臂，其外侧包裹有橡胶垫片，以防止在举升敞开艇时对纤维增强塑料船体的损坏。The load-bearing arm is a curved load-bearing arm, the outer side of which is wrapped with rubber gaskets to prevent damage to the fiber-reinforced plastic hull when the open boat is lifted.
所述的中控平台设置在驾驶室内，所述的驾驶室焊接在固定基座上。The central control platform is arranged in the cab, and the cab is welded on the fixed base.
有益效果：本发明具有以下优势：Beneficial effects: The present invention has the following advantages:
(1)实现将敞开艇从游艇码头举升到水面以上、验船师可触及的区域，以便验船师实现船底的外部检查，避免小艇浅滩过程中造成艇体的结构、螺旋桨的损伤。(1) Lift the open boat from the marina above the water surface to an area accessible to the surveyor, so that the surveyor can perform an external inspection of the bottom of the boat and avoid damage to the hull structure and propellers caused by the small boat shoal.
(2)位移平台可在举升初期带动整体装置沿直线运动，以实现将机械臂放置在敞开艇合适的受力位置，避免举升过程中敞开艇整体受力不均，对艇体结构造成损坏。(2) The displacement platform can drive the overall device to move in a straight line during the initial stage of the lift, so as to place the robotic arm in a suitable force position of the open boat and avoid uneven force on the whole open boat during the lifting process, which may cause damage to the hull structure. damage.
(3)两台旋转平台同时旋转时可以扩大机械臂在水平面合围的范围，以便将不同船宽的敞开艇坐落在包裹橡胶垫片的弯曲承载臂之上。(3) When the two rotating platforms rotate at the same time, the enclosed range of the mechanical arm on the horizontal plane can be expanded, so that open boats of different ship widths can be seated on the curved load-bearing arms wrapped with rubber gaskets.
(4)两台旋转平台同时旋转时，可将举升、脱离水面的敞开艇旋转到验船师可触及的区域，以便验船师在年度检验时实现艇底的外部检查。(4) When the two rotating platforms are rotating at the same time, the open boat that is lifted off the water surface can be rotated to an area accessible to the surveyor, so that the surveyor can perform an external inspection of the bottom of the boat during the annual survey.
(5)加强肘板、支撑臂均内置一个飞轮，既可起到固定、支撑机械臂的作用，又可减少机械臂在旋转时带来的摩擦阻力。(5) A flywheel is built in both the reinforced toggle plate and the support arm, which can not only fix and support the mechanical arm, but also reduce the frictional resistance caused by the mechanical arm when it rotates.
(6)升降平台通过自身的升降功能以使敞开艇在垂直面上运动，将敞开艇举升出水面，以便验船师可以检查到水线下的船体外板。(6) The lifting platform uses its own lifting function to move the open boat on the vertical surface and lift the open boat out of the water so that the surveyor can inspect the hull under the waterline.
(7)回转驱动可实现机械臂在垂直面内旋转，从而带动机械臂上包裹橡胶垫片的弯曲承载臂旋转，以便于弯曲承载臂放置到船底，使敞开艇坐落其上，为后期举升出水面做前期准备。(7) The slewing drive can realize the rotation of the robotic arm in the vertical plane, thereby driving the curved bearing arm wrapped with rubber gaskets on the robotic arm to rotate, so that the curved bearing arm can be placed on the bottom of the ship, and the open boat can be seated on it for later lifting Get out of the water to make preliminary preparations.
(8)弯曲承载臂用螺栓紧固在机械臂上，可便于后期对弯曲承载臂维护保养、以及对橡胶垫片进行更换。(8) The curved load-bearing arm is fastened to the mechanical arm with bolts, which facilitates the maintenance of the curved load-bearing arm and the replacement of rubber gaskets.
(9)将橡胶垫片固定在弯曲承载臂之上，以防止在举升游艇时对纤维增强塑料船体的损坏。(9) Fix the rubber gasket on the curved load-bearing arm to prevent damage to the fiber-reinforced plastic hull when the yacht is lifted.
附图说明Description of the drawings
图1为本发明的俯视图；Figure 1 is a top view of the present invention;
图2为图1的局部放大图；Figure 2 is a partial enlarged view of Figure 1;
图3为本发明的主视图。Figure 3 is a front view of the present invention.
具体实施方式Detailed ways
下面结合附图对本发明作进一步说明。The present invention will be further explained below in conjunction with the accompanying drawings.
如图1至图3所示，本发明包括固定基座2，固定基座2通过紧固螺栓3沿其四周固定在游艇码头上，固定基座2中心线靠后的位置焊接有驾驶室1，驾驶室1内安装有中控平台14，中控平台14上设置各种控制按钮及操作手柄，中控平台14与位移平台4、旋转平台6、升降平台7及回转驱动8电连接。As shown in Figures 1 to 3, the present invention includes a fixed base 2. The fixed base 2 is fixed on the yacht pier along its circumference by fastening bolts 3. The fixed base 2 is welded with a cab 1 at a position behind the center line of the fixed base 2 , A central control platform 14 is installed in the cab 1. Various control buttons and operating handles are arranged on the central control platform 14. The central control platform 14 is electrically connected with the displacement platform 4, the rotating platform 6, the lifting platform 7 and the slewing drive 8.
驾驶室1的左右两侧对称安装有位移平台4，通过螺栓将每侧两个位移平台4平行固定在固定基座2上，每侧的两个位移平台4通过一套控制装置，实现同步前进与后退。位移平台4可在举升初期带动整体装置沿直线运动，以实现将机械臂11放置在敞开艇合适的受力位置，避免举升过程中敞开艇整体受力不均，对艇体结构造成损坏。 Displacement platforms 4 are symmetrically installed on the left and right sides of the cab 1. The two displacement platforms 4 on each side are fixed on the fixed base 2 in parallel by bolts. The two displacement platforms 4 on each side are moved forward synchronously through a set of control devices. And back. The displacement platform 4 can drive the whole device to move in a straight line during the initial stage of lifting, so as to place the robotic arm 11 in a suitable force position of the open boat, avoiding uneven force on the whole open boat during the lifting process and causing damage to the hull structure .
位移平台4顶部安装有旋转平台6，旋转平台6通过垫板5固定在位移平台4顶部的承载面板上。旋转平台6可以带动机械臂11在水平面一定范围内进行旋转，当两台旋转平台6同时旋转时，可以扩大机械臂11在水平面合围的范围，以便将不同船宽的敞开艇坐落在包裹橡胶垫片13的弯曲承载臂12之上；旋转平台6可将举升、脱离水面的敞开艇旋转到验船师可触及的区域，以便验船师在年度检验时实现艇底的外部检查。A rotating platform 6 is installed on the top of the displacement platform 4, and the rotating platform 6 is fixed on a load-bearing panel on the top of the displacement platform 4 through a backing plate 5. The rotating platform 6 can drive the robotic arm 11 to rotate within a certain range of the horizontal plane. When the two rotating platforms 6 rotate at the same time, the range of the robotic arm 11 enclosed on the horizontal plane can be expanded, so that open boats of different ship widths can be placed on a rubber cushion. Above the curved carrying arm 12 of the sheet 13; the rotating platform 6 can rotate the lifted and lifted open boat from the water surface to an area accessible to the surveyor, so that the surveyor can perform the external inspection of the bottom of the boat during the annual survey.
旋转平台6顶部通过法兰连接升降平台7，升降平台7通过自身 的升降功能以使敞开艇在垂直面上运动，将敞开艇举升出水面，以便验船师可以检查到水线下的船体外板。升降平台7顶部的中线面上固定有回转驱动8，回转驱动8内连接有机械臂11，位于回转驱动8两侧的机械臂11上各安装有一块加强肘板9，加强肘板9内置有飞轮。飞轮外径通过键牢固固定在肘板上，飞轮内径尺寸与机械臂11外径尺寸相配合，通过键将机械臂11与飞轮内径固定，此时既可起到固定、支撑机械臂11的作用，又可减少机械臂11在旋转时带来的摩擦阻力。回转驱动8的作用主要是实现机械臂11在垂直面内旋转，从而带动机械臂11上的弯曲承载臂12旋转，以便于弯曲承载臂12放置到船底，使敞开艇坐落其上，为后期举升出水面做前期准备。The top of the rotating platform 6 is connected to the lifting platform 7 through a flange. The lifting platform 7 uses its own lifting function to make the open boat move on the vertical surface and lift the open boat out of the water so that the surveyor can inspect the hull below the waterline. Outer panel. A slewing drive 8 is fixed on the center line of the top of the lifting platform 7, and a mechanical arm 11 is connected to the slewing drive 8. The mechanical arms 11 located on both sides of the slewing drive 8 are each installed with a reinforced toggle 9 and the reinforced toggle 9 has a built-in flywheel. The outer diameter of the flywheel is firmly fixed on the toggle plate through the key. The inner diameter of the flywheel matches the outer diameter of the robot arm 11. The robot arm 11 is fixed to the inner diameter of the flywheel by the key. At this time, it can fix and support the robot arm 11. , It can also reduce the frictional resistance brought by the mechanical arm 11 when it rotates. The function of the slewing drive 8 is mainly to realize the rotation of the robotic arm 11 in the vertical plane, thereby driving the curved carrying arm 12 on the robotic arm 11 to rotate, so that the curved carrying arm 12 is placed on the bottom of the ship, and the open boat is seated on it. Rise out of the water for preliminary preparations.
机械臂11上部还间隔均匀地固定有三排弯曲承载臂12，将弯曲承载臂12用紧固螺栓3紧固在机械臂11上，便于后期对弯曲承载臂12维护保养、以及对橡胶垫片13进行更换。将接触部位的机械臂11进行打磨，以增加接触面积，弯曲承载臂12设置三根以增大受力面积，弯曲承载臂12外侧还包裹有橡胶垫片13上，以防止在举升敞开艇时对纤维增强塑料船体的损坏。升降平台7顶部与机械臂11之间还固定有支撑臂10，支撑臂10一端焊接在升降平台7的顶部，另一端焊接在与支撑臂11连接的飞轮外径上，该飞轮位于弯曲承载臂12下方。整个支撑臂10外形似一个等腰三角形，通过键将机械臂11与飞轮内径固定，此时既可起到固定、支撑机械臂11的作用，又可减少机械臂在旋转时带来的摩擦阻力。安装时确保机械臂11通过回转驱动8、加强肘板9、支撑臂10时不会出现扭曲。The upper part of the robotic arm 11 is also fixed with three rows of curved load-bearing arms 12 evenly spaced, and the curved load-bearing arm 12 is fastened to the robot arm 11 with fastening bolts 3, which is convenient for the later maintenance of the curved load-bearing arm 12 and the rubber gasket 13 Replace it. The mechanical arm 11 at the contact position is polished to increase the contact area. Three curved load-bearing arms 12 are provided to increase the force-bearing area. The outer side of the curved load-bearing arm 12 is also wrapped with a rubber gasket 13 to prevent it from lifting the open boat. Damage to the fiber-reinforced plastic hull. A support arm 10 is also fixed between the top of the lifting platform 7 and the mechanical arm 11. One end of the support arm 10 is welded to the top of the lifting platform 7, and the other end is welded to the outer diameter of the flywheel connected to the support arm 11. The flywheel is located on the curved carrying arm 12 below. The entire support arm 10 looks like an isosceles triangle. The inner diameter of the robot arm 11 and the flywheel are fixed by keys. At this time, it can not only fix and support the robot arm 11, but also reduce the frictional resistance caused by the robot arm when it rotates. . When installing, ensure that the mechanical arm 11 will not be twisted when it passes through the rotary drive 8, the strengthened toggle plate 9, and the support arm 10.
当敞开艇停泊在游艇码头内靠近举升装置时，首先视停泊位置，操作位移平台4，将圆柱形机械臂11放置在敞开艇的中间位置，操作驾驶室1左右两侧的两个旋转平台6，使其在水平面内旋转，带动机械臂11与弯曲承载臂12形成一定角度，将敞开艇合拢在形成的角度内；操作驾驶室1左右两侧的回转驱动8，实现机械臂11的旋转，从而带动机械臂11上包裹橡胶垫片13的弯曲承载臂12旋转，以便于弯曲承载臂12放置到船底，使敞开艇安全的坐落其上；通过升降平台7将小艇举出水面，移动到验船师可触及的区域，以实现艇底外部检查。When the open boat is parked in the marina close to the lifting device, firstly, depending on the parking position, operate the displacement platform 4, place the cylindrical robot arm 11 in the middle of the open boat, and operate the two rotating platforms on the left and right sides of the cab 1. 6. Make it rotate in the horizontal plane, drive the mechanical arm 11 and the curved carrying arm 12 to form a certain angle, and close the open boat within the formed angle; operate the rotary drive 8 on the left and right sides of the cab 1 to realize the rotation of the mechanical arm 11 , So as to drive the curved bearing arm 12 wrapped with rubber gasket 13 on the mechanical arm 11 to rotate, so that the curved bearing arm 12 is placed on the bottom of the ship, so that the open boat can sit on it safely; the boat is lifted out of the water through the lifting platform 7 and moved Go to an area accessible to the surveyor to achieve an external inspection of the bottom of the boat.

Claims (7)

  1. 一种游艇码头举升装置，其特征在于，包括固定在游艇码头的固定基座(2)，所述固定基座(2)顶部的两侧对称安装有位移平台(4)，所述的位移平台(4)顶部安装有旋转平台(6)，旋转平台(6)顶部安装有升降平台(7)，所述升降平台(7)顶板的中线面上固定有回转驱动(8)，回转驱动(8)内连接有机械臂(11)，所述的机械臂(11)上设有肘板(9)，肘板(9)位于回转驱动(8)两侧，机械臂(11)的上部还固定有多个承载臂(12)，所述的位移平台(4)、旋转平台(6)、升降平台(7)及回转驱动(8)均与中控平台(14)电连接。A lifting device for a yacht pier, which is characterized in that it comprises a fixed base (2) fixed on the yacht pier, a displacement platform (4) is symmetrically installed on both sides of the top of the fixed base (2), and the displacement A rotating platform (6) is installed on the top of the platform (4), and a lifting platform (7) is installed on the top of the rotating platform (6). 8) A mechanical arm (11) is connected inside. The mechanical arm (11) is provided with a toggle plate (9). The toggle plate (9) is located on both sides of the slewing drive (8). The upper part of the mechanical arm (11) is also A plurality of bearing arms (12) are fixed, and the displacement platform (4), the rotating platform (6), the lifting platform (7) and the slewing drive (8) are all electrically connected with the central control platform (14).
  2. 根据权利要求1所述的一种游艇码头举升装置，其特征在于，所述的旋转平台(6)通过垫板(5)安装在位移平台(4)的承载面板上。The yacht dock lifting device according to claim 1, characterized in that the rotating platform (6) is installed on the bearing panel of the displacement platform (4) through a backing plate (5).
  3. 根据权利要求1所述的一种游艇码头举升装置，其特征在于，所述的升降平台(7)通过法兰与旋转平台(6)连接。The yacht dock lifting device according to claim 1, characterized in that the lifting platform (7) is connected to the rotating platform (6) through a flange.
  4. 根据权利要求1或3所述的一种游艇码头举升装置，其特征在于，所述的升降平台(7)与机械臂(11)之间连接有支撑臂(10)，所述支撑臂(10)的一端焊接在升降平台(7)顶板的两侧，另一端与固定在机械臂(11)上的飞轮焊接。The yacht pier lifting device according to claim 1 or 3, characterized in that, a support arm (10) is connected between the lifting platform (7) and the mechanical arm (11), and the support arm ( One end of 10) is welded to both sides of the top plate of the lifting platform (7), and the other end is welded to the flywheel fixed on the mechanical arm (11).
  5. 根据权利要求1所述的一种游艇码头举升装置，其特征在于，所述的肘板(9)内置有飞轮，所述的飞轮套在机械臂(11)上。The yacht pier lifting device according to claim 1, characterized in that the toggle plate (9) is built with a flywheel, and the flywheel is sleeved on the mechanical arm (11).
  6. 根据权利要求1所述的一种游艇码头举升装置，其特征在于，所述的承载臂(12)为弯曲承载臂，其外侧包裹有橡胶垫片(13)。The yacht pier lifting device according to claim 1, characterized in that, the load-bearing arm (12) is a curved load-bearing arm, and a rubber gasket (13) is wrapped on its outer side.
  7. 根据权利要求1所述的一种游艇码头举升装置，其特征在于，所述的中控平台(14)设置在驾驶室(1)内，所述的驾驶室(1)焊接在固定基座(2)上。The yacht dock lifting device according to claim 1, characterized in that the central control platform (14) is arranged in the cab (1), and the cab (1) is welded to the fixed base (2) On.
PCT/CN2021/075440 2020-05-25 2021-02-05 Lifting device for marina WO2021238299A1 (en)

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