Buoy stowage and deployment apparatus

Abstract

The application discloses a buoy storage and release device. The buoy storage and release frame and the underwater hydraulic winch are horizontally and oppositely arranged, the buoy body is placed on the buoy storage and release frame, one end of the composite cable is connected to the underwater hydraulic winch, the other end of the composite cable is sequentially wound around the underwater hydraulic winch and the buoy storage and release frame, then penetrates into the buoy body from the bottom of the buoy body and is connected to the inside, the buoy body and the underwater hydraulic winch are electrically connected through the composite cable; the buoy storage and release frame is connected with the underwater hydraulic winch. The underwater hydraulic winch adopts double hydraulic motors to provide power, realizes a backup working mode of one hydraulic motor driving, ensures that the buoy can be retracted, detects the in-place state of the mechanism and the winch release state through the in-place detection device, makes the device work more automatically and reliably, has the cable array emergency cutting function, guarantees the safety of the platform in an emergency, and can be used for the automatic storage and release of the deep-sea manned platform and the streamlined buoy body with better floating stability.

Description

Technical Field

[0001] The invention relates to a retractable storage device, in particular to a buoy retractable storage device. Background Art

[0002] Currently, most deep-sea manned platforms rely on surface support vessels for high-precision positioning in the deep sea and long-distance communication with shore-based platforms. However, with the increasing endurance of deep-sea manned platforms, higher requirements are being placed on their autonomous operational capabilities, eliminating the need for support from surface vessels. Therefore, obtaining high-precision position information and enabling long-distance communication with the outside world during extended deep-sea operations have become urgent requirements for these platforms. To this end, various multifunctional buoy technologies and equipment have been developed both domestically and internationally. Among them, cabled relay buoys offer reliable and real-time data transmission. The basic approach involves releasing a floating body equipped with various sensors, including navigation, positioning, communication, and photoelectric detection, underwater, surfacing quickly to complete its mission, and then recovering it. To facilitate retrieval and capture, currently available communication buoys are mostly regular, spherical shapes. These buoys suffer from poor stability once at the surface, and signal acquisition is susceptible to wave interference. Summary of the Invention

[0003] In order to solve the problems existing in the background technology, the present invention provides a buoy storage device, which can be used to store and retract a streamlined buoy body with better floating stability.

[0004] The technical solution adopted in the present invention is:

[0005] The buoy storage device of the present invention includes a buoy storage rack, an underwater hydraulic winch and a composite cable. The buoy storage rack and the underwater hydraulic winch are arranged horizontally opposite to each other and do not touch each other. A buoy body is placed on the buoy storage rack. One end of the composite cable is connected to the underwater hydraulic winch. The other end of the composite cable passes through the underwater hydraulic winch and the buoy storage rack in sequence, penetrates from the bottom of the buoy body and is connected to the inside of the buoy body. The buoy body and the underwater hydraulic winch are electrically connected through the composite cable; the buoy storage rack is connected to the underwater hydraulic winch, and the underwater hydraulic winch is electrically connected to an external PLC controller.

[0006] The buoy retracting and releasing frame includes a cylinder towing structure, a bracket, a driven arm component, a cylinder active arm structure and a base. The cylinder towing structure, the cylinder active arm structure and the driven arm component are installed in sequence on the top surface of the base along the length direction of the base; the bracket is installed on the top of the driven arm component and the cylinder active arm structure, and the buoy body is placed on the top surface of the bracket; the bracket, the cylinder towing structure and the cylinder active arm structure are connected to the underwater hydraulic winch; the other end of the composite cable is sequentially wrapped around the underwater hydraulic winch and the cylinder towing structure, and then passed from the bottom of the cylinder active arm structure and the bracket to the bottom of the buoy body and penetrated into the interior of the buoy body.

[0007] The two hydraulic cylinders are connected along the longitudinal direction of the hydraulic cylinder to form a vertical cam, and the hydraulic cylinder is connected along the longitudinal direction of the hydraulic cylinder to form a base, and a base is connected along the longitudinal direction of the hydraulic cylinder to form a base. The wide guide wheel component is specifically a roller structure, and the center of the wide guide wheel component is horizontally movably connected between the lower parts of the two wheel frame side plates; one end of the dragging arm component is horizontally hinged between the two wheel frame side plates and located between the supporting ribs and the supporting rod, and the other end of the dragging arm component is located on one side of the wide guide wheel component and close to the cylinder active arm structure; the piston rods at one end of the two dragging arm cylinders are respectively hinged to the symmetrical two sides of the middle part of the dragging arm component, and each wheel frame side plate and a dragging arm cylinder ear plate close to it are hinged to the cylinder body of the other end of each dragging arm cylinder, and the axis of the hinge at both ends of each dragging arm cylinder is perpendicular to the wheel frame side plate; the two dragging arm cylinders are connected to the underwater hydraulic winch; the other end of the composite cable is successively wrapped around the bottom surface of the wide guide wheel component of the underwater hydraulic winch and the cylinder towing structure and the bottom surface of the dragging arm component, and then passes through the bottom of the cylinder active arm structure and the bracket to the bottom of the buoy body and penetrates into the inside of the buoy body. The supporting ribs and supporting rods are welded between the two wheel frame side plates to stabilize the overall structure of the towing wheel frame.

[0008] The two wheels are connected to each other, and the two sides of the two wheels are connected to each other, and the two wheels are connected to each other, and the two wheels are connected to each other. The two guide plates are respectively installed vertically at the other ends of the two towing arm side plates and arranged opposite to each other. The guide wheel is located between the two guide plates. The distance from the edge of the guide plate to the center of the guide wheel is greater than the radius of the guide wheel. The two guide plates are bent outwards on the upper side to facilitate the composite cable to enter the guide wheel. The towing arm component is used to tow the composite cable and correct the towing angle of the composite cable. The other end of the composite cable is sequentially wound around the bottom surface of the underwater hydraulic winch and the wide guide wheel component of the cylinder towing structure and the bottom surface of the guide wheel of the towing arm component.

[0009] Two signal triggers are also installed on one of the wheel frame side plates and a trailing arm side plate adjacent to it. The signal trigger includes a magnet assembly and a magnetic switch. The two magnet assemblies are installed at intervals on the trailing arm side plate, and the two magnetic switches are arranged at intervals on the wheel frame side plate. When the trailing arm component rotates around the trailing arm shaft and the two magnet assemblies pass through the two magnetic switches, they respectively face one of their own magnetic switches; both magnetic switches are electrically connected to an external PLC controller.

[0010] The bracket includes a bracket base, a clamping cylinder, an in-position switch, a guide wheel assembly, four clamping arms, four saddles, two clamping arm shafts and four rollers. The bracket base and the two clamping arm shafts are horizontally arranged along the length direction of the base. The bottom surfaces of the four saddles are symmetrically installed on the top surfaces of the four top corners of the bracket base. The side surface of each saddle close to the center of the bracket base is bent toward the center of the bracket base; each saddle is hinged to the root end of a respective clamping arm near the bottom side of the active arm structure of the oil cylinder. The four clamping arms are vertically arranged and bent toward the center of the bracket base. The end of each clamping arm is hinged to the center of a respective roller. The central axis of the hinge at both ends of each clamping arm is perpendicular to the vertical plane where the length direction of the base is located. Every two facing The hinged points of the root ends of the clamping arms are synchronously connected through a clamping arm shaft parallel to the length direction of the base. The bottom ends of the two opposing clamping arms on both sides of the length direction of the base are respectively hinged to the cylinder body at one end and the piston rod at the other end of the clamping cylinder; the buoy body is placed on the top surface of the bracket bottom plate and is located between the four clamping arms and the four saddles. The four rollers are close to the top surface of the buoy body, and the four saddles are close to the bottom surface of the buoy body. The buoy body has a streamlined shape, and an antenna for communication and positioning is carried on the top; the clamping arm shaft ensures the synchronous movement of the front and rear clamping arms on the same side, and the rollers prevent the body from being scratched when the clamping arms are clamped. The clamping cylinder controls the clamping and retraction of the root end of the clamping arm, and the saddle is used to prevent the body from colliding with the bracket bottom plate when it is recovered, and to position it. The buoy body is fixed in position; the in-position switch and guide wheel assembly are installed at the bottom of the bracket base plate, the guide wheel assembly includes two guide wheels arranged at intervals, the central axis of the guide wheel is hinged at the bottom of the bracket base plate and parallel to the bracket base plate, and a through groove penetrating the bracket base plate is provided on the bracket base plate between the in-position switch and the two guide wheels, and the top of the in-position switch is pressed against the bottom surface of the buoy body; a towline rocker arm is installed at the bottom of the buoy body, and the towline rocker arm is downwardly passed through the bracket base plate and arranged between the two guide wheels and close to the two guide wheels, and the guide wheel assembly is used to introduce the towline rocker arm; the clamping cylinder is connected to the underwater hydraulic winch; the other end of the composite cable is connected to the towline rocker arm after passing through the cylinder towing structure, and then passed through the bottom of the buoy body and connected to the buoy Inside the buoy body, the composite cable can be used to power the buoy body, control the movement of the buoy body, and transmit and collect signals. The internal signal acquisition system can be replaced according to actual needs; the in-position switch is electrically connected to the external PLC controller. The in-position switch is composed of a magnetic switch and a magnet assembly. A spring is installed between the magnetic switch and the magnet assembly. When the buoy body is in place, the buoy body will press the magnet assembly down. At this time, the spring is compressed, and the magnetic switch detects the magnetic field and sends an electrical signal to detect the in-position status of the buoy body; the symmetrical sides of the middle part of the bottom surface of the bracket base are hinged to the active arm structure of the cylinder, and the symmetrical sides of the bottom surface of the bracket base away from the active arm structure of the cylinder are hinged to the side of the driven arm component away from the active arm structure of the cylinder.

[0011] The described oil cylinder active arm structure includes two retractable oil cylinders and an active arm component. The active arm component includes two main ribs, six panels, four axle seats, a strut and a main shaft cylinder. The two main ribs are obtuse-angled triangular plate structures. The two main ribs are vertically opposite and spaced apart and parallel to the clamp arm rotating shaft. The six panels are respectively installed on the three plate edges of the two main ribs and perpendicular to the main ribs to form an I-shaped cross-section. The four axle seats are respectively installed at the two angles of the two main ribs away from the oil cylinder dragging structure, and the axes of the four axle seats are perpendicular to the main ribs; the strut is connected between the two main ribs away from the side of the oil cylinder dragging structure, and the main shaft cylinder is horizontally connected between the other angle of the two main ribs, that is, located at the angle between the shortest side and the longest side of the main ribs; the main The ends of the shaft barrel are hinged to the top surface of the base, close to the cylinder towing structure. Two of the axle seats, away from the cylinder towing structure, are hinged to symmetrical sides of the center of the bottom of the bracket base plate. The piston rods at one end of the two retractable cylinders are hinged to the other two axle seats. The cylinder bodies at the other ends of the two retractable cylinders are hinged to symmetrical sides of the top surface of the base and located between the main shaft barrel and the side of the base away from the cylinder towing structure. The two retractable cylinders are located on symmetrical sides of the two main ribs, and the bracket base plate is located between the two main ribs. The center axes of the hinges at both ends of the two retractable cylinders are perpendicular to the main ribs. The active arm component is also equipped with an upper axle seat rib plate, welded between the axle seat with the longest side opposite to the main rib, to strengthen the structural strength of the axle seat. The two retractable cylinders are connected to the underwater hydraulic winch.

[0012] The driven arm component is a rectangular frame structure and is processed by welding steel plates and steel pipes. The steel pipes are welded between two steel plates for connection and support. The two adjacent top corners on one side of the driven arm component are hinged on the symmetrical sides of the bottom of the bracket base plate of the bracket and are located on the side of the bracket base plate away from the cylinder drag structure. The two adjacent top corners on the other side of the driven arm component are hinged on the symmetrical sides of the bottom of the base through the two ends of the circular tube connected between the two and are located in the middle of the bracket base plate; the length of the driven arm component is equal to the length of the longest side of the main rib plate.

[0013] Two signal triggers are also installed on one of the main ribs and the side top surface of the base close to it. The signal trigger includes a magnet assembly and a magnetic switch. One of the magnet assemblies is installed on the shortest side of the main rib through a mounting plate, and the other magnet assembly is installed on the longest side of the main rib. The two magnetic switches are installed on the side top surface of the base and are located on both sides of one end of the spindle cylinder. When the active arm component rotates around the spindle cylinder, when the shortest side of the main rib is close to the side top surface of the base, the magnet assembly installed on the shortest side of the main rib is opposite to a magnetic switch when passing by it, and when the longest side of the main rib is close to the side top surface of the base, a magnet assembly installed on the longest side of the main rib is opposite to another magnetic switch when passing by it; both magnetic switches are electrically connected to an external PLC controller.

[0014] The base includes a base frame, four retractable cylinder ear plates, two base reinforcements and two active arm bearing seats. The base frame is a rectangular connecting frame composed of two long channel steels and four short channel steels. The base reinforcement is vertically welded near the third short channel steel crossbeam on the outside of the long channel steel, and has threaded holes on it for installing the active arm bearing seats; the two ends of the main shaft barrel are hinged to the base frame through two base reinforcements and two active arm bearing seats installed on the base frame; the cylinder bodies at the other ends of the two retractable cylinders are hinged to the base frame through four retractable cylinder ear plates; the base also includes a number of lifting plates, with lifting plates welded at both ends of the long channel steel, and each lifting plate is welded to the periphery of the base frame for moving and transporting the base frame.

[0015] The underwater hydraulic winch includes a winch frame, a large gear, two small gears, a drum, a bidirectional screw, a cable head frame, a hydraulic cutter, a pressure compensator, two hydraulic motors, a photoelectric slip ring and a sprocket mechanism. The drum is installed in the winch frame, and the central axis of the drum is horizontal and perpendicular to the length direction of the base. One end of the central axis of the drum is movably connected to the winch frame, and the other end of the central axis of the drum is synchronously connected to the center of the vertically arranged large gear and then movably connected to the winch frame. The two hydraulic motors and the photoelectric slip ring are installed on the side of the winch frame close to the large gear. The other end of the central axis of the cylinder is synchronously connected to the moving end of the photoelectric slip ring. The two hydraulic motors are installed below the photoelectric slip ring. The output shafts of the two hydraulic motors are synchronously connected to the centers of the two vertically arranged small gears. The two small gears are located directly below the large gear and mesh with the large gear. The fixed end of the photoelectric slip ring is connected to the ends of the two hydraulic motors away from the two small gears through two connecting plates and remains stationary; the sprocket mechanism is installed on the side of the winch frame away from the large gear. The bidirectional screw is hinged in the winch frame. The bidirectional screw is horizontal and perpendicular to the length direction of the base. One end of the bidirectional screw One end is hinged on the winch frame, and the other end of the two-way screw is synchronously connected to one side of the sprocket mechanism, and the other side of the sprocket mechanism is synchronously connected to one end of the central axis of the drum. The two-way screw is connected to the drum through a chain drive, driving the cable head frame to move laterally following the position of the cable; the cable head frame is installed on the winch frame through two connecting rods and is away from the oil cylinder towing structure. It adopts a lower cable type, and the side of the cable head frame away from the oil cylinder towing structure is bent toward the drum to form a lead-out channel. The hydraulic cutter is installed on the cable head frame; the pressure compensator is installed on the winch frame to compensate for the underwater pressure of the hydraulic system The hydraulic cutter, pressure compensator, bracket, cylinder drag structure and cylinder active arm structure are connected to two hydraulic motors; the two hydraulic motors and the photoelectric slip ring are electrically connected to the external PLC controller; a number of annular grooves are provided on the drum along the circumference of the drum, one end of the composite cable is electrically connected to the moving end of the photoelectric slip ring and fixed to the drum side plate through the rope pressure plate, and after being led out, it passes through the annular groove of the drum and the bottom surface of the lead-out channel of the cable head frame in turn, and then is led out from the bottom surface of the drum to the cylinder drag structure. The hydraulic cutter is close to the composite cable on the cable head frame and is used to cut the composite cable urgently.

[0016] The sprocket mechanism includes a large sprocket, a medium sprocket, a small sprocket and a chain. The large sprocket and the two small sprockets are vertically spaced and installed on the same vertical side of the winch frame. The central axes of the large sprocket and the two small sprockets are parallel to the central axis of the drum. The center of one of the small sprockets is synchronously connected to one end of the central axis of the drum, and the center of the large sprocket is synchronously connected to the other end of the bidirectional screw. The other small sprocket is located between one of the small sprockets and the large sprocket. The chain is closed and wrapped around the large sprocket and one of the small sprockets. The upper side of the chain wraps around the bottom surface of the other small sprocket to tighten the chain.

[0017] Several magnet assemblies are also installed on the drum, and two magnetic switches are also installed on the winch frame. Each magnet assembly is installed on a side of the drum close to the sprocket mechanism and is evenly spaced along the circumference of the drum side. The two magnetic switches are installed on the winch frame close to one end of each magnet assembly. The distance from the two magnetic switches to the center axis of the drum is the same as the distance from each magnet assembly to the center axis of the drum; the two magnetic switches are electrically connected to an external PLC controller.

[0018] The control method of the buoy storage device of the present invention is as follows:

[0019] When the buoy storage and retraction device is in a non-working state, it can be stored in the deep-sea carrier cabin for storing the buoy body, and the buoy body is placed on the bracket bottom plate of the bracket; when the buoy storage and retraction device needs to release the buoy body, the underwater hydraulic winch is first switched to tension mode, and the two hydraulic motors of the underwater hydraulic winch are controlled by an external PLC controller to control the piston rods of the two retraction and retraction cylinders and the two towing arm cylinders to extend, so that the towing arm component rotates around the towing arm shaft tube, and the active arm component rotates around the main shaft tube, and at the same time controls the photoelectric slip ring to drive the central axis of the drum to rotate and thus loosen the composite cable. When the drum rotates, the rotation angle of the drum is obtained through the various magnet assemblies and magnetic switches on the drum, thereby controlling the loosening length of the composite cable. At this time, the longest sides of the two main ribs of the active arm component and the driven arm component rotate to a vertical state and lift the bracket. The bracket always remains horizontal, and the towing When the magnet assembly and magnetic switch of the signal trigger on the arm component and the active arm component are facing each other, the in-position signal of the dragging arm component and the active arm component is output to the external PLC controller. At this time, the buoy retraction and release storage device releases the buoy body, switches the underwater hydraulic winch to the retraction and release mode, and drives the root ends of two of the clamping arms to rotate by contracting the piston rod of the clamping cylinder so that the two clamping arms move away from each other, and drives the root ends of the other two clamping arms to rotate by the two clamping arm rotating shafts so that the other two clamping arms move away from each other. At this time, the central axis of the drum is driven to rotate by controlling the photoelectric slip ring to continue to loosen the composite cable, release the buoy body from the bracket bottom plate, and the buoy body moves away from the in-position switch. The in-position switch sends a release signal to the external PLC controller to release the buoy body, and then controls the bracket to fall. After reaching the preset cable release length of the composite cable, the underwater hydraulic winch brakes to complete the release of the buoy body.

[0020] When it is necessary to recover the buoy body, first control the bracket to rise, and use the underwater hydraulic winch in the retraction mode to first pull the buoy body close to the bracket by tightening the composite cable, and at the same time control the clamping arm component to open by the clamping cylinder. Then the underwater hydraulic winch continues to tighten the composite cable until the buoy body falls into the bracket, and the buoy body is crimped on the in-position switch. The in-position switch sends an in-position signal to the external PLC controller, and the underwater hydraulic winch brakes. At the same time, the clamping cylinder controls the clamping arm component to close and clamp the buoy body. Then the underwater hydraulic winch switches to the tension mode, controls the bracket to fall, and controls the towing arm cylinder to retract the towing arm component. The underwater hydraulic winch brakes to complete the recovery of the buoy body.

[0021] The beneficial effects of the present invention are:

[0022] 1) The present invention can be used for deep-sea manned platforms to automatically retract and store streamlined buoy bodies with better floating stability. The underwater hydraulic winch of the present invention is powered by dual hydraulic motors. When one of the hydraulic motors fails, the underwater hydraulic winch can reduce power output to achieve a backup working mode driven by one hydraulic motor, ensuring that the buoy can be retracted.

[0023] 2) The present invention uses a plurality of in-place detection devices to detect the movement in-place state of the mechanism and the retracted and extended state of the winch, so that the device has higher automation and reliability.

[0024] 3) The underwater hydraulic winch of the present invention has an emergency cable array cutting function to ensure the safety of the platform in an emergency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a structural diagram of the overall recovery state of the device of the present invention;

[0026] Figure 2 This is a structural diagram of the buoy retracting and deploying frame of the present invention;

[0027] Figure 3 This is a structural diagram of the base of the buoy retracting and deploying frame of the present invention;

[0028] Figure 4 This is a structural diagram of the towing wheel frame of the present invention;

[0029] Figure 5 This is a structural diagram of the active arm component of the buoy retracting and deploying frame of the present invention;

[0030] Figure 6 This is a structural diagram of the towing arm component of the buoy retracting and deploying frame of the present invention;

[0031] Figure 7 This is a structural diagram of the buoy retracting and deploying rack bracket of the present invention;

[0032] Figure 8 This is a structural diagram of the underwater hydraulic winch of the present invention;

[0033] Figure 9 This is a structural diagram of the signal triggering device of the present invention;

[0034] Figure 10 This is a state diagram of the buoy body of the device of the present invention when it is released or retracted;

[0035] In the figure: 1. buoy body, 2. buoy retractable frame, 3. underwater hydraulic winch, 4. composite cable, 5. signal trigger device, 6. wide guide wheel component, 7. towing arm component, 8. bracket, 9. driven arm component, 10. retractable cylinder, 11. active arm component, 12. base, 13. towing arm cylinder, 14. base frame, 15. lifting plate, 16. retractable cylinder ear plate, 17. base reinforcement, 18. active arm bearing seat, 19. towing wheel frame, 20. wheel frame bottom plate, 21. wheel frame side plate, 22. support rib plate, 23. support rod, 24. towing arm cylinder ear plate, 25. main rib plate, 26. panel, 27. axle seat, 28. Strut, 29. Upper shaft seat rib, 30. Main shaft cylinder, 31. Drag arm shaft cylinder, 32. Drag arm rib, 33. Drag arm side plate, 34. Cylinder drive shaft, 35. Guide wheel, 36. Guide plate, 37. Bracket base plate, 38. Clamping cylinder, 39. In-position switch, 40. Guide wheel assembly, 41. Clamping arm, 42. Saddle, 43. Clamping arm shaft, 44. Roller, 45. Winch frame, 46. Drum, 47. Bidirectional screw, 48. Cable head frame, 49. Hydraulic cutter, 50. Pressure compensator, 51. Hydraulic motor, 52. Photoelectric slip ring, 53. Magnet assembly, 54. Magnetic switch, 55. Drag cable rocker arm. DETAILED DESCRIPTION

[0036] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0037] like Figure 1 As shown, the buoy storage device of the present invention includes a buoy storage frame 2, an underwater hydraulic winch 3 and a composite cable 4. The buoy storage frame 2 and the underwater hydraulic winch 3 are arranged horizontally opposite to each other and do not touch each other. A buoy body 1 is placed on the buoy storage frame 2. One end of the composite cable 4 is connected to the underwater hydraulic winch 3. The other end of the composite cable 4 passes through the underwater hydraulic winch 3 and the buoy storage frame 2 in sequence, then penetrates from the bottom of the buoy body 1 and is connected to the inside of the buoy body 1. The buoy body 1 and the underwater hydraulic winch 3 are electrically connected through the composite cable 4; the buoy storage frame 2 is connected to the underwater hydraulic winch 3, and the underwater hydraulic winch 3 is electrically connected to an external PLC controller.

[0038] like Figure 2As shown, the buoy retracting and releasing frame 2 includes a cylinder towing structure, a bracket 8, a slave arm component 9, a cylinder active arm structure and a base 12. The cylinder towing structure, the cylinder active arm structure and the slave arm component 9 are sequentially installed on the top surface of the base 12 along the length direction of the base 12; the bracket 8 is installed on the top of the slave arm component 9 and the cylinder active arm structure, and the buoy body 1 is placed on the top surface of the bracket 8; the bracket 8, the cylinder towing structure and the cylinder active arm structure are connected to the underwater hydraulic winch 3; the other end of the composite cable 4 is sequentially wrapped around the underwater hydraulic winch 3 and the cylinder towing structure, and then sequentially passed from the bottom of the cylinder active arm structure and the bracket 8 to the bottom of the buoy body 1 and penetrated into the interior of the buoy body 1.

[0039] like Figure 2 and Figure 4As shown, the cylinder towing structure includes a wide guide wheel component 6, a towing arm component 7, two towing arm cylinders 13 and a towing wheel frame 19. The towing wheel frame 19 includes a wheel frame bottom plate 20, two wheel frame side plates 21, a supporting rib plate 22, a supporting rod 23 and two towing arm cylinder ear plates 24. The wheel frame bottom plate 20 is horizontally installed on the top surface of one side of the base 12 and is close to the underwater hydraulic winch 3. The two wheel frame side plates 21 are vertically and parallelly installed on both sides of the top surface of the wheel frame bottom plate 20 and are parallel to the length direction of the base 12. The supporting rib plate 22 is installed on the symmetrical sides of the top surface of the wheel frame bottom plate 20 and is parallel to the length direction of the base 12. 2 and the support rod 23 are horizontally parallel and vertically installed between the two wheel frame side plates 21, the support rib 22 and the support rod 23 are respectively connected to the top and the middle of the two wheel frame side plates 21, and a through hole is opened on the wheel frame bottom plate 20 and is located between the two wheel frame side plates 21; the two trailing arm oil cylinder ear plates 24 are vertically parallel and vertically installed on the top surface of the wheel frame bottom plate 20 and are located on the side close to the active arm structure of the oil cylinder, and the two wheel frame side plates 21 are located between the two trailing arm oil cylinder ear plates 24 and are respectively connected to the trailing arm oil cylinder ear plates close to each other. The plates 24 are arranged in parallel and spaced apart; the wide guide wheel component 6 is specifically a roller structure, and the center of the wide guide wheel component 6 is horizontally movably connected between the lower parts of the two wheel frame side plates 21; one end of the trailing arm component 7 is horizontally hinged between the two wheel frame side plates 21 and is located between the supporting ribs 22 and the supporting rods 23, and the other end of the trailing arm component 7 is located on one side of the wide guide wheel component 6 and close to the active arm structure of the oil cylinder; the piston rods at one end of the two trailing arm oil cylinders 13 are respectively hinged to the symmetrical sides of the middle of the trailing arm component 7, and each wheel frame side plate 21 and its proximity The cylinder body of each towing arm cylinder 13 at the other end is hinged between the lug plates 24 of each towing arm cylinder. The axis of the hinge at both ends of each towing arm cylinder 13 is perpendicular to the wheel frame side plate 21. The two towing arm cylinders 13 are connected to the underwater hydraulic winch 3. The other end of the composite cable 4 is successively passed around the underwater hydraulic winch 3 and the bottom surface of the wide guide wheel component 6 of the cylinder towing structure and the bottom surface of the towing arm component 7, and then successively passed through the bottom of the cylinder active arm structure and the bracket 8 to the bottom of the buoy body 1 and penetrated into the interior of the buoy body 1. The support rib 22 and the support rod 23 are welded between the two wheel frame side plates 21 to stabilize the overall structure of the towing wheel frame 19.

[0040] like Figure 6As shown, the trailing arm component 7 includes a trailing arm shaft cylinder 31, two trailing arm side plates 33, a cylinder drive shaft 34, a guide wheel 35 and two guide plates 36. The two trailing arm side plates 33 are arranged in parallel and parallel to the wheel frame side plates 21. The trailing arm shaft cylinder 31 is horizontally installed between one end of the two trailing arm side plates 33 and passes through the two wheel frame side plates 21 and is then hinged between the two wheel frame side plates 21. A trailing arm rib plate 32 is also provided. The trailing arm rib plate 32 connects the outer side surface of the trailing arm shaft cylinder 31 and the two trailing arm side plates 33 for connection and support; the cylinder drive shaft 34 is horizontally installed between the middle parts of the two trailing arm side plates 33 and passes through the two wheel frame side plates 21. The length of the cylinder drive shaft 34 is greater than the distance between the two wheel frame side plates 21. The two sides of the cylinder drive shaft 34 are supported on the two wheel frames. The side of the side plate 21 is close to the active arm structure of the cylinder, and the piston rods at one end of the two dragging arm cylinders 13 are respectively hinged to the two ends of the cylinder drive shaft 34; the center of the guide wheel 35 is horizontally movably connected between the other ends of the two dragging arm side plates 33, and the two guide plates 36 are respectively vertically installed at the other ends of the two dragging arm side plates 33 and arranged opposite each other. The guide wheel 35 is located between the two guide plates 36, and the center distance from the edge of the guide plate 36 to the center of the guide wheel 35 is greater than the radius of the guide wheel 35. The upper sides of the two guide plates 36 are bent outward to facilitate the composite cable 4 to enter the guide wheel 35; the dragging arm component 7 is used to tow the composite cable 4 and correct the towing angle of the composite cable 4; the other end of the composite cable 4 is sequentially passed around the bottom surface of the underwater hydraulic winch 3 and the wide guide wheel component 6 of the cylinder towing structure and the bottom surface of the guide wheel 35 of the towing arm component 7.

[0041] Two signal triggers 5 are also installed on one of the wheel frame side plates 21 and a trailing arm side plate 33 adjacent to it. The signal trigger 5 includes a magnet assembly 53 and a magnetic switch 54. The two magnet assemblies 53 are installed at intervals on the trailing arm side plate 33, and the two magnetic switches 54 are arranged at intervals on the wheel frame side plate 21. When the trailing arm component 7 rotates around the trailing arm shaft cylinder 31 and the two magnet assemblies 53 pass through the two magnetic switches 54, they respectively face one of their own magnetic switches 54; the two magnetic switches 54 are both electrically connected to an external PLC controller.

[0042] like Figure 7As shown, the bracket 8 includes a bracket base plate 37, a clamping cylinder 38, an in-position switch 39, a guide wheel assembly 40, four clamping arms 41, four saddles 42, two clamping arm shafts 43 and four rollers 44. The bracket base plate 37 and the two clamping arm shafts 43 are horizontally arranged along the length direction of the base 12. The bottom surfaces of the four saddles 42 are symmetrically installed on the top surfaces of the four top corners of the bracket base plate 37. The side surface of each saddle 42 close to the center of the bracket base plate 37 is bent toward the center of the bracket base plate 37; each saddle 42 is hinged to the root end of a clamping arm 41 near the bottom side surface of the active arm structure of the cylinder. The four clamping arms 41 are vertically arranged and bent toward the center of the bracket base plate 37. The ends are hinged to the centers of their respective rollers 44, and the central axes of the hinges at both ends of each clamping arm 41 are perpendicular to the vertical plane of the length direction of the base 12. The hinges at the root ends of every two opposing clamping arms 41 are synchronously connected by a clamping arm rotating shaft 43 parallel to the length direction of the base 12. The bottom ends of two opposing clamping arms 41 on both sides of the length direction of the base 12 are respectively hinged to the cylinder body at one end and the piston rod at the other end of the clamping cylinder 38; the buoy body 1 is placed on the top surface of the bracket bottom plate 37 and is located between the four clamping arms 41 and the four saddles 42, the four rollers 44 are close to the top surface of the buoy body 1, and the four saddles 42 are close to the bottom surface of the buoy body 1. The shape is streamlined, with an antenna for communication and positioning on the top; the clamping arm shaft 43 ensures the synchronous movement of the front and rear clamping arms 41 on the same side, and the roller 44 prevents the clamping arm 41 from scratching the standard body when clamping. The clamping cylinder 38 controls the clamping and retraction of the root end of the clamping arm 41. The saddle 42 is used to prevent the standard body from colliding with the bracket base plate 37 when it is recovered, and to position and fix the standard body; the in-position switch 39 and the guide wheel assembly 40 are installed at the bottom of the bracket base plate 37. The guide wheel assembly 40 includes two guide wheels arranged at intervals. The central axis of the guide wheel is hinged to the bottom of the bracket base plate 37 and is parallel to the bracket base plate 37. A through-hole is provided on the bracket base plate 37 between the in-position switch 39 and the two guide wheels. The top end of the in-position switch 39 is pressed against the bottom surface of the buoy body 1 through the through groove of the bracket bottom plate 37; a towline rocker arm 55 is installed at the bottom of the buoy body 1, and the towline rocker arm 55 is downwardly passed through the bracket bottom plate 37 and arranged between the two guide wheels and close to the two guide wheels. The guide wheel assembly 40 is used to introduce the towline rocker arm 55; the clamping cylinder 38 is connected to the underwater hydraulic winch 3; the other end of the composite cable 4 is connected to the towline rocker arm 55 after passing through the cylinder towing structure and then passed through the bottom of the buoy body 1 and connected to the inside of the buoy body 1. The composite cable 4 can be used to power the buoy body 1, control the movement of the buoy body 1, and transmit and collect signals. The internal signal collection system can be replaced according to actual needs;The in-position switch 39 is electrically connected to an external PLC controller. It internally consists of a magnetic switch and a magnet assembly, with a spring interposed between them. When the buoy body is in position, the buoy body pushes the magnet assembly downward, compressing the spring. The magnetic switch detects the magnetic field and emits an electrical signal, used to detect the in-position status of the buoy body 1. Two symmetrical sides of the middle bottom surface of the bracket base plate 37 are hinged to the active arm structure of the oil cylinder. Two symmetrical sides of the bottom surface of the bracket base plate 37, facing away from the active arm structure, are hinged to the side of the driven arm member 9, facing away from the active arm structure.

[0043] like Figure 2 and Figure 5 As shown, the cylinder active arm structure includes two retractable cylinders 10 and an active arm component 11. The active arm component 11 includes two main ribs 25, six panels 26, four axle seats 27, a strut 28 and a main shaft cylinder 30. The two main ribs 25 are obtuse-angled triangular plate structures. The two main ribs 25 are vertically opposite and spaced apart and parallel to the clamp arm rotating shaft 43. The six panels 26 are respectively installed on the three plate edges of the two main ribs 25 and are perpendicular to the main ribs 25 to form an I-shaped cross-section. The four axle seats 27 are respectively installed at the two angles of the two main ribs 25 away from the cylinder dragging structure, and the axis of the four axle seats 27 is perpendicular to the main ribs 25; the strut 28 is connected between the two sides of the two main ribs 25 away from the cylinder dragging structure, and the main shaft cylinder 30 is horizontally connected between the other angle of the two main ribs 25, that is, it is located at the angle between the shortest side and the longest side of the main rib 25. ; Both ends of the main shaft cylinder 30 are hinged to the top surface of the base 12 and close to the cylinder dragging structure, and two of the axle seats 27 away from the cylinder dragging structure are hinged to the symmetrical sides of the bottom middle of the bracket bottom plate 37 of the bracket 8; the piston rods at one end of the two retracting and extending cylinders 10 are hinged to the other two axle seats 27 respectively, and the cylinder bodies at the other ends of the two retracting and extending cylinders 10 are hinged to the symmetrical sides of the top surface of the base 12 and are located between the main shaft cylinder 30 and the side of the base 12 away from the cylinder dragging structure. The two retracting and extending cylinders 10 are located on the symmetrical sides of the two main ribs 25, and the bracket bottom plate 37 is located between the two main ribs 25. The center axes of the hinges at both ends of the two retracting and extending cylinders 10 are perpendicular to the main ribs 25; an upper axle seat rib 29 is also provided on the active arm component 11, and the upper axle seat rib 29 is welded between the axle seat 27 with the longest sides opposite to the main rib 25 to strengthen the structural strength of the axle seat. The two retractable oil cylinders 10 are connected to the underwater hydraulic winch 3 .

[0044] The slave arm member 9 is a rectangular frame structure and is processed by welding steel plates and steel pipes. The steel pipes are welded between two steel plates for connection and support. The two adjacent top corners on one side of the slave arm member 9 are hinged to the symmetrical sides of the bottom of the bracket base plate 37 of the bracket 8 and are located on the side of the bracket base plate 37 away from the cylinder drag structure. The two adjacent top corners on the other side of the slave arm member 9 are hinged to the symmetrical sides of the bottom of the base 12 through the two ends of the circular tube connected between the two and are located in the middle of the bracket base plate 37; the length of the slave arm member 9 is equal to the length of the longest side of the main rib plate 25.

[0045] Two signal triggers 5 are also installed on one of the main ribs 25 and the side top surface of the base 12 close to it. The signal trigger 5 includes a magnet assembly 53 and a magnetic switch 54. One of the magnet assemblies 53 is installed on the shortest side of the main rib 25 through a mounting plate, and the other magnet assembly 53 is installed on the longest side of the main rib 25. The two magnetic switches 54 are installed on the side top surface of the base 12 and are located on both sides of one end of the spindle cylinder 30. When the active arm component 11 rotates around the spindle cylinder 30, when the shortest side of the main rib 25 is close to the side top surface of the base 12, the magnet assembly 53 installed on the shortest side of the main rib 25 is opposite to a magnetic switch 54 when passing by it, and when the longest side of the main rib 25 is close to the side top surface of the base 12, a magnet assembly 53 installed on the longest side of the main rib 25 is opposite to another magnetic switch 54 when passing by it; both magnetic switches 54 are electrically connected to an external PLC controller.

[0046] like Figure 3 As shown, the base 12 includes a base frame 14, four retractable cylinder ear plates 16, two base reinforcements 17 and two active arm bearing seats 18. The base frame 14 is a rectangular connecting frame composed of two long channel steels and four short channel steels. The base reinforcement 17 is vertically welded near the third short channel steel crossbeam on the outside of the long channel steel, and has threaded holes for installing the active arm bearing seats 18; the two ends of the main shaft cylinder 30 are hinged to the base frame 14 through the two base reinforcements 17 and the two active arm bearing seats 18 installed on the base frame 14; the cylinder bodies of the other ends of the two retractable cylinders 10 are hinged to the base frame 14 through the four retractable cylinder ear plates 16; the base 12 also includes a number of lifting plates 15, and the lifting plates 15 are welded at both ends of the long channel steel. Each lifting plate 15 is welded to the periphery of the base frame 14 for moving and transporting the base frame 14.

[0047] like Figure 8As shown, the underwater hydraulic winch 3 includes a winch frame 45, a large gear, two small gears, a drum 46, a bidirectional screw 47, a cable head frame 48, a hydraulic cutter 49, a pressure compensator 50, two hydraulic motors 51, a photoelectric slip ring 52 and a sprocket mechanism. The drum 46 is installed in the winch frame 45, and the central axis of the drum 46 is horizontal and perpendicular to the length direction of the base 12. One end of the central axis of the drum 46 is movably connected to the winch frame 45, and the other end of the central axis of the drum 46 is synchronously connected to the center of the vertically arranged large gear and then movably connected to the winch frame 45. The two hydraulic motors 51 and the photoelectric slip ring 52 are installed near the winch frame 45. On one side of the large gear, the other end of the central axis of the drum 46 is synchronously connected to the moving end of the photoelectric slip ring 52. Two hydraulic motors 51 are installed below the photoelectric slip ring 52. The output shafts of the two hydraulic motors 51 are synchronously connected to the centers of two vertically arranged small gears. The two small gears are located directly below the large gear and mesh with the large gear. The fixed end of the photoelectric slip ring 52 is connected to the ends of the two hydraulic motors 51 away from the two small gears through two connecting plates and remains stationary; the sprocket mechanism is installed on the side of the winch frame 45 away from the large gear, and the bidirectional screw 47 is hinged in the winch frame 45. The bidirectional screw 47 is horizontal and perpendicular to the length direction of the base 12. The bidirectional screw 47 One end is hinged on the winch frame 45, and the other end of the two-way screw 47 is synchronously connected to one side of the sprocket mechanism, and the other side of the sprocket mechanism is synchronously connected to one end of the central axis of the drum 46. The two-way screw 47 is connected to the drum 46 through a chain drive, driving the cable head frame 48 to move laterally following the cable position; the cable head frame 48 is installed on the winch frame 45 through two connecting rods and away from the oil cylinder towing structure, adopting the lower cable type, and the side of the cable head frame 48 away from the oil cylinder towing structure is bent toward the drum 46 to form a lead-out channel, and the hydraulic cutter 49 is installed on the cable head frame 48; the pressure compensator 50 is installed on the winch frame 45 for the hydraulic system to compensate for the underwater pressure. The hydraulic cutter 49, the pressure compensator 50, the bracket 8, the cylinder drag structure and the cylinder active arm structure are connected to the two hydraulic motors 51; the two hydraulic motors 51 and the photoelectric slip ring 52 are electrically connected to the external PLC controller; a number of spaced annular grooves are provided on the drum 46 along the circumference of the drum 46, one end of the composite cable 4 is electrically connected to the moving end of the photoelectric slip ring 52 and is fixed to the side plate of the drum 46 through the rope pressure plate, and after being led out, it passes through the annular groove of the drum 46 and the bottom surface of the lead-out path of the cable head frame 48 in turn, and then is led out from the bottom surface of the drum 46 to the cylinder drag structure, and the hydraulic cutter 49 is close to the composite cable 4 on the cable head frame 48 for emergency cutting of the composite cable 4.

[0048] The sprocket mechanism includes a large sprocket, a medium sprocket, a small sprocket and a chain. The large sprocket and the two small sprockets are vertically spaced and installed on the same vertical side of the winch frame 45. The central axes of the large sprocket and the two small sprockets are parallel to the central axis of the drum 46. The center of one of the small sprockets is synchronously connected to one end of the central axis of the drum 46, and the center of the large sprocket is synchronously connected to the other end of the bidirectional screw 47. The other small sprocket is located between one of the small sprockets and the large sprocket. The chain is closed and wrapped around the large sprocket and one of the small sprockets. The upper side of the chain is wrapped around the bottom surface of the other small sprocket to tighten the chain.

[0049] like Figure 9 As shown, a number of magnet assemblies 53 are also installed on the drum 46, and two magnetic switches 54 are also installed on the winch frame 45. Each magnet assembly 53 is installed on a side of the drum 46 close to the sprocket mechanism and is evenly spaced along the circumference of the side of the drum 46. The two magnetic switches 54 are installed on the winch frame 45 at intervals near one end of each magnet assembly 53. The distance from the two magnetic switches 54 to the central axis of the drum 46 is the same as the distance from each magnet assembly 53 to the central axis of the drum 46; the two magnetic switches 54 are electrically connected to an external PLC controller.

[0050] like Figure 1 and Figure 10As shown, when the buoy storage device is in a non-working state, it can be stored in the deep-sea carrier cabin for storing the buoy body 1, and the buoy body 1 is placed on the bracket bottom plate 37 of the bracket 8; when the buoy storage device needs to release the buoy body 1, the underwater hydraulic winch 3 is first switched to the tension mode, and the two hydraulic motors 51 of the underwater hydraulic winch 3 are controlled by the external PLC controller to control the piston rods of the two storage cylinders 10 and the two towing arm cylinders 13 to extend, so that the towing arm component 7 rotates around the towing arm shaft tube 31, and the active arm component 11 rotates around the main shaft tube 30, and at the same time controls the photoelectric slip ring 52 to drive the central axis of the drum 46 to rotate and thus release the composite cable 4. When the drum 46 rotates, the rotation angle of the drum 46 is obtained through the various magnet assemblies 53 and the magnetic switch 54 on the drum 46 to control the release length of the composite cable 4. At this time, the longest sides of the two main ribs 25 of the active arm component 11 and the driven arm component 9 are rotated to a vertical state and lift the bracket 8. The bracket 8 always remains horizontal, and the towing When the magnet assembly 53 and the magnetic switch 54 of the signal trigger 5 on the arm member 7 and the active arm member 11 are facing each other, the in-position signal of the dragging arm member 7 and the active arm member 11 is output to the external PLC controller. At this time, the buoy storage device releases the buoy body 1, switches the underwater hydraulic winch 3 to the retraction mode, and retracts the piston rod of the clamping cylinder 38 to drive the root ends of the two clamping arms 41 to rotate so that the two clamping arms 41 are separated from each other, and drives the other two clamping arms 41 through the two clamping arm rotating shafts 43. The root end rotates so that the other two clamping arms 41 move away from each other. At this time, the photoelectric slip ring 52 is controlled to drive the central axis of the roller 46 to rotate and continue to loosen the composite cable 4, releasing the buoy body 1 from the bracket bottom plate 37 of the bracket 8. The buoy body 1 moves away from the in-position switch 39, and the in-position switch 39 sends a release signal to the external PLC controller to release the buoy body 1, and then controls the bracket 8 to fall. After reaching the preset cable-releasing length of the composite cable 4, the underwater hydraulic winch 3 brakes to complete the release of the buoy body 1.

[0051] When it is necessary to recover the buoy body 1, first control the bracket 8 to rise, and in the retraction mode, the underwater hydraulic winch 3 first pulls the buoy body 1 close to the bracket 8 by tightening the composite cable 4, and at the same time, the clamping cylinder 38 controls the clamping arm component to open. Then the underwater hydraulic winch 3 continues to tighten the composite cable 4 until the buoy body 1 falls into the bracket 8. The buoy body 1 is crimped on the in-position switch 39, and the in-position switch 39 sends an in-position signal to the external PLC controller. The underwater hydraulic winch 3 brakes, and at the same time, the clamping cylinder 38 controls the clamping arm component to close and clamp the buoy body 1. Then the underwater hydraulic winch 3 switches to the tension mode, controls the bracket 8 to fall, and at the same time controls the towing arm cylinder 13 to retract the towing arm component 7. The underwater hydraulic winch 3 brakes to complete the recovery of the buoy body 1.

Claims

1. A buoy storage device, characterized by: The invention comprises a buoy retracting and releasing frame (2), an underwater hydraulic winch (3) and a composite cable (4); the buoy retracting and releasing frame (2) and the underwater hydraulic winch (3) are arranged horizontally opposite to each other and do not touch each other; a buoy body (1) is placed on the buoy retracting and releasing frame (2); one end of the composite cable (4) is connected to the underwater hydraulic winch (3); the other end of the composite cable (4) passes through the underwater hydraulic winch (3) and the buoy retracting and releasing frame (2) in sequence, and then penetrates from the bottom of the buoy body (1) and is connected to the inside of the buoy body (1); the buoy body (1) and the underwater hydraulic winch (3) are electrically connected through the composite cable (4); the buoy retracting and releasing frame (2) is connected to the underwater hydraulic winch (3), and the underwater hydraulic winch (3) is electrically connected to an external PLC controller; The buoy retracting and deploying frame (2) comprises a cylinder dragging frame, a bracket (8), a driven arm component (9), a cylinder active arm frame and a base (12), wherein the cylinder dragging frame, the cylinder active arm frame and the driven arm component (9) are sequentially mounted on the top surface of the base (12) along the length direction of the base (12); the bracket (8) is mounted on the top of the driven arm component (9) and the cylinder active arm frame, and the buoy body (1) is placed on the top surface of the bracket (8); The bracket (8), the oil cylinder drag structure and the oil cylinder active arm structure are connected to the underwater hydraulic winch (3); the other end of the composite cable (4) is passed through the underwater hydraulic winch (3) and the oil cylinder drag structure in sequence, and then passed through the bottom of the oil cylinder active arm structure and the bracket (8) to the bottom of the buoy body (1) and is passed into the interior of the buoy body (1); The cylinder towing structure comprises a wide guide wheel component (6), a towing arm component (7), two towing arm cylinders (13) and a towing wheel frame (19), wherein the towing wheel frame (19) comprises a wheel frame bottom plate (20), two wheel frame side plates (21), a supporting rib plate (22), a supporting rod (23) and two towing arm cylinder ear plates (24), wherein the wheel frame bottom plate (20) is horizontally mounted on a top surface of one side of the base (12) and close to the underwater hydraulic winch (3), wherein the two wheel frame side plates (21) are vertically parallel and spaced apart and mounted on symmetrical sides of the top surface of the wheel frame bottom plate (20) and parallel to the length direction of the base (12), wherein the supporting rib plate (22) and the supporting rod (23) are horizontally parallel and vertically mounted between the two wheel frame side plates (21), wherein the supporting rib plate (22) and the supporting rod (23) are respectively connected to the top and the bottom of the two wheel frame side plates (21). In the middle, a through opening is provided on the wheel frame bottom plate (20) and is located between the two wheel frame side plates (21); two trailing arm oil cylinder ear plates (24) are vertically parallel and vertically mounted on the top surface of the wheel frame bottom plate (20) and are located on one side close to the oil cylinder active arm structure; the two wheel frame side plates (21) are located between the two trailing arm oil cylinder ear plates (24) and are respectively arranged parallel to and spaced apart from the respective trailing arm oil cylinder ear plates (24); the wide guide wheel component (6) is specifically a roller structure, and the center of the wide guide wheel component (6) is horizontally movably connected between the lower parts of the two wheel frame side plates (21); one end of the trailing arm component (7) is horizontally hinged between the two wheel frame side plates (21) and is located between the support rib plate (22) and the support rod (23); the other end of the trailing arm component (7) is located on one side of the wide guide wheel component (6) and close to the oil cylinder active arm structure; The piston rods at one end of the two drag arm cylinders (13) are respectively hinged to the symmetrical two sides of the middle of the drag arm component (7), and the cylinder body of the other end of each drag arm cylinder (13) is hinged between each wheel frame side plate (21) and a drag arm cylinder ear plate (24) adjacent to it. The axis of the hinge at both ends of each drag arm cylinder (13) is perpendicular to the wheel frame side plate (21); the two drag arm cylinders (13) are connected to the underwater hydraulic winch (3); the other end of the composite cable (4) is successively passed through the bottom surface of the underwater hydraulic winch (3) and the wide guide wheel component (6) of the cylinder towing structure and the bottom surface of the drag arm component (7), and then successively passed through the bottom of the cylinder active arm structure and the bracket (8) to the bottom of the buoy body (1) and passed into the inside of the buoy body (1).

2. The buoy storage device according to claim 1, characterized in that: The trailing arm member (7) includes a trailing arm shaft cylinder (31), two trailing arm side plates (33), a cylinder drive shaft (34), a guide wheel (35) and two guide plates (36). The two trailing arm side plates (33) are arranged in parallel and spaced apart and parallel to the wheel frame side plates (21). The trailing arm shaft cylinder (31) is horizontally installed between one end of the two trailing arm side plates (33) and passes through the two wheel frame side plates (21) and is then hinged between the two wheel frame side plates (21). The cylinder drive shaft (34) is horizontally installed between the middle parts of the two trailing arm side plates (33) and passes through the two wheel frame side plates (21). The length of the cylinder drive shaft (34) is greater than the distance between the two wheel frame side plates (21). , both sides of the oil cylinder drive shaft (34) are supported on the sides of the two wheel frame side plates (21) and close to the oil cylinder active arm structure, and the piston rods at one end of the two drag arm oil cylinders (13) are respectively hinged to the two ends of the oil cylinder drive shaft (34); the center of the guide wheel (35) is horizontally movably connected between the other ends of the two drag arm side plates (33), and the two guide plates (36) are respectively vertically installed on the other ends of the two drag arm side plates (33) and arranged oppositely, and the guide wheel (35) is located between the two guide plates (36); the other end of the composite cable (4) is sequentially wound around the bottom surface of the underwater hydraulic winch (3) and the wide guide wheel component (6) of the oil cylinder drag structure and the bottom surface of the guide wheel (35) of the drag arm component (7); Two signal triggers (5) are further installed on one of the wheel frame side plates (21) and a trailing arm side plate (33) adjacent thereto. The signal trigger (5) includes a magnet assembly (53) and a magnetic switch (54). The two magnet assemblies (53) are installed on the trailing arm side plate (33) at intervals. The two magnetic switches (54) are arranged on the wheel frame side plate (21) at intervals. When the trailing arm member (7) rotates around the trailing arm shaft cylinder (31) and the two magnet assemblies (53) pass through the two magnetic switches (54), they are respectively facing one of the magnetic switches (54). The two magnetic switches (54) are both electrically connected to an external PLC controller.

3. The buoy storage device according to claim 1, characterized in that: The bracket (8) includes a bracket base (37), a clamping cylinder (38), an in-position switch (39), a guide wheel assembly (40), four clamping arms (41), four saddles (42), two clamping arm shafts (43) and four rollers (44). The bracket base (37) and the two clamping arm shafts (43) are horizontally arranged along the length direction of the base (12). The bottom surfaces of the four saddles (42) are symmetrically mounted on the top surfaces of the four top corners of the bracket base (37). The side surface of each saddle (42) close to the center of the bracket base (37) is bent toward the center of the bracket base (37); each saddle (42) is hinged to a respective clamping arm (41) on the bottom side surface close to the active arm structure of the cylinder. At the root end, four clamping arms (41) are arranged vertically and bent toward the center of the bracket base plate (37). The end of each clamping arm (41) is hinged to the center of its own roller (44). The central axis of the hinge at both ends of each clamping arm (41) is perpendicular to the vertical plane where the length direction of the base (12) is located. The hinge at the root end of each two opposing clamping arms (41) is synchronously connected through a clamping arm rotating shaft (43) parallel to the length direction of the base (12). The bottom of the root end of two opposing clamping arms (41) on both sides of the length direction of the base (12) are respectively hinged to the cylinder body at one end and the piston rod at the other end of the clamping cylinder (38); the buoy body (1) is placed on the top surface of the bracket base plate (37) and is located Between the four clamping arms (41) and the four saddles (42), the four rollers (44) are in close contact with the top surface of the buoy body (1), and the four saddles (42) are in close contact with the bottom surface of the buoy body (1); the in-position switch (39) and the guide wheel assembly (40) are installed at the bottom of the bracket base plate (37), and the guide wheel assembly (40) includes two guide wheels arranged at intervals, and the central axis of the guide wheel is hinged at the bottom of the bracket base plate (37) and is parallel to the bracket base plate (37). A through groove penetrating the bracket base plate (37) is provided on the bracket base plate (37) between the in-position switch (39) and the two guide wheels, and the top end of the in-position switch (39) is pressed against the bottom surface of the buoy body (1); the bottom of the buoy body (1) is installed A towing cable rocker (55) is provided, which passes through the bracket base plate (37) downwards and is arranged between the two guide wheels and is close to the two guide wheels; the clamping cylinder (38) is connected to the underwater hydraulic winch (3); the other end of the composite cable (4) is connected to the towing cable rocker (55) after passing through the cylinder towing structure and then passes through the bottom of the buoy body (1) and is connected to the inside of the buoy body (1); the in-position switch (39) is electrically connected to the external PLC controller; the symmetrical two sides of the middle of the bottom surface of the bracket base plate (37) are hinged to the cylinder active arm structure, and the symmetrical two sides of the bottom surface of the bracket base plate (37) away from the cylinder active arm structure are hinged to the side of the driven arm member (9) away from the cylinder active arm structure.

4. The buoy storage device according to claim 3, characterized in that: The oil cylinder active arm structure comprises two retractable oil cylinders (10) and an active arm component (11), the active arm component (11) comprises two main ribs (25), six panels (26), four axle seats (27), a strut (28) and a main shaft cylinder (30), the two main ribs (25) are obtuse-angled triangular plate structures, the two main ribs (25) are vertically spaced and parallel to the clamp arm rotating shaft (43), the six panels (26) are respectively mounted on the three plate edges of the two main ribs (25) and are perpendicular to the main ribs (25), the four axle seats (27) are respectively mounted at the two angles of the two main ribs (25) away from the oil cylinder drag structure, and the axes of the four axle seats (27) are perpendicular to the main ribs (25); the strut (28) is connected between the two main ribs (25) on one side away from the oil cylinder drag structure, and the main shaft cylinder (30) is horizontally connected between the other angles of the two main ribs (25). That is, it is located at the angle between the shortest side and the longest side of the main rib plate (25); the two ends of the main shaft cylinder (30) are hinged to the top surface of the base (12) and close to the oil cylinder drag structure, and two of the shaft seats (27) away from the oil cylinder drag structure are respectively hinged to the symmetrical two sides of the middle of the bottom of the bracket bottom plate (37) of the bracket (8); the piston rods at one end of the two retractable oil cylinders (10) are respectively hinged to the other two shaft seats (27), and the cylinder bodies at the other ends of the two retractable oil cylinders (10) are respectively hinged to the other two shaft seats (27). The two retractable oil cylinders (10) are respectively hinged on symmetrical sides of the top surface of the base (12) and are located between the main shaft tube (30) and the side of the base (12) away from the oil cylinder dragging structure. The two retractable oil cylinders (10) are located on symmetrical sides of the two main ribs (25). The bracket bottom plate (37) is located between the two main ribs (25). The central axes of the hinges at both ends of the two retractable oil cylinders (10) are perpendicular to the main ribs (25). The two retractable oil cylinders (10) are connected to the underwater hydraulic winch (3). The driven arm member (9) is a rectangular frame structure, wherein two adjacent top corners on one side of the driven arm member (9) are hinged to symmetrical sides of the bottom of the bracket base plate (37) of the bracket (8) and are located on the side of the bracket base plate (37) away from the oil cylinder drag structure, and two adjacent top corners on the other side of the driven arm member (9) are hinged to symmetrical sides of the bottom of the base (12) through the two ends of a circular tube connected therebetween and are located in the middle of the bracket base plate (37); the length of the driven arm member (9) is equal to the length of the longest side of the main rib plate (25); Two signal triggers (5) are also installed on the side top surface of one of the main ribs (25) and the base (12) close thereto. The signal trigger (5) includes a magnet assembly (53) and a magnetic switch (54). One of the magnet assemblies (53) is installed on the shortest side of the main rib (25) through a mounting plate, and the other magnet assembly (53) is installed on the longest side of the main rib (25). The two magnetic switches (54) are installed on the side top surface of the base (12) and are located on both sides of one end of the main shaft cylinder (30). When the active arm When the component (11) rotates around the main shaft cylinder (30), when the shortest side of the main rib plate (25) approaches the side top surface of the base (12), the magnet assembly (53) installed on the shortest side of the main rib plate (25) is opposite to a magnetic switch (54) when passing by it, and when the longest side of the main rib plate (25) approaches the side top surface of the base (12), a magnet assembly (53) installed on the longest side of the main rib plate (25) is opposite to another magnetic switch (54) when passing by it; both magnetic switches (54) are electrically connected to an external PLC controller.

5. The buoy storage device according to claim 1, characterized in that: The underwater hydraulic winch (3) includes a winch frame (45), a large gear, two small gears, a drum (46), a bidirectional screw (47), a cable head frame (48), a hydraulic cutter (49), a pressure compensator (50), two hydraulic motors (51), a photoelectric slip ring (52) and a sprocket mechanism. The drum (46) is installed in the winch frame (45). The central axis of the drum (46) is horizontal and perpendicular to the length direction of the base (12). One end of the central axis of the drum (46) is movably connected to the winch frame (45). The other end of the central axis of the drum (46) is synchronously connected to the center of the vertically arranged large gear and then movably connected to the winch frame (45). Two hydraulic motors (51) and a photoelectric slip ring (52) are installed on the side of the winch frame (45) close to the large gear. The other end of the central axis of the drum (46) is synchronously connected to the moving end of the photoelectric slip ring (52). The two hydraulic motors (51) are installed below the photoelectric slip ring (52). The output shafts of the two hydraulic motors (51) are synchronously connected to the centers of two vertically arranged small gears. The two small gears are located directly below the large gear and mesh with the large gear. The fixed end of the photoelectric slip ring (52) is respectively connected to the ends of the two hydraulic motors (51) away from the two small gears through two connecting plates. The sprocket mechanism is installed on the side of the winch frame (45) away from the large gear. The bidirectional screw (47) The winch frame (45) is hinged in the bidirectional screw (47), which is horizontal and perpendicular to the length direction of the base (12). One end of the bidirectional screw (47) is hinged on the winch frame (45), and the other end of the bidirectional screw (47) is synchronously connected to one side of the sprocket mechanism, and the other side of the sprocket mechanism is synchronously connected to one end of the central axis of the drum (46); the cable head frame (48) is installed on the winch frame (45) through two connecting rods and is away from the oil cylinder drag structure. The side of the cable head frame (48) away from the oil cylinder drag structure is bent toward the drum (46) to form a lead-out channel. The hydraulic cutter (49) is installed on the cable head frame (48); the pressure compensator (50) is installed on the winch frame (45). 5), the hydraulic cutter (49), the pressure compensator (50), the bracket (8), the oil cylinder drag structure and the oil cylinder active arm structure are connected to the two hydraulic motors (51); the two hydraulic motors (51) and the photoelectric slip ring (52) are electrically connected to the external PLC controller; a plurality of spaced annular grooves are provided on the drum (46) along the circumference of the drum (46), one end of the composite cable (4) is electrically connected to the moving end of the photoelectric slip ring (52) and is led out and then passes through the annular groove of the drum (46) and the bottom surface of the lead-out path of the cable head frame (48) in turn and then is led out from the bottom surface of the drum (46) to the oil cylinder drag structure, and the hydraulic cutter (49) is close to the composite cable (4) on the cable head frame (48).

6. The buoy storage device according to claim 5, characterized in that: The sprocket mechanism includes a large sprocket, a middle sprocket, a small sprocket and a chain. The large sprocket and the two small sprockets are vertically spaced and installed on the same vertical side of the winch frame (45). The central axes of the large sprocket and the two small sprockets are parallel to the central axis of the drum (46). The center of one of the small sprockets is synchronously connected to one end of the central axis of the drum (46). The center of the large sprocket is synchronously connected to the other end of the bidirectional screw (47). The other small sprocket is located between one of the small sprockets and the large sprocket. The chain is closed and wound around the large sprocket and one of the small sprockets. The upper side of the chain is wound around the bottom surface of the other small sprocket.

7. The buoy storage device according to claim 5, characterized in that: The drum (46) is further provided with a plurality of magnet assemblies (53), and the winch frame (45) is further provided with two magnetic switches (54), each magnet assembly (53) being provided on a side of the drum (46) close to the sprocket mechanism and being evenly spaced along the circumference of the side of the drum (46). The two magnetic switches (54) are spaced apart and provided on the winch frame (45) close to one end of each magnet assembly (53). The distance between the two magnetic switches (54) and the central axis of the drum (46) is the same as the distance between each magnet assembly (53) and the central axis of the drum (46). The two magnetic switches (54) are electrically connected to an external PLC controller.

Images