CN110466688B - Navigation equipment cloth recycling system and navigation equipment cloth recycling method - Google Patents
Navigation equipment cloth recycling system and navigation equipment cloth recycling method Download PDFInfo
- Publication number
- CN110466688B CN110466688B CN201910796860.3A CN201910796860A CN110466688B CN 110466688 B CN110466688 B CN 110466688B CN 201910796860 A CN201910796860 A CN 201910796860A CN 110466688 B CN110466688 B CN 110466688B
- Authority
- CN
- China
- Prior art keywords
- deployment
- navigation equipment
- navigation
- hanging basket
- traction mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 39
- 239000004744 fabric Substances 0.000 title claims description 6
- 238000004064 recycling Methods 0.000 title description 6
- 238000011084 recovery Methods 0.000 claims abstract description 67
- 230000007246 mechanism Effects 0.000 claims abstract description 60
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 40
- 238000004804 winding Methods 0.000 claims description 39
- 238000005096 rolling process Methods 0.000 claims description 25
- 239000003638 chemical reducing agent Substances 0.000 description 24
- 238000010168 coupling process Methods 0.000 description 14
- 238000005859 coupling reaction Methods 0.000 description 14
- 230000008878 coupling Effects 0.000 description 13
- 238000007667 floating Methods 0.000 description 11
- 230000000712 assembly Effects 0.000 description 7
- 238000000429 assembly Methods 0.000 description 7
- 238000009434 installation Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 3
- 230000000149 penetrating effect Effects 0.000 description 3
- 125000006850 spacer group Chemical group 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 2
- 238000005192 partition Methods 0.000 description 2
- 239000002519 antifouling agent Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B23/00—Equipment for handling lifeboats or the like
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention is suitable for the technical field of navigation equipment, and provides a navigation equipment deployment and recovery system and a navigation equipment deployment and recovery method. The invention relates to a navigation equipment deployment and recovery system, which comprises a hanging bracket arranged on a deployment and recovery platform, a traction mechanism arranged on the hanging bracket, a hanging bracket which is connected with the traction mechanism and is used for bearing navigation equipment, and a locking device arranged on the navigation equipment, wherein the locking device is detachably connected with the hanging bracket, when the navigation equipment is recovered, the hanging bracket moves to the upper part of the water surface, the traction mechanism lowers the hanging bracket into the water, the navigation equipment moves to the hanging bracket, the locking device on the navigation equipment is detachably connected with the hanging bracket, then the traction mechanism lifts the hanging bracket, and the hanging bracket recovers the hanging bracket to the deployment and recovery platform.
Description
Technical Field
The invention relates to the technical field of navigation equipment, in particular to a navigation equipment deployment and recovery system and a navigation equipment deployment and recovery method.
Background
Various marine navigation equipment in the ocean field has the characteristics of diversified structural styles, practical system application and systematic scientific detection. Under the situation that various marine navigation equipment is vigorously developed in the whole marine application field, how to more efficiently realize the safe arrangement and recovery of the navigation equipment on the premise of less humanized operation requirements of marine operation is always a common problem of general attention at home and abroad.
The existing navigation equipment deployment and recovery system usually adopts a guide rail type recovery mode, and the mode needs to carry out larger reconstruction on a mother ship and install a guide rail on the mother ship, so that the problem of higher installation difficulty of the existing navigation equipment deployment and recovery system is caused; in addition, when retrieving navigation equipment, the guide rail needs to extend certain length, and when navigation equipment goes on the guide rail, because the arm of force that needs is great, can cause the guide rail to break easily, and then causes the incident.
Disclosure of Invention
The invention aims to provide a navigation equipment deployment and recovery system, which aims to solve the technical problems that the installation difficulty of the existing navigation equipment deployment and recovery system is high and accidents are easy to cause.
The invention is realized in this way, a navigation equipment deployment and recovery system comprises a hanging bracket arranged on a deployment and recovery platform, a traction mechanism arranged on the hanging bracket, a hanging bracket connected with the traction mechanism and used for bearing navigation equipment, and a locking device arranged on the navigation equipment, wherein the locking device is detachably connected with the hanging bracket, the hanging bracket comprises a base arranged on the deployment and recovery platform, a supporting table arranged on the base, and a swinging piece rotationally connected with the base, the traction mechanism is arranged on the swinging piece, the supporting table is obliquely arranged on the base, an initial position of the navigation equipment lifted by the traction mechanism is defined as an initial station, the height of one end of the supporting table, which is far away from the initial station, is larger than the height of one end of the supporting table, which is close to the initial station, and the inclination angle of the supporting table relative to the base is defined as alpha, and the inclination angle of the supporting table is less than 45 degrees is defined as 0 degrees; the traction mechanism comprises a fixed bracket arranged on the hanging bracket, a cable rolling rotating shaft rotationally connected with the fixed bracket, a cable rolling piece sleeved outside the cable rolling rotating shaft, a cable connected with the cable rolling piece, and a cable rolling driving piece used for driving the cable rolling rotating shaft to rotate, wherein the cable is connected with the hanging bracket; the traction mechanism further comprises a limiting component which is connected with the fixed support and used for being in butt joint with the navigation equipment to limit, and the limiting component is arranged at intervals with the cable winding rotating shaft; the limiting component is rotationally connected with the fixed support, when the swinging piece rotates relative to the base, the limiting component and the fixed support can rotate relatively, meanwhile, the limiting component and the hanging basket and navigation equipment on the hanging basket cannot rotate relatively, the rotating shaft of the limiting component is parallel to the rotating shaft of the cable winding rotating shaft, the limiting component comprises a limiting support rotationally connected with the fixed support, a fixing seat in buffer connection with the limiting support and a contact piece arranged on the fixing seat, the limiting support is triangular, the limiting support comprises a first connecting end and two second connecting ends, the first connecting ends are rotationally connected with the fixed support through rotating structures, and the second connecting ends are in buffer connection with the corresponding fixing seat.
Further, the hanger also comprises a swing driving piece for driving the swing piece to rotate relative to the base.
Further, the hanging basket comprises a supporting frame connected with the traction mechanism, a connecting piece which is arranged at one end of the supporting frame and is detachably connected with the locking device, and a floating body which is arranged on the supporting frame, wherein the supporting frame is provided with a containing groove for containing navigation equipment.
Another object of the present invention is to provide a navigation device deployment and recovery method, to which the navigation device deployment and recovery system described above is applied, the navigation device deployment and recovery method including a deployment method of navigation devices and a recovery method of navigation devices, the recovery method of navigation devices including the steps of:
the hanging bracket moves the hanging basket above the water surface;
the traction mechanism lowers the hanging basket into water;
the navigation equipment moves into the hanging basket, and the locking device is detachably connected with the hanging basket;
the traction mechanism lifts the hanging basket;
the hanging bracket recovers the hanging basket to the cloth and storage recovery platform.
Further, the deployment method of the navigation device comprises the following steps:
In the state that the navigation equipment is recovered to the deployment recovery platform, the hanging bracket moves the hanging basket to the position above the water surface;
the traction mechanism lowers the hanging basket into water;
the locking device is unlocked with the hanging basket, and the navigation equipment moves into water.
Further, in the navigation equipment deployment and recovery system, a supporting table is obliquely arranged on the hanging bracket and used for bearing the hanging bracket, and the deployment method of the navigation equipment comprises the following steps:
and under the state that the navigation equipment is recovered to the deployment recovery platform, the locking device is unlocked with the hanging basket, and the navigation equipment directly slides into water.
The invention provides a navigation equipment deployment and recovery system, which comprises a hanging bracket arranged on a deployment and recovery platform, a traction mechanism arranged on the hanging bracket, a hanging bracket which is connected with the traction mechanism and is used for bearing navigation equipment, and a locking device arranged on the navigation equipment, wherein the locking device is detachably connected with the hanging bracket, when the navigation equipment is recovered, the hanging bracket moves to the upper part of the water surface, the traction mechanism lowers the hanging bracket into the water, the navigation equipment moves to the hanging bracket, the locking device on the navigation equipment is detachably connected with the hanging bracket, then the traction mechanism lifts the hanging bracket, and the hanging bracket recovers the hanging bracket to a mother ship. The method for distributing and recycling the navigation equipment is realized by adopting the system for distributing and recycling the navigation equipment, has lower implementation cost and can effectively avoid accidents.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic perspective view of a deployment and recovery system for a navigation device according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a recovery navigation device of a deployment recovery system for a navigation device according to an embodiment of the present invention;
FIG. 3 is a schematic side view of a deployment and recovery system for a piece of craft equipment according to an embodiment of the present invention;
fig. 4 is a schematic perspective view of a deployment and recovery system of a navigation device according to an embodiment of the present invention;
FIG. 5 is a schematic view of a combination structure of a hanger and a traction mechanism according to an embodiment of the present invention;
FIG. 6 is a schematic perspective view of a traction mechanism according to an embodiment of the present invention;
fig. 7 is a schematic perspective view of a limiting component according to an embodiment of the present invention;
FIG. 8 is a schematic view of a combined structure of a nacelle and navigation equipment according to an embodiment of the present invention;
FIG. 9 is an enlarged schematic view of area A of FIG. 7;
FIG. 10 is a schematic cross-sectional view of a floating body and a guardrail;
FIG. 11 is a schematic perspective view of a locking device according to an embodiment of the present invention;
fig. 12 is a schematic view of a structure of a locking device with a cover omitted according to an embodiment of the present invention.
Wherein, each reference sign in the figure:
1-a hanging bracket; 11-a base; 111-a first hinge seat; 12-swinging piece; 121-a second hinge seat; 122-through grooves; 123-guides; 13-a swing drive; 14-a support table; 14a, 14 b-two ends of the support table; 141-a carrier; 142-support pad; 15-a clamping assembly; 151-clamping the driving member; 152-clamping blocks; 2-traction mechanism; 21-fixing a bracket; 211-a first fixing flange; 212-a second fixed flange; 213-a third fixing flange; 214-spacers; 215-a spacer; 22-a cable winding rotating shaft; 23-a cable rolling piece; 24-a cable reel drive; 25-speed reducer; 26-coupling; 27-a limiting assembly; 271-limit brackets; 2711—a first connection terminal; 2712-second connection terminal; 272-fixing seat; 2721-a stem; 273-contact member; 274-sleeve; 275-nut; 276-elastic member; 28-a cable; 3-hanging basket; 31-a supporting frame; 311-accommodating grooves; 312-chassis; 313-guard rail; 3131-a connection; 3132—fixing holes; 3133-a protrusion; 3134—a first via; 314-vertical guide brackets; 3141—vertical axis of rotation; 3142-vertical guide wheels; 315-horizontal guide brackets; 3151-a second horizontal rotation axis; 3152-a second horizontal guide wheel; 32-a connector; 33-a fixed plate; 34-fixing frame; 341-a guide; 3411-a first horizontal axis of rotation; 3412—a first horizontal guide wheel; 35-floating body; 351-second through holes; 3511-defining an axis; 3512-fasteners; 36-limiting rods; 4-locking device; 41-cover plate; 42-a bottom plate; 421-first notch; 43-snap-in block; 431-second notch; 44-a shifting block; 45-a driving mechanism; 5-navigation equipment; a-an initial station.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The terms "upper," "lower," "left," "right," and the like are used for convenience of description based on the orientation or positional relationship shown in the drawings, and do not denote or imply that the devices or elements being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present patent. The terms "first," "second," and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. The meaning of "a plurality of" is two or more, unless specifically defined otherwise.
In order to explain the technical scheme of the invention, the following is a detailed description with reference to the specific drawings and embodiments.
Referring to fig. 1 to 3, an embodiment of the present invention provides a deployment and recovery system for a navigation device, which includes a hanger 1 disposed on a deployment and recovery platform (not shown), a traction mechanism 2 disposed on the hanger 1, a basket 3 connected with the traction mechanism 2 and used for carrying the navigation device 5, and a locking device 4 disposed on the navigation device 5, wherein the locking device 4 is detachably connected with the basket 3. In the embodiment of the present invention, the deployment and recovery platform may be at least one of a mother ship, a carrier, an offshore platform, and a shore retraction platform, and the navigation device may be at least one of an unmanned ship, an unmanned submersible vehicle, an unmanned vehicle, a common ship, and a water surface glider, and according to the actual selection, the deployment and recovery platform may also be other platforms, and the navigation device 5 may also be other objects.
When the navigation equipment 5 is recovered, the hanging frame 1 moves the hanging frame 3 above the water surface, the traction mechanism 2 lowers the hanging frame 3 into the water, the navigation equipment 5 moves into the hanging frame 3, the locking device 4 on the navigation equipment is detachably connected with the hanging frame 3, then the traction mechanism 2 lifts the hanging frame 3, the hanging frame 1 recovers the hanging frame 3 to the mother ship, and when the navigation equipment 5 is recovered, the specific steps of the navigation equipment recovery system in the embodiment of the invention are opposite to those when the navigation equipment 5 is recovered, and are not repeated here. Compared with the prior art, the layout recovery system of the navigation equipment provided by the embodiment of the invention only needs to install the hanging frame 1 on the layout recovery platform, and does not need to greatly modify the layout recovery platform, so that the installation difficulty and the installation cost are greatly reduced, the adoption of a guide rail type recovery structure is avoided, and accidents are effectively avoided.
Further, referring to fig. 4, and referring to fig. 1 to 3, as an embodiment of the present invention, the deployment and recovery platform may be, but not limited to, a deck of a mother ship, in which the cradle 1 includes a base 11 disposed on the deck of the mother ship, a swing member 12 having one end rotatably connected to one end of the base 11, and a swing driving member 13 for driving the swing member 12 to rotate relative to the base 11, the traction mechanism 2 is disposed on one end of the swing member 12 remote from the base 11, and the cradle 3 connected to the cable 28 of the traction mechanism 2 may be moved above the water surface or on the mother ship due to the fact that the swing member 12 can rotate relative to the base 11, compared to a rail type recovery structure, the overall structure is more compact, and the space requirement for implementation is smaller. It will be appreciated that the location of the pivotal connection of the oscillating member 12 to the base 11 and the location of the traction mechanism 2 on the oscillating member 12 may be suitably adjusted according to the choice of the actual situation, and the invention is not limited thereto.
Specifically, referring to fig. 4, the base 11 is provided with a first hinge seat 111 corresponding to the swing member 12, the swing member 12 is rotatably connected to the first hinge seat 111, the middle portion of the swing member 12 is provided with a second hinge seat 121 corresponding to the swing driving member 13, one end of the swing driving member 13 is rotatably connected to the second hinge seat 121, and one end of the swing driving member 13 away from the second hinge seat 121 is rotatably connected to the first hinge seat 111, wherein the swing connecting member 32 is disposed at an angle with the swing member 12.
Alternatively, the swing driving member 13 is a first hydraulic cylinder, a cylinder body of the first hydraulic cylinder is rotatably connected to the middle portion of the swing member 12, and an end of a piston rod of the first hydraulic cylinder, which is far away from the swing member 12, is rotatably connected to the first hinge base 111. In this embodiment, the cradle 1 further comprises a hydraulic source (not shown) provided on the base 11 for powering the first hydraulic cylinder. It is to be understood that the swing driving member 13 may be a driving member such as an air cylinder or an electric push rod, and the present invention is not limited thereto.
Specifically, the hanger 1 further includes a first sensor (not shown) disposed on the first hinge base 111 and configured to detect whether the swinging member 12 swings in place, where a station where the swinging member 12 places the navigation device 5 in water is defined as a first station, a station where the swinging member 12 places the navigation device 5 on the support stand 14 is defined as a second station, the navigation device placement and recovery system further includes an industrial control system, the first sensor is electrically connected with the industrial control system, and the swinging driving member 13 is electrically connected with the industrial control system, so that the starting or closing of the swinging driving member 13 can be controlled by a detection signal of the first sensor, so that the swinging member 12 accurately swings to the corresponding first station or second station. In this embodiment, the first sensor may be, but not limited to, an angle sensor, and it is confirmed whether the swing member 12 swings to the corresponding station by detecting the rotation angle of the swing member 12 using the angle sensor.
Specifically, referring to fig. 3, the minimum pitch angle of the swing member 12 with respect to the installation surface (deck of the mother ship) is defined as β, the maximum pitch angle of the swing member 12 with respect to the installation surface is defined as θ, and in the cradle 1 of the embodiment of the present invention, β is 30 ° or more and 60 ° or less, and θ is 120 ° or more and 160 ° or less. As a preferred embodiment of the present invention, β is 43 ° and θ is 147 °. Of course, the specific angle ranges of β and θ may be appropriately adjusted according to the actual situation, and the present invention is not limited herein.
Further, referring to fig. 4, as an embodiment of the present invention, the cradle 1 further includes a support stand 14 provided on the base 11, where the support stand 14 is used to support the cradle 3, so that the cradle 3 can be stably arranged on a mother ship, and collision between the cradle 3 and the mother ship when the wind wave on the water surface is large is avoided. In this embodiment, the supporting stand 14 includes a bearing frame 141 disposed on the base 11, and a supporting pad 142 disposed on the bearing frame 141 and used for supporting the hanging basket 3, where the supporting pad 142 is made of an elastic material, so as to prevent collision or friction between the hanging basket 3 and the bearing frame 141 from damaging the protective paint on the surface of the hanging basket 3 and/or the bearing frame 141, and prevent the hanging basket 3 and/or the bearing frame 141 from being corroded by seawater.
Preferably, referring to fig. 3, the supporting table 14 is obliquely disposed on the base 11, and defines an initial position of the navigation device 5 lifted by the traction mechanism 2 as an initial station a, and a height of an end 14a of the supporting table 14 away from the initial station a is greater than a height of an end 14b of the supporting table 14 close to the initial station a, so that the navigation device 5 can be quickly deployed. With reference to fig. 2 and 3, in the state that the navigation device 5 is recovered to the supporting table 14, only the connection between the locking device 4 and the hanging basket 3 is required to be released, so that the navigation device 5 can quickly slide down into water, and the navigation device 5 can be quickly deployed.
Specifically, the inclination angle of the support table 14 with respect to the base 11 is in relation to the deployment and retrieval of the navigation device 5, and when the inclination angle of the support table 14 with respect to the base 11 is small, it is difficult for the navigation device 5 to slide down into the water from the gondola 3; when the inclination angle of the support base 14 with respect to the base 11 is large, it is difficult to stably fix the navigation device 5 and the nacelle 3 to the support base 14 after the navigation device 5 is recovered to the support base 14. In order to solve the above problems, as shown in fig. 3, the inclination angle of the support base 14 with respect to the base 11 is defined to be α, and preferably 0 ° < α < 45 °, so that the navigation device 5 can be rapidly deployed while ensuring that the navigation device 5 and the gondola 3 can be stably fixed to the support base 14. In the present embodiment, the inclination angle of the support table 14 relative to the base 11 is the inclination angle of the support pad 142 relative to the base 11. As a preferred embodiment of the present invention, α is 6 °, and of course, the specific angle range of α may be appropriately adjusted according to the actual situation, and the present invention is not limited thereto.
Further, referring to fig. 1 to 4, as an embodiment of the present invention, the hanger 1 further includes clamping assemblies 15 provided at opposite sides of the support stand 14, respectively, and the clamping assemblies 15 are used for clamping the hanging basket 3. In this embodiment, one clamping assembly 15 is provided on each side of the support table 14. Of course, depending on the actual choice, each side of the support table 14 may be provided with a plurality of clamping assemblies 15, respectively, and the invention is not limited herein.
Specifically, each clamping assembly 15 includes a clamping driving member 151 disposed at one side of the supporting table 14, and a clamping block 152 connected to one side of the clamping driving member 151 adjacent to the supporting table 14, wherein the clamping driving member 151 is connected to one side of the carrier 141, and one side surface of the clamping block 152 adjacent to the supporting table 14 is provided with an elastic layer so as to clamp the basket 3.
Optionally, the clamping driving member 151 is a second hydraulic cylinder, a cylinder body of the second hydraulic cylinder is horizontally connected to one side of the bearing frame 141, and one end, away from the cylinder body, of a piston rod of the second hydraulic cylinder is connected to the clamping block 152. It is to be understood that the clamping driving member 151 may be a driving member such as an air cylinder or an electric push rod, and the present invention is not limited thereto.
Further, as an embodiment of the present invention, the hanger 1 further includes a second sensor (not shown) disposed on the support stand 14 and used for detecting whether the hanging basket 3 is supported on the support stand 14, the second sensor is electrically connected to the industrial control system, and the clamping driving member 151 is electrically connected to the industrial control system, so that whether the clamping assembly 15 is clamped or not can be controlled by a detection signal of the second sensor, and when the second sensor detects that the hanging basket 3 is supported on the support stand 14, the clamping driving member 151 drives the clamping block 152 to clamp the hanging basket 3. When the navigation equipment 5 needs to be laid, the clamping driving piece 151 drives the clamping block 152 to loosen the hanging basket 3, the hanging basket 1 moves the hanging basket 3 to the position above the water surface, then the traction mechanism 2 lowers the hanging basket 3 into the water, then the locking device 4 of the navigation equipment 5 is unlocked from the hanging basket 3, and finally the navigation equipment 5 drives out of the hanging basket 3; or when the navigation device 5 needs to be arranged, the locking device 4 of the navigation device 5 is unlocked from the hanging basket 3, and the navigation device 5 directly slides into water from the hanging basket 3. In this embodiment, the second sensor may be, but is not limited to, a pressure sensor, which detects the pressure applied by the support table 14 to confirm whether the basket 3 is supported on the support table 14.
Further, as an embodiment of the present invention, the cradle 1 further includes a third sensor (not shown) provided on the clamping assembly 15 for detecting whether the clamping assembly 15 clamps the cradle 3, the third sensor may be, but not limited to, a pressure sensor, the pressure sensor is connected to the clamping block 152, the pressure sensor is electrically connected to the industrial control system, and when the clamping driving member 151 drives the clamping block 152 to clamp the navigation device 5, the pressure sensor is pressed, so that the pressure applied to the clamping block 152 can be detected, and whether the clamping assembly 15 clamps the cradle 3 can be detected based on the pressure.
Further, referring to fig. 4 and 5, as an embodiment of the present invention, the traction mechanism 2 includes a fixed bracket 21 disposed on an end of the swinging member 12 away from the base 11, a cable rotating shaft 22 rotatably connected to the fixed bracket 21, a cable winding member 23 sleeved outside the cable winding rotating shaft 22, a cable 28 having one end connected to the cable winding member 23, and a cable driving member 24 for driving the cable winding rotating shaft 22 to rotate, wherein one end of the cable 28 away from the cable winding member 23 is connected to the basket 3. In the embodiment of the present invention, the cable rolling member 23 may be, but not limited to, a cable rolling roller, the cable rolling driving member 24 may be, but not limited to, a stepping motor, and the specific structures of the cable rolling member 23 and the cable rolling driving member 24 may be modified appropriately according to the actual situation, which is not limited herein.
Specifically, the traction mechanism 2 further comprises a limiting assembly 27 connected with the fixed support 21 and used for being in abutting limiting connection with the navigation device 5, and the limiting assembly 27 is arranged at intervals with the cable winding rotating shaft 22. The cable rolling driving piece 24 drives the cable rolling rotating shaft 22 to rotate together with the cable rolling piece 23, the hanging basket 3 is lifted to be abutted against the limiting assembly 27 and the navigation equipment 5, and the hanging basket 3 and the navigation equipment 5 on the hanging basket 3 cannot shake when the swinging piece 12 swings and is recovered due to the abutment between the navigation equipment 5 and the limiting assembly 27, so that potential safety hazards can be effectively avoided.
Preferably, the limiting assembly 27 is rotatably connected to the fixed bracket 21, and the rotation axis of the limiting assembly 27 is parallel to the rotation axis of the cable rotating shaft 22, where the rotation axis of the limiting assembly 27 refers to the axis about which the limiting assembly 27 rotates relative to the fixed bracket 21, and similarly, the rotation axis of the cable rotating shaft 22 refers to the axis about which the cable rotating shaft 22 rotates relative to the fixed bracket 21. In this embodiment, since the limiting component 27 is rotationally connected with the fixed support 21, when the swinging member 12 rotates relative to the base 11, the limiting component 27 and the fixed support 21 can rotate relatively, and meanwhile, the limiting component 27 and the hanging basket 3 and the navigation device 5 thereon cannot rotate relatively, so that the limiting component 27 and the navigation device 5 can be better abutted together, thereby improving the stability of connection between the traction mechanism 2 and the hanging basket 3 and effectively avoiding the occurrence of potential safety hazards.
Specifically, referring to fig. 6, the limiting assembly 27 includes a limiting bracket 271 rotatably connected with the fixing bracket 21, a fixing seat 272 in buffer connection with the limiting bracket 271, and a contact 273 disposed on the fixing seat 272. In this embodiment, the rotation axis of the limiting bracket 271 is parallel to the rotation axis of the cable winding rotation shaft 22, when the swinging member 12 rotates, the limiting bracket 271 and the fixed bracket 21 can rotate relatively, and meanwhile, the contact member 273 arranged on the limiting bracket 271 and the navigation device 5 cannot rotate relatively, so that the contact member 273 and the navigation device 5 can be better abutted together, the stability of connection between the traction mechanism 2 and the hanging basket 3 is improved, and potential safety hazards are effectively avoided.
Optionally, the limiting bracket 271 is substantially triangular, and the limiting bracket 271 specifically includes a first connecting end 2711 and two second connecting ends 2712 that are disposed at intervals, where the first connecting end 2711 may be rotationally connected with the fixed bracket 21 by, but not limited to, a pin, and the second connecting ends 2712 are in buffer connection with the corresponding fixing bases 272, that is, in this embodiment, each limiting assembly 27 includes two fixing bases 272, and each fixing base 272 is in buffer connection with the second connecting end 2712 of the corresponding limiting bracket 271, so that the limiting assembly 27 and the navigation device 5 can better abut together. It will be appreciated that, according to the actual choice, the limiting bracket 271 may further comprise more second connecting ends 2712 and correspondingly more contacts 273 are provided, and the shape of the limiting bracket 271 may be adapted to enable the limiting assembly 27 to better abut the navigation device 5, which is not limited herein.
Specifically, the fixing base 272 is provided with a rod 2721 connected with the limiting support 271, a hole (not shown) is formed in the second connecting end 2712 of the limiting support 271 corresponding to the rod 2721, and a shaft sleeve 274 corresponding to the hole is defined, one end of the rod 2721 connected with the limiting support 271 is a free end, the free end of the rod 2721 passes through the shaft sleeve 274 and is connected with a nut 275, an elastic piece 276 is sleeved on the periphery of the rod 2721, the elastic piece 276 can be a spring, one end of the elastic piece 276 is abutted with the second connecting end 2712 of the limiting support 271, and one end of the elastic piece 276 far away from the limiting support 271 is abutted with the fixing base 272, so that buffer connection between the second connecting end 2712 and the corresponding fixing base 272 is achieved. It will be appreciated that, depending on the actual selection, other manners of achieving the buffer connection between the second connection terminal 2712 and the fixing base 272 may be adopted.
Alternatively, the contact 273 may be a contact roller, which may be, but not limited to, rotatably connected to the fixing base 272 via a pin, and the contact roller has elasticity to avoid rigid connection between the contact roller and the lifted object, so that the buffering effect between the limiting assembly 27 and the lifted object may be further increased.
Further, as an embodiment of the present invention, the traction mechanism 2 further includes a fourth sensor (not shown) for detecting whether the limiting assembly 27 abuts against the navigation device 5, and when the fourth sensor detects that the navigation device 5 abuts against the limiting assembly 27, the cable driving member 24 stops driving the cable rotating shaft 22 and the cable winding member 23 to rotate, so as to avoid the cable 28 from being broken or the traction mechanism 2 from being damaged. In this embodiment, the fourth sensor is electrically connected to the industrial control system, and the fourth sensor may be, but is not limited to, a pressure sensor, where the pressure sensor is disposed on the second connection end 2712 and is connected to the elastic member 276, and when the limiting component 27 abuts against the navigation device 5, the elastic member 276 is compressed and then presses the pressure sensor, and the pressure sensor detects the pressure to determine whether the limiting component 27 abuts against the lifted object to limit.
Further, as an embodiment of the present invention, the traction mechanism 2 further includes a speed reducer 25 connected to the output shaft of the cable driving member 24, and the output shaft of the speed reducer 25 is connected to the cable rotating shaft 22. In this embodiment, the speed reducer 25 is preferably a T-type speed reducer 25, that is, the output shaft of the cable winding driving member 24 is connected with the input end of the T-type speed reducer 25, and two output shafts of the T-type speed reducer 25 are respectively connected with one cable winding rotating shaft 22, so that one cable winding driving member 24 drives two cable winding rotating shafts 22 to rotate, the structure composition is effectively simplified, and the cost is saved.
Further, as an embodiment of the present invention, the fixing bracket 21 includes first fixing flanges 211 connected to both sides of the speed reducer 25, respectively, and the output shaft of the speed reducer 25 may be rotatably connected to the first fixing flanges 211 by, but not limited to, bearing connection. In this embodiment, the speed reducer 25 is sandwiched between the two first fixing flanges 211, and specifically, bolts may be used to pass through the first fixing flanges 211 and then be screwed to the speed reducer 25, so that the speed reducer 25 is disposed between the two first fixing flanges 211.
Further, as a specific embodiment of the present invention, the traction mechanism 2 further includes a coupling 26 having one end connected to the output shaft of the speed reducer 25, and one end of the coupling 26 away from the speed reducer 25 is connected to the cable winding rotation shaft 22, in this embodiment, the traction mechanism 2 includes two couplings 26, one end of each coupling 26 is connected to the output shaft of the corresponding speed reducer 25, and one end of the coupling 26 away from the speed reducer 25 is connected to the corresponding cable winding rotation shaft 22, so that the coaxial connection between the output shaft of the speed reducer 25 and the corresponding cable winding rotation shaft 22 can be achieved, so that the cable winding driving member 24 can drive the cable winding rotation shaft 22 to rotate by means of the T-type speed reducer 25 and the coupling 26.
Specifically, the output shaft of the speed reducer 25 is keyed to the corresponding coupling 26, and the cable drum rotation shaft 22 is keyed to the corresponding coupling 26, so that the output shaft of the speed reducer 25, the coupling 26, and the cable drum rotation shaft 22 can be rotated synchronously. In this embodiment, the above-mentioned manner of key connection may be, but not limited to, a flat key connection, and the present invention is not limited thereto.
Specifically, the traction mechanism 2 of the embodiment of the invention includes two limiting assemblies 27 and two cable winding members 23, the two limiting assemblies 27 are respectively located at two sides of the T-shaped speed reducer 25, the two cable winding members 23 are respectively located at two sides of the T-shaped speed reducer 25, the limiting assemblies 27 are arranged at one side of the coupling 26 far away from the speed reducer 25, and the cable winding members 23 are arranged at one side of the limiting assemblies 27 far away from the coupling 26.
Further, as a specific embodiment of the present invention, the fixing bracket 21 further includes second fixing flanges 212 disposed at two sides of the cable winding member 23, and the second fixing flanges 212 are disposed at one side of the coupling 26 away from the T-type speed reducer 25, and the cable winding rotating shaft 22 may be rotatably connected with the second fixing flanges 212 by, but not limited to, bearing connection, in this embodiment, two sides of each cable winding member 23 are respectively provided with one second fixing flange 212, and two second fixing flanges 212 corresponding to the same cable winding member 23 are connected by at least two spacers 214, so that a space between two second fixing flanges 212 corresponding to the same cable winding member 23 is fixed, and two ends of each spacer 214 are respectively connected with two second fixing flanges 212 corresponding to the same cable winding member 23.
Further, as an embodiment of the present invention, the fixing bracket 21 further includes a third fixing flange 213 rotatably connected to the limiting assembly 27, and the cable rotation shaft 22 may be rotatably connected to the third fixing flange 213 by, but not limited to, bearing connection. In this embodiment, the third fixing flange 213 is disposed between the coupling 26 and the second fixing flange 212, and the first fixing flange 211 and the third fixing flange 213 are connected by the partition plate 215, and the third fixing flange 213 and the second fixing flange 212 are connected by the partition plate 215, so that the intervals between the first fixing flange 211, the third fixing flange 213, and the second fixing flange 212 are fixed, and the first connection end 2711 of the limiting bracket 271 may be rotatably connected with the third fixing flange 213 by, but not limited to, a pin shaft.
Further, referring to fig. 7 and 8, as an embodiment of the present invention, the basket 3 includes a supporting frame 31 connected to the traction mechanism 2, a connecting piece 32 provided at one end of the supporting frame 31 and detachably connected to the locking device 4, and a float 35 provided on the supporting frame 31, wherein the supporting frame 31 has a receiving groove 311 for receiving the navigation device 5, and when the wave on the water surface is large, the navigation device 5 is not severely swayed left and right because the navigation device 5 is received in the receiving groove 311, and conversely, the navigation device 5 is swayed only up and down, and because the connecting piece 32 is perpendicular to the bottom surface of the receiving groove 311, i.e. the connecting piece 32 is also perpendicular to the horizontal plane, the locking device 4 of the navigation device 5 can be rapidly aligned with the connecting piece 32 even if the navigation device 5 is swayed up and down.
It should be noted that, referring to fig. 11 and 12, and referring to fig. 7 to 8, the connecting member 32 is connected to the locking device 4 of the navigation device 5, and specifically, the locking device 4 includes a cover 41, a bottom plate 42, a snap-in block 43, a dial 44, and a driving mechanism 45. Wherein, one side of the bottom plate 42 is fixedly connected with the navigation device 5, the other side of the bottom plate 42 is provided with a first notch 421, and the connecting piece 32 extends into the first notch 421. The gripping block 43 and the shifting block 44 are both rotationally connected with the bottom plate 42, a second notch 431 corresponding to the first notch 421 is formed in the gripping block 43, and the connecting piece 32 sequentially stretches into the first notch 421 and the second notch 431; the dial 44 can snap with the snap-in block 43 to lock the connector 32 into the second notch 431. A drive mechanism 45 is provided on the base plate 42 for contacting the shift block 44 and for driving the shift block 44 to rotate, thereby disengaging the shift block 44 from the snap block 43. That is, the gripping block 43 may be snapped with the dial 44 under the influence of the connector 32 such that the gripping block 43 grips the connector 32; the dial 44 is disengaged from the gripping block 43 by the driving mechanism 45, so that the gripping block 43 releases the connection 32. It will be appreciated that the locking device 4 may be of other prior art construction, depending on the choice of circumstances, and the invention is not limited thereto.
Specifically, the locking device 4 operates as follows:
when the snap-in block 43 is in an initial state, the opening direction of the second notch 431 on the snap-in block 43 is consistent with the opening direction of the first notch 421 on the bottom plate 42, so that the connecting piece 32 can conveniently extend into the first notch 421 and the second notch 431 in sequence, and as the navigation device 5 is connected with one side of the locking device 4, when the navigation device 5 moves towards the direction of the connecting piece 32, the snap-in block 43 is driven to move, so that the snap-in block 43 rotates under the reaction force of the connecting piece 32 until the snap-in block 44 is buckled, the connecting piece 32 is locked into the second notch 431, and the navigation device 5 and the connecting piece 32 are locked through the locking device 4;
when it is desired to release the locked state between the navigation device 5 and the connection member 32, the driving mechanism 45 contacts the dial 44, thereby pushing the dial 44 to rotate in a direction away from the snap-in block 43 until the dial 44 is disengaged from the snap-in block 43, and the connection member 32 can be released due to the rotational connection of the snap-in block 43 with the base plate 42.
Alternatively, the connecting piece 32 of the embodiment of the present invention may be a connecting rod, and according to practical situations, the connecting piece 32 may also be other structures, for example, the connecting piece 32 may be a connecting plate, and slots penetrating through two sides and used for the locking device 4 to engage are provided on the connecting plate, which is not limited herein.
In an embodiment of the present invention, referring to fig. 7 and 8, the basket 3 further includes a fixing plate 33 disposed at one end of the supporting frame 31, and a fixing frame 34 having one end connected to a side of the fixing plate 33 away from the supporting frame 31, the connecting member 32 is disposed at a side of the fixing plate 33 near the accommodating groove 311, and two ends of the connecting member 32 are respectively bent toward a direction near the fixing plate 33 and connected to the fixing plate 33. In this embodiment, the projection of the connecting piece 32 in a direction perpendicular to the bottom surface of the receiving groove 311 is located at the bottom surface in the receiving groove 311, so that the locking device 4 of the navigation device 5 can be connected with the connecting piece 32 when the navigation device 5 is driven into the receiving groove 311.
Further, as a preferred embodiment of the present invention, the end of the fixing frame 34 away from the fixing plate 33 is bent towards the direction approaching the accommodating groove 311 and extends to form a guiding portion 341 located above the accommodating groove 311, and the basket 3 further includes a first horizontal rotating shaft 3411 rotatably disposed on the guiding portion 341, and a first horizontal guiding wheel 3412 sleeved outside the first horizontal rotating shaft 3411. In this embodiment, the first horizontal rotation shaft 3411 and the first horizontal guide wheel 3412 are provided at the end of the guide portion 341, and can guide the movement of the navigation device 5 so that the locking device 4 of the navigation device 5 can be quickly connected to the connection member 32.
Alternatively, the two ends of the first horizontal rotation shaft 3411 are rotatably connected to the guide portion 341 through bearings, respectively, and the rotational connection between the first horizontal rotation shaft 3411 and the guide portion 341 may be implemented in other manners according to the actual situation, which is not limited herein.
Specifically, the support frame 31 includes a chassis 312 and guardrails 313 respectively connected to two opposite sides of the chassis 312, the chassis 312 and the guardrails 313 enclose to form a containing groove 311, one end of the connecting piece 32 is disposed on one end of the chassis 312, and the floating body 35 is disposed outside the guardrails 313. In this embodiment, bolts are sequentially used to pass through the bottom frame 312 and the fixing plate 33 and then are connected with the nuts 275, so that the fixing plate 33 is disposed at one end of the bottom frame 312, one end of the fixing frame 34 may be disposed on the fixing plate 33, but not limited to, by welding, and an opening of the accommodating groove 311 away from the connecting piece 32 is an entrance into which the navigation device 5 is driven. The outer side refers to a side away from the accommodating groove 311, and the inner side refers to a side closer to the accommodating groove 311.
Further, as an embodiment of the present invention, the basket 3 further includes a vertical guide bracket 314 provided at an inner side of the guard rail 313, one end of the vertical guide bracket 314 remote from the connection member 32 is bent and extended toward an outer side, and the basket 3 further includes a vertical rotation shaft 3141 rotatably provided at the vertical guide bracket 314, and a vertical guide wheel 3142 sleeved outside the vertical rotation shaft 3141, thereby enabling to guide the navigation device 5 into the receiving groove 311. In this embodiment, six vertical rotation shafts 3141 are spaced apart from each vertical guide support 314, and each vertical rotation shaft 3141 is provided with one vertical guide wheel 3142, and the number of vertical rotation shafts 3141 and corresponding vertical guide wheels 3142 on each vertical guide support 314 may be appropriately adjusted according to the actual situation, which is not limited in this invention.
Alternatively, the two ends of the vertical rotation shaft 3141 are rotatably connected to the vertical guide support 314 through bearings, respectively, and the rotation connection between the vertical rotation shaft 3141 and the vertical guide support 314 may be implemented in other manners according to the actual situation, which is not limited herein.
Further, as a specific embodiment of the present invention, the basket 3 further includes a horizontal guide bracket 315 provided on the chassis 312, an end of the horizontal guide bracket 315 remote from the connector 32 is bent and extended in a direction remote from the receiving groove 311, and the basket 3 further includes a second horizontal rotation shaft 3151 rotatably provided on the horizontal guide bracket 315, and a second horizontal guide wheel 3152 sleeved outside the second horizontal rotation shaft 3151, so that the navigation device 5 can be guided into the receiving groove 311. In this embodiment, six second horizontal rotating shafts 3151 are spaced apart on each horizontal guiding support 315, and each second horizontal rotating shaft 3151 is provided with one second horizontal guiding wheel 3152, and the number of the second horizontal rotating shafts 3151 and the corresponding second horizontal guiding wheels 3152 on each horizontal guiding support 315 can be appropriately adjusted according to the actual situation, which is not limited in this invention.
Alternatively, two ends of the second horizontal rotation shaft 3151 are rotatably connected to the horizontal guide bracket 315 through bearings, respectively, and the rotational connection between the second horizontal rotation shaft 3151 and the horizontal guide bracket 315 may be implemented in other manners according to the actual situation, which is not limited herein.
Specifically, at least two connection portions 3131 for connecting the cables 28 are provided on each of the guardrails 313 at intervals, and fixing holes 3132 corresponding to the cables 28 are provided on the connection portions 3131, so that the traction mechanism 2 can hoist and transfer the basket 3 to the mother ship.
Further, referring to fig. 7, 9 and 10, as an embodiment of the present invention, the floating body 35 is detachably connected to the guard rail 313, and when the floating body 35 is disposed on the guard rail 313, the basket 3 can float in water by the buoyancy of the floating body 35; when the floating body 35 is detached from the guard rail 313, the traction mechanism 2 lifts the basket 3 through the cable 28 so that the basket 3 floats in the water.
Specifically, the guard rail 313 is provided with a protruding portion 3133 extending in a direction away from the bottom surface of the accommodating groove 311, the protruding portion 3133 is in a column shape, a first through hole 3134 is formed in the guard rail 313 and the protruding portion 3133 thereof in a penetrating manner along a length direction parallel to the protruding portion 3133, the floating body 35 is embedded in the outer side of the guard rail 313, a second through hole 351 is formed in the floating body 35 corresponding to the first through hole 3134, the basket 3 further comprises a limiting shaft 3511 arranged in the first through hole 3134 and the second through hole 351, and a fastening member 3512 penetrating the protruding portion 3133 along a length direction perpendicular to the protruding portion 3133, so that the floating body 35 is detachably embedded in the outer side of the guard rail 313. In this embodiment, the fastener 3512 can be, but is not limited to being, a combination of a bolt and a nut 275.
In one embodiment of the present invention, referring to fig. 1, 2, 4 and 7, a through groove 122 for the navigation device 5 to pass through is formed in the swinging member 12, guide members 123 are respectively disposed on opposite sides of the swinging member 12 corresponding to the through groove 122, the guide members 123 may be, but not limited to, guide rods, the guide members 123 are used for guiding the navigation device 5 to pass through the through groove 122, the basket 3 further includes a U-shaped limit rod 36 corresponding to the guide members 123, the middle portion of the limit rod 36 protrudes in a direction away from the accommodating groove 311, two ends of the limit rod 36 are respectively connected to guardrails 313 on two sides of the chassis 312, the traction mechanism 2 lifts the basket 3 to a certain height, then the swinging member 12 rotates in a direction approaching the base 11, the basket 3 passes through the through groove 122 and is recovered to the supporting table 14, thereby completing recovery of the navigation device 5, and in the above process, the guide members 123 and the limit rod 36 cooperate to guide the basket 3 to pass through the through groove 122, thereby preventing the basket 3 from shaking.
With reference to fig. 1 to 12, an embodiment of the present invention further provides a deployment and recovery method for a navigation device using a deployment and recovery system for a navigation device as described above, where the deployment and recovery method for a navigation device includes a deployment method for a navigation device and a recovery method for a navigation device, and the recovery method for a navigation device includes the following steps:
S1, a hanging bracket 1 moves a hanging basket 3 to the position above the water surface;
s2, the traction mechanism 2 lowers the hanging basket 3 into water;
s3, moving the navigation equipment 5 into the hanging basket 3, and detachably connecting the locking device 4 with the hanging basket 3;
s4, lifting the hanging basket 3 by the traction mechanism 2;
s5, the hanging bracket 1 recovers the hanging bracket 3 to the mother ship;
the deployment method of the navigation equipment comprises the following steps:
step S1', in a state that navigation equipment 5 is recovered to a mother ship, a hanging bracket 1 moves a hanging basket 3 to the position above the water surface;
s2', the traction mechanism 2 lowers the hanging basket 3 into water;
step S3', locking means 4 are unlocked from basket 3 and navigation device 5 is moved into the water. The recovery method of the embodiment of the invention comprises the navigation equipment deployment recovery system, so that the recovery method has all the beneficial effects brought by the technical scheme of the embodiment and is not repeated herein.
Specifically, the specific steps of step S1 to step S5 are: the swinging driving piece 13 drives the swinging piece 12 to rotate relative to the base 11, so that the hanging basket 3 arranged at one end of the swinging piece 12 far away from the base 11 moves above the water surface; then the cable winding driving piece 24 drives the cable winding rotating shaft 22 to rotate synchronously with the cable winding piece 23, and the hanging basket 3 of the cable 28 connected to the cable winding piece 23 is lowered into water; then the navigation device 5 runs into the accommodating groove 311 of the hanging basket 3, and the locking device 4 of the navigation device 5 is locked with the connecting piece 32; then the cable rolling driving piece 24 drives the cable rolling rotating shaft 22 and the cable rolling piece 23 to synchronously rotate, and the hanging basket 3 of the cable 28 connected to the cable rolling piece 23 is lifted to a state that the navigation equipment 5 is in abutting limit with the limiting component 27; finally, the swinging driving piece 13 drives the swinging piece 12 to rotate relative to the base 11, and the hanging basket 3 is recovered to the mother ship. In the process of recovering the hanging basket 3 by rotating the swinging piece 12, as the limiting component 27 is rotationally connected with the fixed support 21, the limiting component 27 is always in butt joint with the navigation equipment 5 to limit, so that the hanging basket 3 and the navigation equipment 5 can be prevented from shaking in the process of recovering the hanging basket 3 and the navigation equipment 5 to a mother ship, and the occurrence of potential safety hazards is effectively avoided.
Specifically, the specific steps of steps S1 'to S3' are: before the laying operation, firstly setting the navigation equipment 5 in the accommodating groove 311 of the hanging basket 3, starting the swinging driving piece 13 to drive the swinging piece 12 to rotate relative to the base 11, so that the hanging basket 3 arranged at one end of the swinging piece 12 far away from the base 11 moves to the position above the water surface, and in the process, as the limiting component 27 is rotationally connected with the fixed bracket 21, the limiting component 27 is always in abutting connection with the navigation equipment 5 to limit, so that the hanging basket 3 and the navigation equipment 5 are prevented from shaking in the process; then the cable winding driving piece 24 drives the cable winding rotating shaft 22 to rotate synchronously with the cable winding piece 23, and the hanging basket 3 of the cable 28 connected to the cable winding piece 23 is lowered into water; the locking means 4 of the navigation device 5 are then unlocked from the connection 32 and the navigation device is driven out of the gondola 3.
Further, as an alternative embodiment of the deployment and recovery method of the navigation device of the present invention, when the cradle 1 in the deployment and recovery system of the navigation device of the present invention is provided with the support stand 14 for supporting the cradle 3 in a tilted manner, the deployment method of the navigation device may further include the steps of:
in step S1″ in the state that the navigation device 5 is recovered to the mother ship, the locking device 4 and the basket 3 are unlocked, and the navigation device 5 directly slides down into the water, thereby realizing rapid deployment of the navigation device 5. According to the actual situation, the user may select the method corresponding to step S1″ to deploy the navigation device 5, or may select the method corresponding to steps S1 'to S3' to deploy the navigation device 5, which is not limited herein.
The above description is illustrative of the various embodiments of the invention and is not intended to be limiting, but is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (6)
1. The lifting frame comprises a base arranged on the deployment and recovery platform, a supporting table arranged on the base, a swinging piece rotationally connected with the base, and a traction mechanism arranged on the swinging piece, wherein the supporting table is obliquely arranged on the base, an initial position of the navigation equipment lifted by the traction mechanism is defined as an initial station, the height of one end of the supporting table away from the initial station is larger than that of one end of the supporting table close to the initial station, the inclination angle of the supporting table relative to the base is defined as alpha, 0 degrees < alpha < 45 degrees, and the supporting table is used for supporting the lifting basket;
The traction mechanism comprises a fixed bracket arranged on the hanging bracket, a cable rolling rotating shaft rotationally connected with the fixed bracket, a cable rolling piece sleeved outside the cable rolling rotating shaft, a cable connected with the cable rolling piece, and a cable rolling driving piece used for driving the cable rolling rotating shaft to rotate, wherein the cable is connected with the hanging bracket;
the traction mechanism further comprises a limiting component which is connected with the fixed support and used for being in abutting connection with the navigation equipment to limit, and the limiting component is arranged at intervals with the cable winding rotating shaft;
the limiting component is rotationally connected with the fixed bracket, when the swinging piece rotates relative to the base, the limiting component and the fixed bracket rotate relatively, meanwhile, the limiting component and the hanging basket and the navigation equipment thereon cannot rotate relatively, the rotating shaft of the limiting component is parallel to the rotating shaft of the cable winding rotating shaft, the limiting assembly comprises a limiting support, a fixing seat and a contact piece, wherein the limiting support is rotationally connected with the fixing support, the fixing seat is in buffer connection with the limiting support, the contact piece is arranged on the fixing seat, the limiting support is triangular, the limiting support comprises a first connecting end and two second connecting ends, the first connecting ends are arranged at intervals, the first connecting ends are rotationally connected with the fixing support through rotating structures, and the second connecting ends are in buffer connection with the corresponding fixing seat.
2. The navigation device deployment and retraction system according to claim 1 wherein the cradle further comprises a swing drive for driving rotation of the swing relative to the base.
3. The equipment deployment and retrieval system of claim 1, wherein the basket includes a support frame coupled to the traction mechanism, a connector at one end of the support frame for detachable connection to the locking device, and a float on the support frame, the support frame having a receiving slot for receiving the equipment.
4. A navigation device deployment and recovery method, characterized in that the navigation device deployment and recovery method applies the navigation device deployment and recovery system according to any one of claims 1-3, the navigation device deployment and recovery method comprises a deployment method of navigation devices and a recovery method of navigation devices, and the recovery method of navigation devices comprises the following steps:
the hanging bracket moves the hanging basket above the water surface;
the traction mechanism lowers the hanging basket into water;
the navigation equipment moves into the hanging basket, and the locking device is detachably connected with the hanging basket;
The traction mechanism lifts the hanging basket;
the hanging bracket recovers the hanging basket to the cloth and storage recovery platform.
5. The deployment and retrieval method of a piece of equipment for voyage of claim 4, wherein said deployment method of said piece of equipment for voyage comprises the steps of:
in the state that the navigation equipment is recovered to the deployment recovery platform, the hanging bracket moves the hanging basket to the position above the water surface;
the traction mechanism lowers the hanging basket into water;
the locking device is unlocked with the hanging basket, and the navigation equipment moves into water.
6. The deployment and recovery method of navigation equipment according to claim 4, wherein in the deployment and recovery system of navigation equipment, a support table is obliquely arranged on the cradle, the support table is used for bearing the cradle, and the deployment method of navigation equipment comprises the following steps:
and under the state that the navigation equipment is recovered to the deployment recovery platform, the locking device is unlocked with the hanging basket, and the navigation equipment directly slides into water.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910796860.3A CN110466688B (en) | 2019-08-27 | 2019-08-27 | Navigation equipment cloth recycling system and navigation equipment cloth recycling method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910796860.3A CN110466688B (en) | 2019-08-27 | 2019-08-27 | Navigation equipment cloth recycling system and navigation equipment cloth recycling method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110466688A CN110466688A (en) | 2019-11-19 |
| CN110466688B true CN110466688B (en) | 2023-11-03 |
Family
ID=68512281
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910796860.3A Active CN110466688B (en) | 2019-08-27 | 2019-08-27 | Navigation equipment cloth recycling system and navigation equipment cloth recycling method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110466688B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110844004B (en) * | 2019-11-14 | 2024-12-03 | 珠海云洲智能科技股份有限公司 | A navigation equipment deployment and recovery device and a navigation equipment deployment and recovery system |
| CN111661253B (en) * | 2020-06-30 | 2024-12-03 | 珠海云洲智能科技股份有限公司 | Underwater equipment retracting and launching device and navigation equipment |
| CN112109846B (en) * | 2020-09-15 | 2024-12-27 | 珠海云洲智能科技股份有限公司 | A mast lodging device and navigation equipment |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB0217148D0 (en) * | 2001-07-24 | 2002-09-04 | Engineering Business Ltd | Load handling device |
| US6779475B1 (en) * | 2003-09-15 | 2004-08-24 | The United States Of America As Represented By The Secretary Of The Navy | Launch and recovery system for unmanned underwater vehicles |
| JP2009208511A (en) * | 2008-02-29 | 2009-09-17 | Mitsubishi Heavy Ind Ltd | Emission recovery system for underwarter traveling body, and marine vessel provided with emission recovery system |
| CN103183113A (en) * | 2011-12-28 | 2013-07-03 | 中国科学院沈阳自动化研究所 | Underwater robot recovery system and recovery method thereof |
| CN203544353U (en) * | 2013-09-26 | 2014-04-16 | 青岛海山海洋装备有限公司 | Cage-type withdrawing device |
| CN204916127U (en) * | 2015-07-30 | 2015-12-30 | 国家电网公司 | A frame of underwater robot receive and releases system |
| CN105644744A (en) * | 2016-03-17 | 2016-06-08 | 天津海之星海洋科技发展有限公司 | Throwing and recovering machine for ship-based underwater robot |
| CN106314691A (en) * | 2016-09-28 | 2017-01-11 | 青岛远创机器人自动化有限公司 | Unmanned-water-surface-aircraft deploying and recovering method |
| CN106744258A (en) * | 2016-12-12 | 2017-05-31 | 中国船舶重工集团公司第七0研究所 | A kind of adjustable latent device suspension centre external hanging type of structure lays retracting device and method |
| CN107499460A (en) * | 2017-09-22 | 2017-12-22 | 江苏科技大学 | A kind of unmanned surface vehicle automatic distributing and discharging recovery system |
| CN107521639A (en) * | 2017-08-16 | 2017-12-29 | 中船华南船舶机械有限公司 | A kind of bathyscaph lays recovery butt-joint locking device and butt-joint locking method |
| CN109383712A (en) * | 2018-09-30 | 2019-02-26 | 珠海云洲智能科技有限公司 | A kind of ships and light boats lay recyclable device |
| CN109422194A (en) * | 2017-08-30 | 2019-03-05 | 中广核研究院有限公司 | Underwater equipment is launched and recycling hanging basket |
| CN109606560A (en) * | 2019-01-29 | 2019-04-12 | 中海辉固地学服务（深圳）有限公司 | ROV Friendly Release Recovery Hoist |
| CN109625183A (en) * | 2018-12-12 | 2019-04-16 | 上海大学 | A kind of unmanned water surface ship folding and unfolding autonomous underwater vehicle device |
| CN210793534U (en) * | 2019-08-27 | 2020-06-19 | 珠海云洲智能科技有限公司 | Navigation equipment laying and recycling system |
-
2019
- 2019-08-27 CN CN201910796860.3A patent/CN110466688B/en active Active
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB0217148D0 (en) * | 2001-07-24 | 2002-09-04 | Engineering Business Ltd | Load handling device |
| US6779475B1 (en) * | 2003-09-15 | 2004-08-24 | The United States Of America As Represented By The Secretary Of The Navy | Launch and recovery system for unmanned underwater vehicles |
| JP2009208511A (en) * | 2008-02-29 | 2009-09-17 | Mitsubishi Heavy Ind Ltd | Emission recovery system for underwarter traveling body, and marine vessel provided with emission recovery system |
| CN103183113A (en) * | 2011-12-28 | 2013-07-03 | 中国科学院沈阳自动化研究所 | Underwater robot recovery system and recovery method thereof |
| CN203544353U (en) * | 2013-09-26 | 2014-04-16 | 青岛海山海洋装备有限公司 | Cage-type withdrawing device |
| CN204916127U (en) * | 2015-07-30 | 2015-12-30 | 国家电网公司 | A frame of underwater robot receive and releases system |
| CN105644744A (en) * | 2016-03-17 | 2016-06-08 | 天津海之星海洋科技发展有限公司 | Throwing and recovering machine for ship-based underwater robot |
| CN106314691A (en) * | 2016-09-28 | 2017-01-11 | 青岛远创机器人自动化有限公司 | Unmanned-water-surface-aircraft deploying and recovering method |
| CN106744258A (en) * | 2016-12-12 | 2017-05-31 | 中国船舶重工集团公司第七0研究所 | A kind of adjustable latent device suspension centre external hanging type of structure lays retracting device and method |
| CN107521639A (en) * | 2017-08-16 | 2017-12-29 | 中船华南船舶机械有限公司 | A kind of bathyscaph lays recovery butt-joint locking device and butt-joint locking method |
| CN109422194A (en) * | 2017-08-30 | 2019-03-05 | 中广核研究院有限公司 | Underwater equipment is launched and recycling hanging basket |
| CN107499460A (en) * | 2017-09-22 | 2017-12-22 | 江苏科技大学 | A kind of unmanned surface vehicle automatic distributing and discharging recovery system |
| CN109383712A (en) * | 2018-09-30 | 2019-02-26 | 珠海云洲智能科技有限公司 | A kind of ships and light boats lay recyclable device |
| CN109625183A (en) * | 2018-12-12 | 2019-04-16 | 上海大学 | A kind of unmanned water surface ship folding and unfolding autonomous underwater vehicle device |
| CN109606560A (en) * | 2019-01-29 | 2019-04-12 | 中海辉固地学服务（深圳）有限公司 | ROV Friendly Release Recovery Hoist |
| CN210793534U (en) * | 2019-08-27 | 2020-06-19 | 珠海云洲智能科技有限公司 | Navigation equipment laying and recycling system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110466688A (en) | 2019-11-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110466688B (en) | Navigation equipment cloth recycling system and navigation equipment cloth recycling method | |
| CN110562397B (en) | Hanger and cloth recycling system | |
| US8915205B2 (en) | Fairlead latch device | |
| US4114556A (en) | Rigid mooring arm hook-up system | |
| CN110360882B (en) | Rocket marine launching rack and rocket erecting method | |
| US8006337B2 (en) | Crew transfer system | |
| EP2480810B1 (en) | Vertical offshore flexible pipeline assembly | |
| KR20160118224A (en) | Device for launching a subsurface mining vehicle into a water mass and recovering the same from the water mass | |
| CN113895595B (en) | A hybrid-driven anchor chain cleaning and detection robot and its operating method | |
| EP2665958B1 (en) | Subsea pipeline connecting apparatus and method | |
| CN111619771A (en) | Automatic releasing device of seabed monitoring platform pouring weight | |
| CN210793534U (en) | Navigation equipment laying and recycling system | |
| KR20150122657A (en) | A system for coupling two floating structures | |
| CN214190047U (en) | Fastening device for locking combined umbilical cord of submersible | |
| EP3976920B1 (en) | Systems for handling one or more elongated members and methods for using same | |
| CN113027360A (en) | Turnover centering mechanism of horizontal connector | |
| CN220948407U (en) | Righting structure of mooring steel wire rope | |
| CN108884650B (en) | Positioning device and arrangement for installing a single column platform in the sea bed of an ocean, and method for installing and removing a single column platform | |
| CN209441563U (en) | Underwater hiding-machine lays recyclable device | |
| US4690181A (en) | Apparatus to transfer fluid between a fixed structure and a rotatable structure by using at least one flexible conduit | |
| CN210793546U (en) | Hanging bracket and distribution and recovery system | |
| CN109436214B (en) | Elastic roll-on/roll-off ship bank connection springboard | |
| EP1575824B1 (en) | Actuator for a towing device on a tugboat | |
| CN113734111A (en) | Clamping assembly type new energy automobile fixing device | |
| CN222224114U (en) | Line inclined cable pulley device for passenger ground cable car |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Yue Jianfeng Inventor after: Wu Guosong Inventor after: Xu Shirong Inventor after: Wang Wei Inventor after: Wang Chang Inventor before: Yue Jianfeng Inventor before: Wu Guosong Inventor before: Xu Shirong Inventor before: Wang Wei Inventor before: Wang Chang |
|
| CB03 | Change of inventor or designer information | ||
| CB02 | Change of applicant information |
Address after: 519080 rooms 311 and 312A, 3 / F, Xiangshan ocean science and technology port, 3888 North Lovers Road, Tangjiawan Town, high tech Zone, Zhuhai City, Guangdong Province Applicant after: Zhuhai Yunzhou Intelligent Technology Co.,Ltd. Address before: Room 2 214, teaching area, No.1, software garden road, Tangjiawan Town, Zhuhai City, Guangdong Province Applicant before: ZHUHAI YUNZHOU INTELLIGENCE TECHNOLOGY Ltd. |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |