CN116215744B - Unmanned ship multi-beam equipment lifting device - Google Patents

Abstract

The invention relates to the technical field of auxiliary equipment, in particular to an unmanned ship multi-beam equipment lifting device, which is used for multi-beam equipment to avoid frequent disassembly of multi-beam equipment and collision damage during transportation, including multi-beam installation pipes and fixing frames, multiple One end of the beam installation tube is provided with a mounting flange, the other end is provided with a multi-beam equipment fixing flange chassis, the bottom of the multi-beam installation tube is provided with a limit piece, the top of the fixing frame is fixed on the multi-beam installation tube through a fitting, and the bottom It is connected to the multi-beam installation tube through a sleeve; the bottom of the fixed frame is connected to a beam, and the limit piece is fixed to the beam through a fixed plate; both sides of the fixed frame are connected with a lifting structure, and the two lifting structures are connected through a reinforcing rod. The invention has a simple structure principle and low cost. The multi-beam equipment can be raised and lowered and the lifting distance can be obtained through the expansion and contraction of the push rod, which avoids frequent disassembly of the multi-beam equipment, bumps during testing and transportation.

Description

An unmanned ship multi-beam equipment lifting device

technical field

The invention relates to the technical field of auxiliary equipment, in particular to an unmanned ship multi-beam equipment lifting device.

Background technique

Multi-beam is a marine instrument used in the fields of surveying and mapping science and technology, water conservancy engineering, and transportation engineering. It is mainly used in underwater topography and landform surveying, underwater target salvage, underwater pipeline laying, etc. on the side of the ship.

Since the multi-beam needs to avoid the influence of air bubbles and turbulence generated when the unmanned ship is in use, it needs to be installed at a distance of tens of centimeters below the bottom of the ship, and it must be firmly fixed without shaking, otherwise it will It caused a large error in data collection, so if the multi-beam equipment is installed in advance and then tested, bumps are prone to occur during transportation, so multi-beam must be installed on-site for seabed measurement, and it needs to be dismantled after the measurement is completed. Transportation, which has resulted in increased workload.

Contents of the invention

The invention proposes an unmanned ship multi-beam equipment lifting device, which solves the problems in the prior art that the multi-beam equipment needs to be frequently disassembled and is easily bumped during transportation.

In order to achieve the above object, the present invention adopts the technical solution as follows:

An unmanned ship multi-beam equipment lifting device, including a multi-beam installation tube and a fixing frame, one end of the multi-beam installation tube is provided with a mounting flange, and the other end is provided with a multi-beam equipment fixing flange chassis, the multi-beam installation There is a threading hole on the tube, and the threading hole is close to the installation flange; the bottom of the multi-beam installation tube is provided with a limit piece, the top of the fixing frame is fixed on the multi-beam installation tube through a fitting, and the bottom is connected to the multi-beam installation tube through a sleeve. The beam installation tube is connected; the bottom of the fixed frame is connected with a beam, and the limiter is fixed with the beam through a fixed plate; the two sides of the fixed frame are connected with a lifting structure, and the two lifting structures are connected by a reinforcing rod.

Further, the fixed frame includes a fixed rod, a telescopic rod and a moving rod, the moving rod is connected to the top of the multi-beam installation pipe, the fixed rod is fixed at the bottom of the multi-beam installation pipe and connected to the beam, the moving rod and the fixed rod They are connected by telescopic rods, and the telescopic ends of the telescopic rods are connected with the moving rods.

Further, the lifting structure includes a hinged frame, a hinged piece and a bracket. Each lifting structure has four brackets in total. The hinges are hinged; the lifting structure is rhombus-shaped, wherein the hinged frame positioned at both ends of a diagonal line is fixed on the fixed frame through a fixing seat; the hinged frame positioned at the two ends of the other diagonal line is fixed with a push rod, and the push rod can Make the lifting structure stretch or shrink.

Further, a displacement sensor is fixed on the push rod, and the displacement sensor is connected to the control system through a data line; both ends of the push rod are connected to the hinged frame through connectors, and the push rod is divided into a fixed part and a telescopic part, The fixing part is connected with the reinforcing rod.

Further, the limiting member includes a three-jaw chuck and a connecting plate, the three-jaw chuck is fixed on the beam through the connecting plate, the three-jaw chuck is compatible with the multi-beam installation tube; the connecting plate is provided with a reinforced one end of the reinforcing plate is connected to the beam, and the other end is fixed on the connecting plate.

Further, the fitting part includes a first fitting part and a second fitting part; the first fitting part is fixed on the multi-beam installation tube, and the second fitting part is fixed on the fixing frame by bolts.

Further, the hinge includes a hinge part and a connection part, the hinge part is hinged to the hinge part, and the connection part is fixedly connected to the bracket.

The beneficial technical effect of the present invention is:

(1) The present invention drives the elevating structure to elongate or shrink through the expansion and contraction of the push rod, so that the fixed frame fixed on the elevating structure can perform elevating movement, so as to realize the elevating and descending of the multi-beam equipment installed on the mounting flange, and can The lifting displacement of the multi-beam equipment can be known by the telescopic amount of the push rod. The overall structure of the device is simple and low in cost. Only by stretching the push rod can the multi-beam equipment be lifted and the lifting distance can be obtained. The present invention is fixed on the ship through the beam, and when the device needs to be transported, the multi-beam equipment fixed on the multi-beam installation tube is raised to the bottom surface of the ship through the lifting mechanism, so as to avoid collision during transportation during transportation. When needed, the multi-beam device is lowered into the water for data measurement. In this way, frequent disassembly is no longer required when the multi-beam equipment is transported, and bumps during transportation will not occur, which reduces the work intensity of on-site staff.

(2) Through the reinforcement of the lifting structure, the three-jaw chuck and the sleeve, the present invention realizes the tight fixation of the multi-beam equipment and the IMU installed on the multi-beam installation tube on the unmanned ship, and maintains the multi-beam equipment and IMU, etc. Quantitative positional relationship between other sensors is conducive to maintaining rigid geometric relationship.

(3) After the multi-beam device is lifted to the designated position, the controller drives the three-jaw chuck to lock the multi-beam installation tube, so that the working position of the multi-beam device is fixed and the multi-beam device works stably.

Description of drawings

Fig. 1 is a schematic diagram of an unmanned ship multi-beam equipment lifting device.

Figure 2 is a schematic diagram of the fixing frame.

Figure 3 is a schematic diagram of the lifting structure.

Figure 4 is a schematic diagram of the push rod.

Figure 5 is a schematic diagram of the connection between the lifting structure and the control system.

Figure 6 is a schematic diagram of the fitting.

Figure 7 is a schematic diagram of the hinge.

In the figure: 1. Multi-beam installation tube; 2. Fixing frame; 3. Mounting flange; 4. Multi-beam equipment fixing flange chassis; 5. Threading holes; 6. Limiting parts; 7. Embedded parts; , sleeve; 9, beam; 10, lifting structure; 11, reinforcing rod; 12, hinged frame; 13, hinge; 14, bracket; 15, fixed seat; 16, push rod; 17, displacement sensor; 18, data Line; 19, control system; 21, fixed rod; 23, telescopic rod; 22, moving rod; 31, three-jaw chuck; 32, connecting plate; 33, reinforcing plate; 34, fixed part; 35, telescopic part; 36 . Connecting piece; 72. The first fitting part; 71. The second fitting part; 43. The hinge part; 44. The connecting part.

Detailed ways

As shown in Figure 1, a multi-beam equipment lifting device for unmanned ships includes a multi-beam installation tube 1 and a fixing frame 2, one end of the multi-beam installation tube 1 is provided with a mounting flange 3, and the other end is provided with a multi-beam installation tube 1. The beam equipment fixes the flange chassis 4, and the multi-beam installation tube 1 is provided with a threading hole 5, and the threading hole 5 is close to the installation flange 3; the bottom of the multi-beam installation tube 1 is provided with a limiter 6, and the top of the fixing frame 2 It is fixed on the multi-beam installation pipe 1 through the fitting 7, and the bottom is connected with the multi-beam installation pipe 1 through the sleeve 8; the bottom of the fixing frame 2 is connected with a beam 9, and the limiter 6 is fixed with the beam 9 through the fixing plate; Lifting structures 10 are connected to both sides of the fixing frame 2 , and the two lifting structures 10 are connected by reinforcing rods 11 . The multi-beam device is installed on the multi-beam installation pipe 1, and the lifting structure 10 drives the fixed frame 2 to move, and the fixed frame 2 drives the multi-beam installation pipe 1 to lift up and down, so that the multi-beam device can be lifted and lowered, thereby avoiding frequent disassembly of the multi-beam device , The bumping problem occurs during the test and during transportation, and at the same time reduces the work intensity of the on-site staff.

As shown in Figure 2, the fixed frame 2 includes a fixed rod 21, a telescopic rod 23 and a moving rod 22, the moving rod 22 is connected to the top of the multi-beam installation tube 1, and the fixed rod 21 is fixed on the top of the multi-beam installation tube 1 The bottom is also connected with the beam 9, and the moving rod 22 is connected with the fixed rod 21 through a telescopic rod 23, and the telescopic end of the telescopic rod 23 is connected with the moving rod 22. The fixed frame 2 is fixed on the unmanned ship through the crossbeam 9. When the lifting structure 10 is raised and lowered, the moving rod 22 is lifted and lowered synchronously through the telescopic rod 23, so that the multi-beam installation tube 1 can be lifted and lowered.

As shown in Figure 3, described lifting structure 10 comprises articulated frame 12, hinge 13 and support 14, and described each lifting structure 10 has four supports 14 altogether, and the two ends of support 14 are connected with hinge 13, and hinge 13 Hinged with the articulated frame 12, each articulated frame 12 is hinged with two hinged parts 13; the lifting structure 10 is rhombus-shaped, wherein the articulated frame 12 positioned at both ends of a diagonal line is fixed on the fixed frame 2 through the fixed seat 15; The articulated frame 12 at the two ends of the other diagonal line is fixed with a push rod 16, and the push rod 16 can make the elevating structure 10 stretch or shrink. When the push rod 16 shrinks, the angle of the support 14 near the fixed seat 15 decreases, and the angle formed by the support 14 near the push rod 16 becomes larger, so that the lifting structure 10 is raised and the fixed frame 2 is raised. When the push rod 16 was stretched out, the angle of the support 14 near the fixed seat 15 became larger, and the angle formed by the support 14 near the push rod 16 decreased, so that the lifting structure 10 was lowered, and the fixed frame 2 was lowered.

As shown in Figures 4 and 5, a displacement sensor 17 is fixed on the push rod 16, and the displacement sensor 17 is connected with the control system 19 through a data line 18; connected, the push rod 16 is divided into a fixed part 34 and a telescopic part 35, and the fixed part 34 is connected with the reinforcing rod 11. The displacement sensor 17 can measure the displacement distance of the push rod 16, and transmit the parameters to the control system 19, and calculate the lifting distance of the lifting structure 10 through the Pythagorean theorem.

The limiter 6 includes a three-jaw chuck 31 and a connecting plate 32, the three-jaw chuck 31 is fixed on the beam 9 through the connecting plate 32, and the three-jaw chuck 31 is adapted to the multi-beam installation tube 1; A reinforcing plate 33 is provided on the plate 32 , one end of the reinforcing plate 33 is connected to the beam 9 , and the other end is fixed on the connecting plate 32 . The multi-beam installation tube 1 is fixed in the three-jaw chuck 31, when the multi-beam installation tube 1 needs to be moved, the three-jaw chuck 31 is opened, and after the multi-beam installation tube 1 moves, the three-jaw chuck 31 is fixed The multi-beam installation tube 1 improves the stability of the equipment.

As shown in FIG. 6, the fitting part 7 includes a first fitting part 72 and a second fitting part 71; the first fitting part 72 is fixed on the multi-beam installation tube 1, and the second fitting part 71 It is fixed on the fixed frame 2 by bolts.

As shown in FIG. 7 , the hinged part 13 includes a hinged part 43 and a connecting part 44 , the hinged part 43 is hinged to the hinged part 13 , and the connecting part 44 is fixedly connected to the bracket 14 .

Of course, the above descriptions are not intended to limit the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or replacements made by those skilled in the art within the scope of the present invention shall also belong to the present invention. protection scope of the invention.

Claims (4)

1. An unmanned ship multi-beam equipment lifting device, characterized in that it includes a multi-beam installation tube (1) and a fixing frame (2), and one end of the multi-beam installation tube (1) is provided with a mounting flange ( 3), the other end is provided with a multi-beam equipment fixing flange chassis (4), and the multi-beam installation pipe (1) is provided with a threading hole (5), and the threading hole (5) is close to the multi-beam equipment fixing flange chassis ( 4); the bottom of the multi-beam installation tube (1) is provided with a limit piece (6), the top of the fixing frame (2) is fixed on the multi-beam installation tube (1) through the fitting (7), and the bottom is through the sleeve ( 8) Connected with the multi-beam installation tube (1); the fixing frame (2) is fixed on the unmanned ship through the beam (9), and the limiter (6) is fixed with the beam (9) through the fixing plate; the fixing frame Both sides of (2) are connected with a lifting structure (10), and the two lifting structures (10) are connected by a reinforcing rod (11); the lifting structure (10) includes a hinged frame (12), a hinge (13) and the brackets (14), each lifting structure (10) has four brackets (14), the two ends of the brackets (14) are connected with the hinges (13), and the hinges (13) are hinged with the hinged frame (12) , each articulated frame (12) is hinged with two hinged parts (13); the lifting structure (10) is rhombus-shaped, wherein the articulated frames (12) located at both ends of a diagonal line are fixed on a fixed base (15) on the frame (2); the articulated frame (12) located at the two ends of the other diagonal line is fixed with a push rod (16), and the push rod (16) makes the elevating structure (10) elongate or contract; the fixed frame ( 2) It includes a fixed rod (21), a telescopic rod (23) and a moving rod (22). The moving rod (22) is connected to the top of the multi-beam installation tube (1), and the fixed rod (21) is fixed on the The bottom of the tube (1) is connected with the beam (9), the moving rod (22) and the fixed rod (21) are connected by a telescopic rod (23), and the telescopic end of the telescopic rod (23) is connected with the moving rod (22) connection; the push rod (16) is fixed with a displacement sensor (17), and the displacement sensor (17) is connected to the control system (19) through a data line (18); the two ends of the push rod (16) are connected through a connecting piece (36) is connected with the articulated frame (12), the push rod (16) is divided into a fixed part (34) and a telescopic part (35), and the fixed part (34) is connected with the reinforcing rod (11). 2. An unmanned ship multi-beam equipment lifting device according to claim 1, characterized in that, the limiting member (6) includes a three-jaw chuck (31) and a connecting plate (32), and the three-jaw chuck The disc (31) is fixed on the beam (9) through the connecting plate (32), and the three-jaw chuck (31) is compatible with the multi-beam installation tube (1); the connecting plate (32) is provided with a reinforcing plate ( 33), one end of the reinforcing plate (33) is connected to the beam (9), and the other end is fixed on the connecting plate (32). 3. The unmanned ship multi-beam equipment lifting device according to claim 1, characterized in that, the fitting (7) includes a first fitting part (72) and a second fitting part (71) ; The first fitting part (72) is fixed on the multi-beam installation tube (1), and the second fitting part (71) is fixed on the fixing frame (2) by bolts. 4. The unmanned ship multi-beam equipment lifting device according to claim 1, characterized in that, the hinge (13) includes a hinge (43) and a connecting portion (44), and the hinge (43) ) is hinged with the hinged frame (12), and the connecting part (44) is fixedly connected with the bracket (14).