Reciprocating type folding and unfolding system and method applied to opening and closing of dry dock gate

Abstract

The invention provides a reciprocating type folding and unfolding system and method applied to opening and closing of a dry dock gate. The system comprises a propelling device which comprises a telescopic arm and a first driving mechanism, a dock gate connecting hook is arranged at the front end of the telescopic arm, and the first driving mechanism is used for driving the telescopic arm to stretch out and draw back so that the dock gate connecting hook can get close to or away from a dry dock gate; the rotary system comprises a second driving mechanism and a fixed support, the telescopic arm is rotationally connected to the fixed support, the second driving mechanism is connected with the telescopic arm and used for driving the telescopic arm to drive the dock gate connecting hook to rotate, the dock gate connecting hook is connected with the dry dock gate, and then longitudinal movement of the dry dock gate is achieved through the propelling device; the transverse moving device is installed on the in-dock wharf, fixedly connected with the dry dock gate and used for achieving transverse movement of the dry dock gate. By means of the cooperation of the propelling device, the rotating system and the transverse moving device, high-stability and high-efficiency opening and closing and retracting operation is achieved, and the safety and stability of the opening and closing and retracting operation of the dry dock gate can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of opening, closing, and retracting of dry dock doors, and in particular to a reciprocating retracting and extending system and method for opening and closing dry dock doors. Background Art

[0002] Opening, closing, and retracting are crucial steps in the operation of dry dock doors. Their safety and reliability are directly related to the isolation of the internal and external water bodies of the dry dock and the smooth operation of dock operations. Currently, there are three main methods for opening, closing, and retracting dry dock doors. The first is the sliding rail opening and closing technology. This technology is relatively mature and uses sliding rails to guide the door body for horizontal or vertical movement. It has a simple structure and low requirements for the dock foundation. However, over long-term use, the sliding rails are easily clogged by silt or dirt, which may hinder the opening and closing process. The second is the buoyancy opening and closing technology, which relies on the buoyancy of the door body to achieve the lifting and lowering operation. This method is relatively labor-saving and can adapt to water level fluctuations within a certain range. However, it has high requirements for the sealing of the dock door and requires an additional buoyancy adjustment device for the door body, which increases the manufacturing and maintenance difficulties. The third is the articulated opening and closing technology, which uses a hinged structure to achieve the rotational opening and closing of the dock door. This method is suitable for smaller docks or special scenarios. It has fast opening and closing speeds and occupies a small space. However, in complex hydrological conditions, the hinged structure is prone to uneven force, which may lead to increased wear.

[0003] However, most of these technologies rely on manual operation and have yet to achieve fully automated opening and closing of dry dock doors. Furthermore, these operations are susceptible to water levels, tides, and weather conditions. This increases operational difficulty and risk, and can easily lead to door jamming, seal failure, or delays in opening and closing, posing a threat to dock operation efficiency and safety. Summary of the Invention

[0004] In response to the technical problems raised above, a reciprocating retracting and extending system and method for opening and closing dry dock doors are provided. The traditional dry dock door opening, closing and extending device is improved by introducing a propulsion device and a rotary system. At the same time, in order to solve the problem of lateral movement after the dry dock door is opened, special structural designs such as a limit device are designed, which increases the reliability of the dry dock door opening and closing process, reduces the tension on the rope, and improves safety.

[0005] The technical means adopted in the present invention are as follows:

[0006] A reciprocating retractable system for opening and closing a dry dock door, comprising:

[0007] The propulsion device includes a telescopic arm and a first driving mechanism connected to the telescopic arm. The front end of the telescopic arm is provided with a dock door connecting hook. The first driving mechanism is used to drive the telescopic arm to extend and retract, so that the dock door connecting hook moves closer to or away from the dry dock door.

[0008] The slewing system includes a second drive mechanism fixedly connected to the dock in the dock and a fixed support. The telescopic arm is rotatably connected to the fixed support. The second drive mechanism is connected to the telescopic arm and is used to drive the telescopic arm to rotate with the dock door connecting hook to achieve connection between the dock door connecting hook and the dry dock door, and then achieve longitudinal movement of the dry dock door through the propulsion device.

[0009] The lateral movement device is installed on the dock inside the dock and is fixedly connected to the dry dock door to achieve lateral movement of the dry dock door.

[0010] Furthermore, the first driving mechanism includes a winch mounting platform, a pulley and a rope mounting block, the telescopic arm includes a telescopic inner arm and a telescopic outer arm, and the dock door connecting hook is welded to the front end of the telescopic inner arm;

[0011] The winch mounting platform is installed on the upper plane of the telescopic outer arm, and two winches are fixedly connected to the winch mounting platform, and ropes are wound around the winches. Pulleys are fixedly installed on both sides of the winch mounting platform and the upper plane of the telescopic outer arm, and the rope mounting block is installed at the middle and rear end of the telescopic inner arm, and fixed slots are provided on both sides of the rope mounting block, and the two fixed slots are respectively connected to the ropes of the two winches, the rope of one winch passes around a pulley of the winch mounting platform and is fixedly connected to the fixed slot on one side of the rope mounting block, and the rope of the other winch passes around another pulley of the winch mounting platform and the pulley on the telescopic outer arm and is fixedly connected to the fixed slot on the other side of the rope mounting block.

[0012] Furthermore, a small spring hook is connected to the fixed notch on the other side of the rope installation block, and the small spring hook is fixedly connected to the rope;

[0013] An inner arm buffer slider is provided at the rear end of the telescopic inner arm, and an outer arm buffer slider is provided inside the front end of the telescopic outer arm;

[0014] A telescopic arm pad is installed on the lower plane of the telescopic outer arm, and water drainage holes are arranged around the telescopic outer arm.

[0015] Furthermore, the second driving mechanism includes a winch, a rope fixing end block, a telescopic arm pad and a rotating shaft;

[0016] The winch is installed on the dock in the dock, and a rope is wound around it; the rotating shaft is installed at the tail end of the fixed support, and the rear end of the telescopic outer arm is installed with a rotating handle, and the rotating handle is rotatably connected to the rotating shaft;

[0017] An indirect mounting plate is installed on the plane of the front end of the telescopic outer arm, and the rope fixing end block is installed on the indirect mounting plate. A pulley is also installed on the indirect mounting plate. The rope of the winch passes around the pulley and is fixedly connected to the rope fixing end block. The power of the winch drives the telescopic arm to rotate around the rotating shaft.

[0018] Furthermore, a visual sensor is installed at the front end of the dock door connecting hook.

[0019] Furthermore, the transverse movement device includes a dock gate column, a hydraulic cylinder, a slide rail, a mounting base and a fixed connecting plate. The dock gate column is fixedly installed on the upper surface of the dry dock gate. The hydraulic cylinder is provided with two groups. The longitudinal hydraulic cylinder and the slide rail are both installed on the pier on one side of the dry dock. The output end of the longitudinal hydraulic cylinder is fixedly connected to the mounting base. The mounting base is slidably connected to the slide rail. The transverse hydraulic cylinder is installed on the mounting base. The output end of the transverse hydraulic cylinder is fixedly connected to the extension arm. The fixed connecting plate is installed on the extension arm for fixed connection to the dock gate column.

[0020] Furthermore, a plurality of first position-limiting support arms are fixedly installed on the pier on one side of the dry dock, for limiting the lateral movement trajectory of the dry dock door; and a displacement sensor is installed at the front end of the extension arm.

[0021] Furthermore, the transverse movement device includes a winch, a second limit support arm, a tension signal sensor, an extension support and a rope guide module. The extension supports are fixedly connected to both sides of the dock in the dock. The winch and the rope guide module are fixedly installed on the extension supports. The winch is wound with a rope. The rope guide module includes an L-shaped steel plate and two sets of transverse pulleys installed on the L-shaped steel plate. The rope of each winch passes through the pulley group of the corresponding rope guide module and is fixedly connected to the dry dock door.

[0022] There are multiple second limit support arms, which are fixedly installed on the dock on one side of the dry dock and are used to limit the lateral movement trajectory of the dry dock door; the tension signal sensor is installed on the winches on both sides of the dock in the dock.

[0023] The present invention also provides a retracting and extending method of a reciprocating retracting and extending system for opening and closing a dry dock door, comprising the following steps:

[0024] The winch located on the winch mounting platform is controlled by the console to start working. A small spring hook is installed at the front end of the rope on one of the winches, which is extended to bypass two sets of pulleys and fixedly connected to the rope mounting block through the small spring hook. The rope of the other winch is passed around a set of pulleys and fixedly connected to the rope mounting block. The rope mounting block is fixedly installed on the telescopic inner arm. When the winch starts to roll, the rope pulls the telescopic inner arm, and the telescopic inner arm and the telescopic outer arm produce relative movement. When the left winch on the winch mounting platform actively releases the rope and the right winch is driven to release the rope, it is in the extended state, that is, the propulsion mode. When the right winch is in the driven state, it is in the extended state, that is, the propulsion mode. When the winch actively releases the rope and the left winch is driven to release the rope, it is in the retracted state, that is, the contraction mode; during the opening process of the dry dock door, the distance data between the dock door connecting hook and the dry dock door is obtained through the visual sensor installed at the front end of the dock door connecting hook. When the specified distance is reached, the visual sensor transmits the data to the control end. At this time, the winch on the winch installation platform stops working, and at the same time, the winch on the dock inside the dock works to lift the telescopic arm and rotate it to a certain angle. The winch on the winch installation platform drives the telescopic arm to continue working. When it reaches the predetermined position again, the winch on the dock inside the dock rotates in the opposite direction to lower the telescopic arm smoothly, and the dock door is opened. The connecting hook is successfully connected to the dry dock door; then the winch on the dock inside the dock is switched to the driven state, the winch on the winch installation platform resumes work, the dock door connecting hook contacts the dry dock door, and the dry dock door is pushed open to the specified distance; after stabilization, the slewing system continues to operate, the winch on the dock inside the dock pulls up the telescopic inner arm, and after the dock door connecting hook leaves the dry dock door, the right winch on the winch installation platform is controlled to actively release the rope and the left winch is controlled to be in the driven rope-releasing state, and the telescopic inner arm is pulled back; at this time, the dry dock door is successfully pushed out, the transverse movement device starts to work, and the transverse hydraulic cylinder pushes the extension arm to drive the fixed connecting plate to move transversely to the dock On one side of the door column, after moving a certain distance, the displacement sensor transmits the signal to the control terminal, and the horizontal hydraulic cylinder stops working. At this time, the fixed connecting plate and the dock door column are in the same plane, and the longitudinal hydraulic cylinder starts working, pushing the mounting base to move longitudinally. At the same time, the fixed connecting plate approaches the dock door column. After reaching the command position, the longitudinal hydraulic cylinder stops working and the horizontal hydraulic cylinder slowly contracts. After the fixed connecting plate is safely in contact with the dock door column, the horizontal hydraulic cylinder continues to work, and the dry dock door moves smoothly along the first limit support arm until the dry dock door is fully opened, and the dry dock door opening and closing process is completed.

[0025] The present invention also provides a retracting and extending method of a reciprocating retracting and extending system for opening and closing a dry dock door, comprising the following steps:

[0026] The winch located on the winch mounting platform is controlled by the console to start working. A small spring hook is installed at the front end of the rope on one of the winches, which extends around two sets of pulleys and fixes the rope to the rope mounting block through the small spring hook. The rope of the other winch is passed around a set of pulleys and fixedly connected to the rope mounting block. The rope mounting block is fixedly installed on the telescopic inner arm. When the winch starts to wind, the rope pulls the telescopic inner arm, and the telescopic inner arm and the telescopic outer arm produce relative movement. When the left winch on the winch mounting platform actively releases the rope and the right winch is driven to release the rope, it is in the extended state, that is, the propulsion mode. When the right winch actively releases the rope and the left winch is driven to release the rope, it is in the retracted state, that is, the contraction mode. During the opening process of the dry dock door, the distance data between the dock door connecting hook and the dry dock door is obtained by the visual sensor installed at the front end of the dock door connecting hook. When the specified distance is reached, the visual sensor transmits the data to the control end. At this time, the winch on the winch mounting platform stops working, and at the same time, the winch on the dock in the dock works to lift the telescopic When the arm rotates to a certain angle, the winch on the winch mounting platform drives the telescopic arm to continue working, and reaches the predetermined position again. The winch on the dock in the dock rotates in the opposite direction, lowering the telescopic arm smoothly, and the dock door connecting hook is successfully connected to the dry dock door; then the winch on the dock in the dock is switched to the driven state, the winch on the winch mounting platform resumes working, the dock door connecting hook contacts the dry dock door, and pushes the dry dock door to the specified distance; after stabilization, the slewing system continues to operate, and the winch on the dock in the dock pulls up the telescopic inner arm. After the dock door connecting hook leaves the dry dock door, the right winch on the winch mounting platform is controlled to actively release the rope and the left winch is driven to release the rope and change to the retracted state, pulling back the telescopic inner arm; at this time, the dry dock door is successfully pushed out, and the transverse movement device starts to work. The winch rope on the extension support is connected to the upper end slot of the dry dock door along the rope guide module installed on the extension support. When the winch in the transverse movement device starts to operate, the dry dock door moves smoothly to one side of the dry dock along the second limit support arm under the tension of the rope, and the opening and closing process of the dry dock door is completed.

[0027] Compared with the prior art, the present invention has the following advantages:

[0028] 1. The present invention provides a reciprocating retractable system and method for opening and closing dry dock doors. This system utilizes a propulsion unit, a rotary system, and a transverse motion unit, each interconnected yet independently operating, achieving highly stable and efficient opening, closing, retractable, and deploying operations. Compared to traditional methods, the use of a winch-driven propulsion unit in conjunction with a rotary system and transverse motion unit further improves the safety and stability of dry dock door opening, closing, retractable, and deploying operations.

[0029] 2. This invention provides a reciprocating retractable system and method for opening and closing dry dock doors. The propulsion mechanism utilizes a "dual winch + pulley block" design. The two winches work together through the pulley block to distribute the tension across multiple ropes, reducing the load on a single rope and preventing the risk of breakage. A small spring hook forms an elastic connection between the rope and the telescopic inner arm, absorbing the instantaneous impact force during extension and retraction. Furthermore, when one winch actively releases the rope, the other cooperates, ensuring the stability of the telescopic arm's retraction and retraction motion.

[0030] 3. This invention provides a reciprocating retractable system and method for opening and closing dry dock doors. A buffer slider is used between the telescopic arms of the propulsion mechanism to reduce mechanical wear during relative motion of the arms, lowering the risk of metal fatigue and improving component durability. Furthermore, drain holes are provided around the outer telescopic arms to promptly drain accumulated water from the arms, preventing rust on key components caused by prolonged moisture and reducing maintenance frequency.

[0031] 4. This invention provides a reciprocating retractable and retractable system and method for opening and closing dry dock doors. The mechanical connection between the rotating shaft and the handle in the slewing mechanism provides a stable fulcrum. A pulley assembly on the indirect mounting plate converts winch force into rotational torque, enabling smooth rotation of the telescopic boom and preventing jamming. The winch force is transmitted to the rope fixing end block via the pulley assembly, reducing direct friction loss between the rope and the telescopic boom and extending the rope's life.

[0032] 5. This invention provides a reciprocating retractable system and method for opening and closing dry dock doors. The hydraulically driven lateral movement mechanism utilizes a hydraulic cylinder for step-by-step actuation (first lateral alignment, then longitudinal propulsion), coupled with displacement sensor feedback to ensure precise alignment of the fixed connecting plate with the door columns. The hydraulic system also provides stable thrust, suitable for the lateral movement requirements of heavy dry dock doors. Rigid limiter support arms installed on the dock limit the lateral movement path of the dry dock door, preventing deviation or tilting and ensuring stable movement.

[0033] 6. This invention provides a reciprocating retractable system and method for opening and closing dry dock doors. The winch-traction transverse movement device utilizes a "winch + rope" guide module. Two sets of transverse pulleys on L-shaped steel plates decompose the winch pulling force into transverse and longitudinal components, preventing the risk of overturning caused by unidirectional pulling during dry dock door movement. The pulleys can adjust the rope angle to accommodate different dock structures or dry dock door sizes. A tension sensor is installed to monitor rope load in real time to prevent overload and enhance safety.

[0034] Based on the above reasons, the present invention can be widely promoted in the fields of opening, closing, retracting and extending of dry dock doors. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0036] Figure 1 It is a structural schematic diagram of the reciprocating retractable system used for opening and closing the dry dock door in Example 1 of the present invention.

[0037] Figure 2 It is a schematic structural diagram of the propulsion device in Example 1 of the present invention.

[0038] Figure 3 It is a schematic diagram of the cross-sectional structure of the propulsion device in Example 1 of the present invention.

[0039] Figure 4 It is a schematic diagram of the structure of the rotary system in Example 1 of the present invention.

[0040] Figure 5 It is a schematic structural diagram of the transverse movement device in Example 1 of the present invention.

[0041] Figure 6 It is a structural diagram of a reciprocating retractable system used for opening and closing a dry dock door in Example 2 of the present invention.

[0042] Figure 7 It is a schematic structural diagram of the transverse movement device (left side) in Example 2 of the present invention.

[0043] Figure 8 It is a schematic structural diagram of the transverse movement device (right side) in Example 2 of the present invention.

[0044] In the figure: 1. Propulsion device; 2. Rotation system; 3. Transverse movement device;

[0045] 1.1 Winch mounting platform; 1.2 Pulley; 1.3 Rope mounting block; 1.4 Drain hole; 1.5 Turn handle; 1.6 Small spring hook; 1.7 Indirect mounting plate; 1.8 Dock door connecting hook; 1.9 Telescopic inner arm; 1.10 Telescopic outer arm; 1.11 Inner arm buffer slide; 1.12 Outer arm buffer slide

[0046] 2.1. Winch; 2.2. Dock; 2.3. Rope fixing end block; 2.4. Dry dock door; 2.5. Vision sensor; 2.6. Telescopic arm pad; 2.7. Fixed support; 2.8. Rotating shaft;

[0047] 3.11, dock door column; 3.12, hydraulic cylinder; 3.13, slide rail; 3.14, first limit support arm; 3.15, mounting base; 3.16, fixed connecting plate; 3.17, displacement sensor;

[0048] 3.21. Second limit support arm; 3.22. Tension signal sensor; 3.23. Extension support; 3.24. Rope guide module. DETAILED DESCRIPTION

[0049] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0050] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0051] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0052] Unless otherwise specified, the relative arrangement of the parts and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be clear that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of the exemplary embodiments can have different values. It should be noted that similar numbers and letters represent similar items in the following drawings, and therefore, once an item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0053] In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention: the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0054] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below their position devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0055] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0056] Example 1

[0057] like Figure 1 As shown, the present invention provides a reciprocating retractable system for opening and closing a dry dock door, which is a hydraulic cylinder-type dry dock door opening and closing retractable system, comprising a propulsion device 1, a slewing system 2, and a transverse movement device 3. The propulsion device 1 and the slewing system 2 are installed together, and the transverse movement device 3 is installed on the right side of the dock inside the dock.

[0058] The propulsion device 1 is used to longitudinally move the dry dock door 2.4. Two hydraulic winches 2.1 on one side of the dry dock are connected to the inner arms of the propulsion arm. Driven by the hydraulic winches 2.1, the rope (wire rope) and the inner arm are extended to propel the outer arm. The visual sensor 2.5 calculates the distance between the hook and the connection groove of the dry dock door 2.4, automatically controlling the inner arm to extend to a specified length. The slewing system 2 aligns the hook at the front end of the propulsion device 1 with the dry dock door 2.4, controlling the inner arm to extend and retract to push the dry dock door 2.4 open.

[0059] The slewing system 2 is used to connect the dry dock door 2.4 and the propulsion device 1. When the propulsion device 1 is extended to a specified distance, the hydraulic winch 2.1 on the dock will automatically work to lift the propulsion device 1 to a certain angle;

[0060] The transverse movement device 3 is used to move the dry dock door 2.4 laterally. Two sets of longitudinal and transverse hydraulic cylinders 3.12 are installed on one side of the dock. The longitudinal hydraulic cylinder 3.12 controls the movement of the mounting base 3.15 along the slide rail 3.13. The transverse hydraulic cylinder 3.12 is installed on the mounting base 3.15 and extends a fixed connecting plate 3.16 laterally. When the hydraulic cylinder 3.12 extends a certain distance, the fixed connecting plate 3.16 is securely connected to the dock door column 3.11, and the transverse hydraulic cylinder 3.12 is retracted to successfully open the dry dock door 2.4. A limit device is installed on the dock to ensure that the dry dock door 2.4 does not deviate during movement, thereby improving safety and stability.

[0061] The present invention connects the two winches on the propulsion device to the inner propulsion arm, and comprehensively controls the extension and retraction of the entire propulsion device by controlling the power and extension and retraction of the winches and the calculation algorithm (existing algorithm) of the visual sensor. A synchronous controller is installed on the rotary system. When the propulsion device receives a stop signal from the visual sensor, the synchronous controller will also receive the signal, and then control the winch to work and lift the propulsion device to a set angle. The transverse movement device is equipped with two sets of hydraulic cylinders, one horizontal and one vertical, and a sensor is installed on the fixed connecting plate to improve work efficiency. A limit device is installed on the dock to ensure that the dock door does not deviate during movement, thereby improving safety and stability.

[0062] like Figure 2 and Figure 3As shown, the propulsion device 1 includes a winch mounting platform 1.1, a pulley 1.2, a rope mounting block 1.3, a drain hole 1.4, a turning handle 1.5, a small spring hook 1.6, an indirect mounting plate 1.7, a dock door connecting hook 1.8, a telescopic inner arm 1.9, a telescopic outer arm 1.10, an inner arm buffer slider 1.11 and an outer arm buffer slider 1.12. The winch mounting platform 1.1 is installed on the upper plane of the telescopic outer arm 1.10 and is used for fixedly installing two winches 2.1. The two winches 2.1 are fixedly connected to the winch mounting platform 1.1, and each winch 2.1 is wound with a rope (wire rope). The pulley 1.2 is installed on the upper plane of the winch mounting platform 1.1 and the telescopic outer arm 1.10 to guide the rope and reduce wear. A pulley 1.2 is fixedly installed on each side of the winch mounting platform 1.1, and a pulley 1.2 is fixedly installed on the upper plane of the telescopic outer arm 1.10. The rope mounting block 1.3 is installed at the middle and rear end of the telescopic inner arm 1.9. The fixed slots set at both ends of the rope mounting block 1.3 can be connected to the ropes of the two winches 2.1, and the energy of the winches 2.1 to retract and release the ropes can be transmitted to the telescopic inner arm 1.9. The rope of one winch 2.1 passes around a pulley 1.2 of the winch mounting platform 1.1 and is fixedly connected to a fixed slot on one side of the rope mounting block 1.3. The rope of the other winch 2.1 passes around another pulley 1.2 of the winch mounting platform 1.1 and the pulley 1.2 on the telescopic outer arm 1.10 and is fixedly connected to the fixed slot on the other side of the rope mounting block 1.3. Drain holes 1.4 are provided around the telescopic outer arm 1.10 to discharge seawater retained in the gap between the inner and outer arms during operation, to avoid corrosion of the equipment and increase its service life. The turning handle 1.5 is installed at the rear end of the telescopic outer arm 1.10 and is used to cooperate with the rotating shaft 2.8 in the slewing system 2 for slewing motion. The small spring hook 1.6 is connected to the rope retracted and released by another winch 2.1 and then connected to the fixed slot on the other side of the rope mounting block 1.3. The indirect mounting plate 1.7 is installed on the upper plane of the front end of the telescopic outer arm 1.10 for installing required components. The dock door connecting hook 1.8 is welded to the front end of the telescopic inner arm 1.9 and is used to connect the dry dock door. The telescopic inner arm 1.9 and the telescopic outer arm 1.10 produce greater wear during the operation of the machine, so the inner arm buffer slider 1.11 and the outer arm buffer slider 1.12 are designed and are respectively installed at the rear end of the telescopic inner arm 1.9 and the front end of the telescopic outer arm 1.10 to reduce the contact area between the telescopic arms and reduce wear.

[0063] like Figure 4As shown, the slewing system 2 includes a winch 2.1, a rope fixing end block 2.3, a visual sensor 2.5, a telescopic arm pad 2.6, a fixed support 2.7, and a rotating shaft 2.8; the winch 2.1 is installed on the dock 2.2 in the dock, and a rope is wound and connected thereon. The winch 2.1 is used to provide power for retracting and releasing the rope. The rope fixing end block 2.3 is installed on the indirect mounting plate 1.7 on the upper plane of the front end of the telescopic outer arm 1.10, and is connected to the rope retracted and released by the winch 2.1 on the dock 2.2 in the dock. The indirect mounting plate 1.7 is also installed with a pulley 1.2. The rope of the winch 2.1 passes around the pulley 1.2 and is fixedly connected to the rope fixing end block 2.3. The power of the winch 2.1 drives the telescopic arm to perform slewing motion around the rotating shaft 2.8. The visual sensor 2.5 is installed at the front end of the dock door connecting hook 1.8 in the propulsion device 1. When the telescopic arm is pushed a certain distance, the visual sensor 2.5 calculates the distance between it and the dry dock door 2.4 through the existing algorithm. When the specified distance is reached, the visual sensor 2.5 transmits a digital signal to the shore terminal. At this time, the winch 2.1 on the winch installation platform 1.1 automatically stops working, and the winch 2.1 on the dock 2.2 in the dock is automatically controlled to work and lift the telescopic arm to a certain angle. The winch 2.1 on the winch installation platform 1.1 drives the telescopic arm to continue working until it reaches the designated distance again. At the given position, the new signal will automatically control the winch 2.1 on the dock 2.2 to rotate in the opposite direction, lowering the telescopic arm smoothly. The dock door connecting hook 1.8 is successfully connected to the dry dock door 2.4. The telescopic arm pad 2.6 is installed on the lower plane of the telescopic outer arm 1.10 to stably place the telescopic arm and reduce wear. The fixed support 2.7 is installed on the inner wall of the dock 2.2 to fix the propulsion device 1 and the slewing system 2. The rotating shaft 2.8 is installed at the tail end of the fixed support 2.7 and cooperates with the turning handle 1.5 in the propulsion device 1 to serve as a fulcrum. The turning handle 1.5 is rotatably connected to the rotating shaft 2.8.

[0064] like Figure 5As shown, the transverse movement device 3 includes a dock door column 3.11, a hydraulic cylinder 3.12, a slide rail 3.13, a first limit support arm 3.14, a mounting base 3.15, a fixed connecting plate 3.16, and a displacement sensor 3.17; the dock door column 3.11 is fixedly mounted on the upper surface of the dry dock door 2.4 and serves as the force point for the lateral movement of the dry dock door 2.4. The hydraulic cylinder 3.12 is provided with two groups, one of which is a longitudinal hydraulic cylinder 3.12 and a slide rail 3.13, both of which are mounted on the pier on the right side of the dry dock. The longitudinal hydraulic cylinder 3.12 and the slide rail 3.13 are mounted on the pier on the right side of the dry dock. The output end of cylinder 3.12 is fixedly connected to mounting base 3.15, which is in sliding connection with slide rail 3.13. Longitudinal hydraulic cylinder 3.12 propels mounting base 3.15 longitudinally on slide rail 3.13. Another transverse hydraulic cylinder 3.12 is mounted on mounting base 3.15. Its output end is fixedly connected to an extension arm, to which a fixed connecting plate 3.16 is attached. Transverse hydraulic cylinder 3.12 can be used to move fixed connecting plate 3.16. Multiple first limiting support arms 3.14 are fixedly mounted at intervals on the right side of the dry dock. They limit the lateral movement of dry dock door 2.4, preventing excessive tension on the ropes and improving safety and stability. Mounting base 3.15 slides onto slide rail 3.13, moving longitudinal hydraulic cylinder 3.12. Fixed connecting plate 3.16, mounted on the extension arm, securely connects to dock gate column 3.11. Displacement sensor 3.17, mounted on the front end of the extension arm, transmits signals to accurately control the connection between dock gate column 3.11 and fixed connecting plate 3.16. When transverse hydraulic cylinder 3.12 is operating, displacement sensor 3.17 transmits signals to the control terminal in real time, automatically adjusting the operating status of hydraulic cylinder 3.12 and accurately controlling the connection between dock gate column 3.11 and fixed connecting plate 3.16.

[0065] The present invention also provides a retracting and deploying method of a reciprocating retracting and deploying system for opening and closing a dry dock door. The system of the present invention specifically adopts the following steps when implementing the deployment and recovery operation:

[0066] During the conventional opening, closing, retracting and releasing process, the winch 2.1 located on the winch mounting platform 1.1 is controlled by the console to start working. A small spring hook 1.6 is installed at the front end of the rope on one of the winches 2.1, which is extended to bypass two sets of pulleys 1.2 respectively, and then the rope is connected to the rope mounting block 1.3 through the small spring hook 1.6. The rope of the other winch 2.1 is passed around a set of pulleys 1.2 and fixedly connected to the rope mounting block 1.3. The rope mounting block 1.3 is fixedly installed on the telescopic inner arm 1.9. When the winch 2.1 starts to wind, the rope will pull the telescopic inner arm 1.9. At that time, the telescopic inner arm 1.9 will produce relative motion with the telescopic outer arm 1.10. When the left winch 2.1 on the winch mounting platform 1.1 actively releases the rope and the right winch 2.1 is driven to release the rope, it is in the extended state, that is, the propulsion mode. When the right winch 2.1 actively releases the rope and the left winch 2.1 is driven to release the rope, it is in the retracted state, that is, the contraction mode. During the opening process of dry dock door 2.4, a visual sensor 2.5 mounted on the front end of dock door hook 1.8 calculates the distance to dry dock door 2.4 using an existing algorithm. When the specified distance is reached, visual sensor 2.5 transmits a digital signal to the control terminal, which automatically stops winch 2.1 on winch mounting platform 1.1 and automatically controls winch 2.1 on dock pier 2.2 to raise the telescopic boom to a certain angle. Winch 2.1 on winch mounting platform 1.1 drives the telescopic boom to resume operation. When it reaches the specified position again, the new signal automatically controls winch 2.1 on dock pier 2.2 to reverse direction, smoothly lowering the telescopic boom. Dock door hook 1.8 successfully connects to dry dock door 2.4. Winch 2.1 on dock pier 2.2 then switches to a driven state, and winch 2.1 on winch mounting platform 1.1 resumes operation. Dock door hook 1.8 then contacts dry dock door 2.4, pushing it open to the specified distance. After stabilization, the slewing system 2 continues to operate, the winch 2.1 on the dock 2.2 pulls up the telescopic inner arm 1.9, and after the dock door connecting hook 1.8 leaves the dry dock door 2.4, the right winch 2.1 on the winch installation platform 1.1 is controlled to actively release the rope and the left winch 2.1 is controlled to be in the passive rope release state and then retracted, pulling back the telescopic inner arm 1.9.At this time, the dry dock door 2.4 is successfully pushed out, and the transverse movement device 3 starts to work. The transverse hydraulic cylinder 3.12 pushes the extension arm to drive the fixed connecting plate 3.16 to move horizontally to the side of the dock door column 3.11. After moving a certain distance, the displacement sensor 3.17 transmits a signal to the control terminal, and the transverse hydraulic cylinder 3.12 stops working. At this time, the fixed connecting plate 3.16 and the dock door column 3.11 are in the same plane, and the longitudinal hydraulic cylinder 3.12 starts to work, pushing the mounting base 3.15 to move longitudinally. At the same time, the fixed connecting plate 3.16 moves closer to the dock door column 3.11. After reaching the command position, the longitudinal hydraulic cylinder 3.12 stops working, and the transverse hydraulic cylinder 3.12 slowly retracts. After the fixed connecting plate 3.16 is safely in contact with the dock door column 3.11, the transverse hydraulic cylinder 3.12 continues to work, and the dry dock door 2.4 moves smoothly along the first limit support arm 3.14. The above operation is repeated until the dry dock door 2.4 is fully opened, and the opening and closing process of the dry dock door 2.4 is completed.

[0067] It should be noted that after the dry dock door 2.4 is pushed out, it is slidably connected to the dock. Because there is a structure extending from the bottom of the dry dock that can support the dry dock door 2.4, the dry dock door 2.4 moves (slides) in the longitudinal direction during the pushing process. After the pushing process is completed, the telescopic inner arm 1.9 is retracted, and the dry dock door 2.4 can still stand stably and then slide along the dock via the transverse movement device 3.

[0068] Example 2

[0069] like Figure 6 As shown, the present invention provides a reciprocating retractable system for opening and closing a dry dock door, which is a winch-type dry dock door opening and closing retractable system. The system specifically includes a propulsion device 1, a slewing system 2, and a transverse movement device 3. The propulsion device 1 and the slewing system 2 are installed together, and the transverse movement device 3 is installed on both sides of the dock inside the dock.

[0070] The propulsion device 1 is used to longitudinally move the dry dock door 2.4. Two hydraulic winches 2.1 on one side of the dry dock are connected to the inner arms of the propulsion arm. Driven by the hydraulic winches 2.1, the rope (wire rope) and the inner arm are extended to propel the outer arm. The visual sensor 2.5 calculates the distance between the hook and the connection groove of the dry dock door 2.4, automatically controlling the inner arm to extend to a specified length. The slewing system 2 aligns the hook at the front end of the propulsion device 1 with the dry dock door 2.4, controlling the inner arm to extend and retract to push the dry dock door 2.4 open.

[0071] The slewing system 2 is used to connect the dry dock door 2.4 and the propulsion device 1. When the propulsion device 1 is extended to a specified distance, the hydraulic winch 2.1 on the dock will automatically work to lift the propulsion device 1 to a certain angle;

[0072] The transverse movement device 3 is used to move the dry dock door 2.4 laterally. The rope (steel wire rope) is connected to the connection groove of the dry dock door 2.4 through the transverse guide wheel. The dry dock door 2.4 is opened by a winch installed on the dock. At the same time, a limit device is installed on the dock to ensure that the dry dock door 2.4 does not deviate during movement, thereby improving safety and stability.

[0073] The present invention connects the two winches on the propulsion unit to the inner propulsion arm. By controlling the winch's power and retraction and extension, and the visual sensor's calculation algorithm (existing algorithm), the overall propulsion unit's retraction and extension are comprehensively controlled. A synchronous controller is installed on the slewing system. When the propulsion unit receives a stop signal from the visual sensor, the synchronous controller also receives the signal, controlling the winch to raise the propulsion unit to a set angle. A limiter is installed on the traverse mechanism to reduce irregular force on the wire rope, improving stability and safety during traverse.

[0074] like Figure 2 and Figure 3As shown, the propulsion device 1 includes a winch mounting platform 1.1, a pulley 1.2, a rope mounting block 1.3, a drain hole 1.4, a turning handle 1.5, a small spring hook 1.6, an indirect mounting plate 1.7, a dock door connecting hook 1.8, a telescopic inner arm 1.9, a telescopic outer arm 1.10, an inner arm buffer slider 1.11 and an outer arm buffer slider 1.12. The winch mounting platform 1.1 is installed on the upper plane of the telescopic outer arm 1.10 and is used for fixedly installing two winches 2.1. The two winches 2.1 are fixedly connected to the winch mounting platform 1.1, and each winch 2.1 is wound with a rope (wire rope). The pulley 1.2 is installed on the upper plane of the winch mounting platform 1.1 and the telescopic outer arm 1.10 to guide the rope and reduce wear. A pulley 1.2 is fixedly installed on each side of the winch mounting platform 1.1, and a pulley 1.2 is fixedly installed on the upper plane of the telescopic outer arm 1.10. The rope mounting block 1.3 is installed at the middle and rear end of the telescopic inner arm 1.9. The fixed slots set at both ends of the rope mounting block 1.3 can be connected to the ropes of the two winches 2.1, and the energy of the winches 2.1 to retract and release the ropes can be transmitted to the telescopic inner arm 1.9. The rope of one winch 2.1 passes around a pulley 1.2 of the winch mounting platform 1.1 and is fixedly connected to a fixed slot on one side of the rope mounting block 1.3. The rope of the other winch 2.1 passes around another pulley 1.2 of the winch mounting platform 1.1 and the pulley 1.2 on the telescopic outer arm 1.10 and is fixedly connected to the fixed slot on the other side of the rope mounting block 1.3. Drain holes 1.4 are provided around the telescopic outer arm 1.10 to discharge seawater retained in the gap between the inner and outer arms during operation, thereby avoiding corrosion of the equipment and increasing its service life. The turning handle 1.5 is installed at the rear end of the telescopic outer arm 1.10 to cooperate with the rotating shaft 2.8 in the slewing system 2 for slewing motion. The small spring hook 1.6 is connected to the rope retracted and released by another winch 2.1 and then connected to the fixed slot on the other side of the rope mounting block 1.3. The indirect mounting plate 1.7 is installed on the upper plane of the telescopic outer arm 1.10 for installing required components. The dock door connecting hook 1.8 is welded to the front end of the telescopic inner arm 1.9 and is used to connect the dry dock door. The telescopic inner arm 1.9 and the telescopic outer arm 1.10 generate greater wear during the operation of the machine, so the inner arm buffer slider 1.11 and the outer arm buffer slider 1.12 are designed and are respectively installed at the rear end of the telescopic inner arm 1.9 and the front end of the telescopic outer arm 1.10 to reduce the contact area between the telescopic arms and reduce wear.

[0075] like Figure 4As shown, the slewing system 2 includes a winch 2.1, a rope fixing end block 2.3, a visual sensor 2.5, a telescopic arm pad 2.6, a fixed support 2.7, and a rotating shaft 2.8; the winch 2.1 is installed on the dock 2.2 in the dock, and a rope is wound and connected thereon. The winch 2.1 is used to provide power for retracting and releasing the rope. The rope fixing end block 2.3 is installed on the indirect mounting plate 1.7 on the upper plane of the front end of the telescopic outer arm 1.10, and is connected to the rope retracted and released by the winch 2.1 on the dock 2.2 in the dock. The indirect mounting plate 1.7 is also installed with a pulley 1.2. The rope of the winch 2.1 passes around the pulley 1.2 and is fixedly connected to the rope fixing end block 2.3. The power of the winch 2.1 drives the telescopic arm to perform slewing motion around the rotating shaft 2.8. The visual sensor 2.5 is installed at the front end of the dock door connecting hook 1.8 in the propulsion device 1. When the telescopic arm is pushed a certain distance, the visual sensor 2.5 calculates the distance between it and the dry dock door 2.4 through the existing algorithm. When the specified distance is reached, the visual sensor 2.5 transmits a digital signal to the shore terminal. At this time, the winch 2.1 on the winch installation platform 1.1 automatically stops working, and the winch 2.1 on the dock 2.2 in the dock is automatically controlled to work and lift the telescopic arm to a certain angle. The winch 2.1 on the winch installation platform 1.1 drives the telescopic arm to continue working until it reaches the designated distance again. At the given position, the new signal will automatically control the winch 2.1 on the dock 2.2 to rotate in the opposite direction, lowering the telescopic arm smoothly. The dock door connecting hook 1.8 is successfully connected to the dry dock door 2.4. The telescopic arm pad 2.6 is installed on the lower plane of the telescopic outer arm 1.10 to stably place the telescopic arm and reduce wear. The fixed support 2.7 is installed on the inner wall of the dock 2.2 to fix the propulsion device 1 and the slewing system 2. The rotating shaft 2.8 is installed at the tail end of the fixed support 2.7 and cooperates with the turning handle 1.5 in the propulsion device 1 to serve as a fulcrum. The turning handle 1.5 is rotatably connected to the rotating shaft 2.8.

[0076] like Figure 7 and Figure 8As shown, the traverse device 3 includes a second position-limiting support arm 3.21, a tension signal sensor 3.22, an extension support 3.23, and a rope guide module 3.24. The extension support 3.23 is fixedly connected to both sides of the inner dock pier 2.2. A winch and rope guide module 3.24 are fixedly mounted on each extension support 3.23. The extension support 3.23 is a mounting platform extending from appropriate locations on both sides of the dry dock pier, for mounting the rope guide module 3.24. The winch is wound with rope. The rope guide module 3.24 is assembled by welding an L-shaped steel plate and two sets of transverse pulleys, which guide the rope to the dock door 2.4. The rope of each winch passes through the pulley set of the corresponding rope guide module 3.24 and is fixed to the dry dock door 2.4. Multiple second position-limiting support arms 3.21 are provided, fixedly installed at intervals on the right side of the dry dock pier. They limit the traverse trajectory of the dry dock door 2.4 and prevent excessive tension on the rope. The tension signal sensor 3.22 is installed on the winches on both sides of the dry dock pier (inner dock pier 2.2). When the dock door moves laterally, the tension signal sensor 3.22 transmits a signal to the control terminal in real time. Through the existing algorithm, the status of the working rope at that moment is determined and promptly fed back to the control terminal, automatically adjusting the speed of the corresponding winch to avoid excessive tension on the rope and improve safety.

[0077] The present invention also provides a retracting and deploying method of a reciprocating retracting and deploying system for opening and closing a dry dock door. The system of the present invention specifically adopts the following steps when implementing the deployment and recovery operation:

[0078] During the conventional opening, closing, retracting and releasing process, the winch 2.1 located on the winch mounting platform 1.1 is controlled by the console to start working. A small spring hook 1.6 is installed at the front end of the rope on one of the winches 2.1, which is extended to bypass two sets of pulleys 1.2 respectively, and then the rope is connected to the rope mounting block 1.3 through the small spring hook 1.6. The rope of the other winch 2.1 is passed around a set of pulleys 1.2 and fixedly connected to the rope mounting block 1.3. The rope mounting block 1.3 is fixedly installed on the telescopic inner arm 1.9. When the winch 2.1 starts to wind, the rope will pull the telescopic inner arm 1.9. At that time, the telescopic inner arm 1.9 will produce relative motion with the telescopic outer arm 1.10. When the left winch 2.1 on the winch mounting platform 1.1 actively releases the rope and the right winch 2.1 is driven to release the rope, it is in the extended state, that is, the propulsion mode. When the right winch 2.1 actively releases the rope and the left winch 2.1 is driven to release the rope, it is in the retracted state, that is, the contraction mode. During the opening process of dry dock door 2.4, a visual sensor 2.5 mounted on the front end of dock door hook 1.8 calculates the distance to dry dock door 2.4 using an existing algorithm. When the specified distance is reached, visual sensor 2.5 transmits a digital signal to the control terminal, which automatically stops winch 2.1 on winch mounting platform 1.1 and automatically controls winch 2.1 on dock pier 2.2 to raise the telescopic boom to a certain angle. Winch 2.1 on winch mounting platform 1.1 drives the telescopic boom to resume operation. When it reaches the specified position again, the new signal automatically controls winch 2.1 on dock pier 2.2 to reverse direction, smoothly lowering the telescopic boom. Dock door hook 1.8 successfully connects to dry dock door 2.4. Winch 2.1 on dock pier 2.2 then switches to a driven state, and winch 2.1 on winch mounting platform 1.1 resumes operation. Dock door hook 1.8 then contacts dry dock door 2.4, pushing it open to the specified distance. After stabilization, slewing system 2 continues to operate. Winch 2.1 on dock 2.2 pulls up telescopic inner arm 1.9. After dock door connecting hook 1.8 clears dry dock door 2.4, right winch 2.1 on winch mounting platform 1.1 is controlled to actively release the rope, while left winch 2.1 is controlled to retract the rope, pulling back telescopic inner arm 1.9. At this point, dry dock door 2.4 is successfully extended, and transverse movement device 3 begins operation. The rope on the winch is connected to the upper end slot of dry dock door 2.4 along the rope guide module 3.24 installed on the extension support 3.23. When the winch in transverse movement device 3 begins to operate, dry dock door 2.4, under the tension of the rope, moves smoothly along the second limit support arm 3.21 to the side of the dry dock, completing the opening and closing process of dry dock door 2.4.

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A reciprocating retractable system for opening and closing a dry dock door, characterized in that: include: A propulsion device (1) comprises a telescopic arm and a first driving mechanism connected to the telescopic arm, wherein a dock door connecting hook (1.8) is provided at the front end of the telescopic arm, and the first driving mechanism is used to drive the telescopic arm to extend and retract, thereby enabling the dock door connecting hook (1.8) to move closer to or farther away from the dry dock door (2.4); The slewing system (2) comprises a second driving mechanism fixedly connected to the dock (2.2) in the dock and a fixed support (2.7); the telescopic arm is rotatably connected to the fixed support (2.7); the second driving mechanism is connected to the telescopic arm and is used to drive the telescopic arm to rotate with the dock door connecting hook (1.8), thereby achieving connection between the dock door connecting hook (1.8) and the dry dock door (2.4), and further achieving longitudinal movement of the dry dock door (2.4) through the propulsion device (1); The transverse movement device (3) is installed on the dock (2.2) in the dock and is fixedly connected to the dry dock door (2.4) to realize the transverse movement of the dry dock door (2.4).

2. The reciprocating retractable system for opening and closing a dry dock door according to claim 1, characterized in that: The first driving mechanism comprises a winch mounting platform (1.1), a pulley (1.2) and a rope mounting block (1.3); the telescopic arm comprises a telescopic inner arm (1.9) and a telescopic outer arm (1.10); the dock door connecting hook (1.8) is welded to the front end of the telescopic inner arm (1.9); The winch mounting platform (1.1) is mounted on the upper plane of the telescopic outer arm (1.10), two winches (2.1) are fixedly connected to the winch mounting platform (1.1), ropes are wound around the winches (2.1), pulleys (1.2) are fixedly mounted on both sides of the winch mounting platform (1.1) and the upper plane of the telescopic outer arm (1.10), the rope mounting block (1.3) is mounted on the middle and rear ends of the telescopic inner arm (1.9), and ropes are arranged on both sides of the rope mounting block (1.3). There are fixed notches, and the two fixed notches are respectively connected to the ropes of the two winches (2.1). The rope of one winch (2.1) passes around a pulley (1.2) of the winch mounting platform (1.1) and is fixedly connected to the fixed notch on one side of the rope mounting block (1.3). The rope of the other winch (2.1) passes around another pulley (1.2) of the winch mounting platform (1.1) and the pulley (1.2) on the telescopic outer arm (1.10) and is fixedly connected to the fixed notch on the other side of the rope mounting block (1.3).

3. The reciprocating retractable system for opening and closing a dry dock door according to claim 2, characterized in that: A small spring hook (1.6) is connected to the fixed notch on the other side of the rope installation block (1.3), and the small spring hook (1.6) is fixedly connected to the rope; An inner arm buffer slider (1.11) is provided at the rear end of the telescopic inner arm (1.9), and an outer arm buffer slider (1.12) is provided inside the front end of the telescopic outer arm (1.10); A telescopic arm pad (2.6) is installed on the lower plane of the telescopic outer arm (1.10), and water drainage holes (1.4) are arranged around the telescopic outer arm (1.10).

4. The reciprocating retractable system for opening and closing a dry dock door according to claim 2, characterized in that: The second driving mechanism comprises a winch (2.1), a rope fixing end block (2.3), a telescopic arm pad (2.6) and a rotating shaft (2.8); The winch (2.1) is installed on a dock (2.2) in the dock, and a rope is wound around it; the rotating shaft (2.8) is installed at the tail end of the fixed support (2.7); the rear end of the telescopic outer arm (1.10) is installed with a rotating handle (1.5), and the rotating handle (1.5) is rotatably connected to the rotating shaft (2.8); An indirect mounting plate (1.7) is installed on the front upper plane of the telescopic outer arm (1.10), the rope fixing end block (2.3) is installed on the indirect mounting plate (1.7), and a pulley (1.2) is also installed on the indirect mounting plate (1.7). The rope of the winch (2.1) passes around the pulley (1.2) and is fixedly connected to the rope fixing end block (2.3), and the power of the winch (2.1) drives the telescopic arm to perform rotational motion around the rotating shaft (2.8).

5. The reciprocating retractable system for opening and closing a dry dock door according to claim 1, characterized in that: A visual sensor (2.5) is installed at the front end of the dock door connecting hook (1.8).

6. The reciprocating retractable system for opening and closing a dry dock door according to claim 4, characterized in that: The transverse movement device (3) comprises a dock door column (3.11), a hydraulic oil cylinder (3.12), a slide rail (3.13), a mounting base (3.15) and a fixed connection plate (3.16); the dock door column (3.11) is fixedly mounted on the upper surface of the dry dock door (2.4); the hydraulic oil cylinder (3.12) is provided with two groups; the longitudinal hydraulic oil cylinder (3.12) and the slide rail (3.13) are both mounted on a pier on one side of the dry dock; the output end of the longitudinal hydraulic oil cylinder (3.12) is fixedly connected to the mounting base (3.15); the mounting base (3.15) is slidably connected to the slide rail (3.13); the transverse hydraulic oil cylinder (3.12) is mounted on the mounting base (3.15); the output end of the transverse hydraulic oil cylinder (3.12) is fixedly connected to an extension arm; the fixed connection plate (3.16) is mounted on the extension arm and is used for fixed connection to the dock door column (3.11).

7. The reciprocating retractable system for opening and closing a dry dock door according to claim 6, characterized in that: A plurality of first position-limiting support arms (3.14) are fixedly installed on a pier on one side of the dry dock, for limiting the transverse movement track of the dry dock door (2.4); a displacement sensor (3.17) is installed at the front end of the extension arm.

8. The reciprocating retractable system for opening and closing a dry dock door according to claim 4, characterized in that: The transverse movement device (3) includes a winch, a second position-limiting support arm (3.21), a tension signal sensor (3.22), an extension support (3.23) and a rope guide module (3.24). Both sides of the dock (2.2) in the dock are fixedly connected to the extension support (3.23). The winch and the rope guide module (3.24) are fixedly installed on the extension support (3.23). The winch is wound with a rope. The rope guide module (3.24) includes an L-shaped steel plate and two sets of transverse pulley groups installed on the L-shaped steel plate. The rope of each winch passes around the pulley group of the corresponding rope guide module (3.24) and is fixedly connected to the dry dock door (2.4). The second limiting support arms (3.21) are provided in plurality and fixedly mounted on a pier on one side of the dry dock, and are used to limit the lateral movement track of the dry dock door (2.4); the tension signal sensor (3.22) is mounted on winches on both sides of the pier (2.2) in the dock.

9. A retracting and extending method for a reciprocating retracting and extending system for opening and closing a dry dock door according to claim 7, characterized in that: The steps include: The winches (2.1) located on the winch installation platform (1.1) are controlled by the control console to start working. A small spring hook (1.6) is installed at the front end of the rope on one of the winches (2.1), which extends around two sets of pulleys (1.2) respectively, and the rope is fixedly connected to the rope installation block (1.3) through the small spring hook (1.6). The rope of the other winch (2.1) passes around a set of pulleys (1.2) and is fixedly connected to the rope installation block (1.3). The rope installation block (1.3) is fixedly installed on the telescopic inner arm (1.9). When the winch (2.1) starts to roll, the rope pulls the telescopic inner arm (1.9), and the telescopic inner arm (1.9) and the telescopic outer arm (1.10) generate relative motion. When the left winch on the winch installation platform (1.1) When the right winch (2.1) actively releases the rope and the left winch (2.1) passively releases the rope, the state is extended, i.e., the propulsion mode; when the right winch actively releases the rope and the left winch passively releases the rope, the state is retracted, i.e., the contraction mode; during the opening process of the dry dock door (2.4), the distance data between the dock door connecting hook (1.8) and the dry dock door (2.4) is obtained by the visual sensor (2.5) installed at the front end of the dock door connecting hook (1.8). When the specified distance is reached, the visual sensor (2.5) transmits the data to the control end. At this time, the winch (2.1) on the winch installation platform (1.1) stops working, and at the same time, the winch (2.1) on the dock (2.2) in the dock works to lift the telescopic arm and rotate it to a certain angle, and the winch (2.1) on the winch installation platform (1.1) drives the telescopic arm to rotate to a certain angle. The retracted arm continues to work and reaches the predetermined position again. The winch (2.1) on the dock (2.2) rotates in the opposite direction to lower the telescopic arm steadily. The dock door connecting hook (1.8) is successfully connected to the dry dock door (2.4). Then the winch (2.1) on the dock (2.2) is switched to the driven state. The winch (2.1) on the winch installation platform (1.1) resumes working. The dock door connecting hook (1.8) contacts the dry dock door (2.4) and pushes the dry dock door (2.4) to the specified distance. After stabilization, the slewing system (2) continues to operate. The winch (2.1) on the dock (2.2) pulls up the telescopic inner arm (1.9). After the dock door connecting hook (1.8) leaves the dry dock door (2.4), it controls the right winch on the winch installation platform (1.1). (2.1) The active rope is released, and the left winch (2.1) changes from the driven rope to the retracted state, pulling back the telescopic inner arm (1.9); at this time, the dry dock door (2.4) is successfully pushed out, and the transverse movement device (3) starts to work. The transverse hydraulic cylinder (3.12) pushes the extension arm to drive the fixed connecting plate (3.16) to move transversely to the side of the dock door column (3.11). After moving a certain distance, the displacement sensor (3.17) transmits the signal to the control terminal, and the transverse hydraulic cylinder (3.12) stops working. At this time, the fixed connecting plate (3.16) and the dock door column (3.11) are located in the same plane. The longitudinal hydraulic cylinder (3.12) starts to work, pushing the mounting base (3.15) to move longitudinally, and at the same time, the fixed connecting plate (3.16) moves toward the dock door column (3.11) approaches, and after reaching the command position, the longitudinal hydraulic cylinder (3.12) stops working, and the transverse hydraulic cylinder (3.12) slowly contracts. After the fixed connecting plate (3.16) is safely in contact with the dock door column (3.11), the transverse hydraulic cylinder (3.12) continues to work, and the dry dock door (2.4) moves smoothly along the first limit support arm (3.14) until the dry dock door (2.4) is fully opened, and the opening and closing process of the dry dock door (2.4) is completed.

10. A retracting and extending method for a reciprocating retracting and extending system for opening and closing a dry dock door according to claim 8, characterized in that: The steps include: The winches (2.1) located on the winch installation platform (1.1) are controlled by a control console to start working. A small spring hook (1.6) is installed at the front end of the rope on one of the winches (2.1), which extends around two sets of pulleys (1.2) and is fixedly connected to the rope installation block (1.3) through the small spring hook (1.6). The rope of the other winch (2.1) passes around a set of pulleys (1.2) and is fixedly connected to the rope installation block (1.3). The rope installation block (1.3) is fixedly installed on the telescopic inner arm (1.9). When the winch (2.1) starts to roll, the rope pulls the telescopic inner arm (1.9), and the telescopic inner arm (1.9) and the telescopic outer arm (1.10) produce relative motion. When the winch installation platform is opened, the rope pulls the telescopic inner arm (1.9), and the telescopic inner arm (1.9) and the telescopic outer arm (1.10) produce relative motion. When the left winch (2.1) on (1.1) actively releases the rope and the right winch (2.1) passively releases the rope, it is in the extended state, i.e., the propulsion mode; when the right winch actively releases the rope and the left winch passively releases the rope, it is in the retracted state, i.e., the contraction mode; during the opening process of the dry dock door (2.4), the distance data between the dock door connecting hook (1.8) and the dry dock door (2.4) is obtained by the visual sensor (2.5) installed at the front end of the dock door connecting hook (1.8); when the specified distance is reached, the visual sensor (2.5) transmits the data to the control end, and at this time, the winch (2.1) on the winch installation platform (1.1) stops working, and at the same time, the winch (2.1) on the dock (2.2) in the dock works to lift the telescopic arm and rotate it to a certain angle. The winch (2.1) on the winch installation platform (1.1) drives the telescopic arm to continue working and reach the predetermined position again. The winch (2.1) on the dock (2.2) in the dock rotates in the opposite direction to lower the telescopic arm steadily. The dock door connecting hook (1.8) is successfully connected with the dry dock door (2.4). Then the winch (2.1) on the dock (2.2) in the dock is turned to the driven state. The winch (2.1) on the winch installation platform (1.1) resumes working. The dock door connecting hook (1.8) contacts the dry dock door (2.4) and pushes the dry dock door (2.4) to the specified distance. After stabilization, the slewing system (2) continues to operate. The winch (2.1) on the dock (2.2) in the dock pulls up the telescopic inner arm (1.9). The dock door connecting hook ( After leaving the dry dock door (2.4), the right winch (2.1) on the winch installation platform (1.1) is controlled to actively release the rope, and the left winch (2.1) is controlled to be in a retracted state from the driven rope release state, and the telescopic inner arm (1.9) is pulled back; at this time, the dry dock door (2.4) is successfully pushed out, the transverse movement device (3) starts to work, and the winch rope on the extension support (3.23) is connected to the upper end notch of the dry dock door (2.4) along the rope guide module (3.24) installed on the extension support (3.23). When the winch in the transverse movement device (3) starts to operate, the dry dock door (2.4) moves smoothly to the side of the dry dock along the second limit support arm (3.21) under the action of the rope tension, and the opening and closing process of the dry dock door (2.4) is completed.

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