A dehooking device with precise delivery function

Abstract

The present invention relates to a dehooker with a precise delivery function, which includes a housing, a hook body, a driving mechanism, and a positioning mechanism. The input end of the control mechanism is serially connected to the positioning mechanism, and the output end of the control mechanism is electrically connected to the driving mechanism. The driving mechanism is mechanically connected to the hook body through mechanical transmission; the control mechanism includes a main control board, a single-chip microcomputer processor, a wireless transceiver module, a pulse signal receiving circuit module, a channel switch module, a storage module, and a power conversion module integrated on the main control board; the positioning mechanism includes a GPS locator, a speed sensor, a current meter, and a radar position sensor. The dehooker makes precise delivery possible and enhances the flexibility of dehooking control; the dehooker also optimizes the internal driving structure of the dehooker, which simplifies the opening and closing control of the hook body and improves the stability of the opening and closing state, while improving the durability of the driving components.

Description

Technical Field

[0001] The invention relates to the field of machinery, and in particular to a dehooker with a precise delivery function. Background Art

[0002] At present, resource development has advanced from traditional land mining to the ocean. Marine oil and gas development and seabed hydrothermal mining areas have become key research areas for oil and gas and mineral development, and offshore operations have become more sophisticated and specialized. In marine exploration and development activities, the lifting and recovery of equipment are the most frequent. Compared with traditional manual lifting, the unhooker can improve the safety factor of operators and simplify operations in the face of harsh offshore operating environments. The existing unhookers used in offshore lifting operations generally have a low degree of intelligence. Generally, the equipment is unhooked and released by operating a manual mechanical switch or a short-range remote control. In addition, when the ship is sailing or released under the sea, the equipment is in a follow-up state. After unhooking, the equipment will be in an unsatisfactory accuracy and precision due to the inertia of the previous follow-up and environmental factors such as sea breeze and current. Summary of the invention

[0003] The technical problem to be solved by the present invention is: to overcome the defects of low intelligence level and poor landing accuracy of the existing unhooking device control method, and to provide an unhooking device with a precise delivery function, which collects the sailing status of the equipment or the underwater delivery status and environmental parameters and uploads them, so as to provide necessary functional hardware for error compensation for advancing or delaying the delivery time according to the preset delivery landing point, thereby making precise delivery possible, and at the same time, it can switch between automatic control of the preset delivery coordinates and the manual remote control on the ship, thereby enhancing the flexibility of the unhooking control; the unhooking device also optimizes the internal driving structure of the unhooking device, converting the traditional unhooking device hook body rotation drive into a linear travel drive mode transmitted by a screw-connecting arm, thereby simplifying the opening and closing control of the hook body and improving the stability of the opening and closing state, while improving the durability of the driving components.

[0004] The dehooker with precise delivery function comprises a shell, a hook body arranged at the front end of the shell, and a driving mechanism arranged inside the shell, wherein a control box is arranged on one side of the rear part of the shell, a control mechanism is arranged inside the control box, and a positioning mechanism is arranged outside the control box, the input end of the control mechanism is serially connected to the positioning mechanism, the output end of the control mechanism is electrically connected to the driving mechanism, and the driving mechanism is mechanically connected to the hook body by mechanical transmission; the control mechanism comprises a main control board, a single-chip microcomputer processor, a wireless transceiver module, a pulse signal receiving circuit module, a channel switch module, a storage module, and a power conversion module integrated on the main control board; the positioning mechanism comprises a GPS locator, a speed sensor, a current meter, and a radar position sensor.

[0005] Specifically, with regard to the internal functional elements of the control mechanism, and the communication and control connection relationship with the positioning mechanism and the driving mechanism, the GPS locator, speed sensor, current meter and radar position sensor are connected to the single-chip processor through a serial port bus, the single-chip processor is connected to the wireless transceiver module and the storage module through the TXD / RXD pin group, the input end of the single-chip processor is connected to the pulse signal receiving circuit module, the output end of the single-chip processor is connected to the control end of the channel switch module, the wireless transceiver module and the pulse signal receiving circuit module are respectively connected to the input end of the channel switch module, and the output end of the channel switch module is connected to the driving mechanism.

[0006] Specifically for the selection of functional component models, the single-chip microcomputer processor adopts the STM32F series 103C8T6 chip, the wireless transceiver module adopts the SX1278 433MHz RF data transmission module in the form of LoRa wireless communication, the pulse signal receiving circuit module adopts the integrated RX-TP-L4 pulse signal receiving integrated circuit module, and the channel switch module adopts the AD9854 multi-channel DDS switching module; the GPS locator adopts the SPS855 ocean locator, the speed sensor adopts the WTGAHRS3 six-axis inertial speed sensor, the current meter adopts the BES--PSC30F-S04 flow velocity and direction sensor, and the radar position sensor adopts the TOF-N10 deep-water level radar probe.

[0007] Specifically speaking of the components of the driving mechanism, the driving mechanism includes a servo motor, a curved rod, a driving nut, a driving rod and a pair of transmission arms in the order of power output. The servo driver of the servo motor is connected to the output end signal of the channel switch module, and the transmission arm is pivotally connected to the upper end of the hook body.

[0008] Specifically regarding the connection relationship between the components of the driving mechanism, a support plate and a pair of pins are provided inside the outer shell, a pair of guide rails are provided below the support plate, a through hole is provided on the support plate between the two guide rails, a transfer bearing is fixedly connected in the through hole, the driving nut is fixed on the inner ring of the transfer bearing, and the outer ring of the transfer bearing is fixed on the inner wall of the through hole in the center of the support plate.

[0009] Furthermore, the lower part of the driving rod is in the shape of a square column and is slidably fitted in the guide rail, the upper part of the driving rod is in the shape of a cylinder and is provided with a threaded portion, the threaded portion of the upper part of the driving rod is threadedly connected to the driving nut, and the hook body is rotatably connected to the pin shaft.

[0010] Furthermore, the driving nut is fixedly connected to the servo motor via a curved rod.

[0011] Specifically, regarding the transmission method between the driving mechanism and the hook body, a connecting ear is provided at the upper end of the hook body, and the inner ends of the transmission arms are respectively hinged to both sides of the lower end of the driving rod, and the inner ends of the transmission arms are respectively hinged to the connecting ears at the upper ends of the two hook bodies.

[0012] The present invention provides a dehooker with a precise delivery function, which overcomes the defects of low intelligence level of the existing dehooker control mode and poor landing point accuracy of the dehooker device, and provides a dehooker with a precise delivery function. The dehooker collects the sailing state of the equipment or the state of underwater delivery and environmental parameters and uploads them, so as to provide necessary functional hardware for error compensation for advancing or delaying the delivery time according to a preset delivery landing point, thereby making precise delivery possible. At the same time, it can switch between automatic control of the preset delivery coordinates and a manual remote control on the ship, thereby enhancing the flexibility of the dehooking control. The dehooker also optimizes the internal driving structure of the dehooker, converts the traditional dehooker hook body rotation drive into a linear travel drive mode through a screw-connecting arm transmission, thereby simplifying the opening and closing control of the hook body and improving the stability of the opening and closing state, while improving the durability of the driving components. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The following is a further description of a dehooking device with a precise delivery function according to the present invention in conjunction with the accompanying drawings:

[0014] Figure 1 This is a schematic diagram of the main plane structure of the dehooker with precise delivery function;

[0015] Figure 2 This is a schematic diagram of the main plane structure of the dehooker with precise delivery function;

[0016] Figure 3 This is a schematic diagram of the driving mechanism of the dehooker with precise delivery function (hook body closed state - hoisting state);

[0017] Figure 4 This is a schematic diagram of the driving mechanism of the dehooker with precise delivery function (hook body open state - dehooking delivery state)

[0018] Figure 5 It is a wireframe diagram of the logic structure and functional components of the control mechanism of the decoupling device with precise delivery function.

[0019] In the figure:

[0020] 1-housing; 11-support plate, 12-pin shaft, 13-guide rail; 131-transfer bearing;

[0021] 2-hook body; 21-connecting ear;

[0022] 3-driving mechanism; 31-servo motor, 32-bending rod, 33-driving nut, 34-driving rod, 35-transmission arm

[0023] 4- Control box;

[0024] 5-control mechanism; 51-main control board, 52-single chip processor, 53-wireless transceiver module, 54-pulse signal receiving circuit module, 55-channel switch module, 56-storage module, 57-power conversion module;

[0025] 6-positioning mechanism; 61-GPS locator, 62-speed sensor, 63-current meter, 64-radar position sensor. DETAILED DESCRIPTION

[0026] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] In the description of the present invention, it should be understood that the terms "left", "right", "front", "back", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0028] The technical solution of the present invention is further described below with specific embodiments, but the protection scope of the present invention is not limited to the following embodiments.

[0029] Implementation method 1: Figure 1 , 2As shown in Figure 5, the dehooker with precise delivery function comprises a shell 1, a hook body 2 arranged at the front end of the shell 1, and a driving mechanism 3 arranged inside the shell 1, wherein a control box 4 is arranged on one side of the rear portion of the shell 1, a control mechanism 5 is arranged inside the control box 4, and a positioning mechanism 6 is arranged outside the control box 4, the input end of the control mechanism 5 is serially connected to the positioning mechanism 6, and the output end of the control mechanism 5 is electrically connected to the driving mechanism 3, and the driving mechanism is mechanically connected to the hook body 2 by mechanical transmission; the control mechanism 5 comprises a main control board 51, a single-chip processor 52, a wireless transceiver module 53, a pulse signal receiving circuit module 54, a channel switch module 55, a storage module 56, and a power conversion module 57 integrated on the main control board 51; the positioning mechanism 6 comprises a GPS locator 61, a speed sensor 62, a current meter 63 and a radar position sensor 64. Specifically, as for the selection of functional component models, the single-chip microcomputer processor 52 adopts the STM32F series 103C8T6 chip, the wireless transceiver module 53 adopts the SX1278 433MHz RF data transmission module in the form of LoRa wireless communication, the pulse signal receiving circuit module 54 adopts the integrated RX-TP-L4 pulse signal receiving integrated circuit module, and the channel switch module 55 adopts the AD9854 multi-channel DDS switching module; the GPS locator 61 adopts the SPS855 ocean locator, the speed sensor 62 adopts the WTGAHRS3 six-axis inertial speed sensor, the current meter 63 adopts the BES--PSC30F-S04 flow velocity and direction sensor, and the radar position sensor 64 adopts the TOF-N10 deep-water level radar probe. The GPS locator and speed sensor are used to collect the ship's position, speed and direction respectively; the current meter and radar position sensor are used to collect the current direction, flow velocity and relative position of the lifting equipment at the unhooking position respectively; the collected information is sent to the single-chip microcomputer processor, and then sent to the remote control end through the wireless transceiver module, or loaded with compensation calculation software through the storage module, and directly loaded into the single-chip microcomputer processor to perform release time difference calculation; the hook-opening control command signal of the processed ideal state release time ± compensated release time difference is sent to the servo controller of the drive motor through the channel switch module, thereby realizing precise delivery; when active control is required, the pulse signal receiving circuit module can receive the remote control signal, and send an instant control command signal to the servo controller of the drive motor through the channel switch module, thereby realizing manual control.

[0030] Implementation method 2: Figure 5As shown, the GPS locator 61, speed sensor 62, current meter 63 and radar position sensor 64 of the decoupling device with precise delivery function are connected to the single-chip processor 52 through a serial port bus, and the single-chip processor 52 is connected to the wireless transceiver module 53 and the storage module 56 through the TXD / RXD pin group. The input end of the single-chip processor 52 is connected to the pulse signal receiving circuit module 54, and the output end of the single-chip processor 52 is connected to the control end of the channel switch module 55. The wireless transceiver module 53 and the pulse signal receiving circuit module 54 are respectively connected to the input end of the channel switch module 55, and the output end of the channel switch module 55 is connected to the driving mechanism 3. Each acquisition device of the positioning mechanism sends data signals to the control mechanism through the serial port. The single-chip processor calculates the release time difference based on the collected data, and sends the release command signal to the servo driver to control the motor speed to compensate for the time of the opening process of the hook body under the ideal state; the channel switch module outputs the signal of the wireless data transmission module to the outside on a daily basis, so as to automatically release according to the release position coordinates received remotely. When the pulse signal receiving circuit module receives the remote control signal of the remote controller, it sends a level signal to the single-chip processor, and the single-chip processor controls the channel switch module to switch and output the input signal of the pulse signal receiving circuit module to the outside. The remaining structures and components are as described in Implementation 1, and will not be described again.

[0031] Implementation method 3: Figure 3 , 4 As shown, the driving mechanism 3 includes a servo motor 31, a crank rod 32, a driving nut 33, a driving rod 34 and a pair of transmission arms 35 in the order of power output. The servo driver of the servo motor 31 is connected to the output end signal of the channel switch module 55, and the transmission arm 35 is pivotally connected to the upper end of the hook body 2. The remaining structures and components are as described in embodiment 1 or 2, and will not be described again. Compared with the traditional decoupler that directly rotates the hook body, the decoupler drives the nut to rotate through the servo motor output shaft and the crank, drives the driving rod to move up and down in a straight line, and then drives the connecting ear through the connecting arm to transmit to the hook body to open and close. The hook body driving component is single and the principle is simple. The opening and closing state of the hook body is easy to control and the opening degree can be stable and maintained. The screw and connecting arm transmission improves the durability of the driving mechanism.

[0032] Implementation 4: Figure 3 , 4As shown, a support plate 11 and a pair of pins 12 are provided inside the housing 1, a pair of guide rails 13 are provided below the support plate 11, a through hole is provided on the support plate 11 between the two guide rails 13, a transfer bearing 131 is fixedly connected in the through hole, the driving nut 33 is fixed on the inner ring of the transfer bearing 131, and the outer ring of the transfer bearing 131 is fixed on the inner wall of the through hole in the center of the support plate 11. The lower part of the driving rod 34 is in the shape of a square column and is slidably fitted in the guide rail 13, the upper part of the driving rod 34 is in the shape of a cylinder and is provided with a threaded portion, the threaded portion of the upper part of the driving rod 34 is threadedly connected in the driving nut 33, and the hook body 2 is rotatably connected to the pin 12. The driving nut 33 is fixedly connected to the servo motor 31 through a curved rod 32. The upper end of the hook body 2 is provided with a connecting ear 21, the inner ends of the transmission arm 35 are respectively hinged to the two sides of the lower end of the driving rod 34, and the inner ends of the transmission arm 35 are respectively hinged to the connecting ears 21 at the upper ends of the two hook bodies. The remaining structures and components are as described in Embodiment 3 and will not be described again.

[0033] The unhooking device with precise delivery function overcomes the defects of low intelligence level of existing unhooking device control mode and poor landing point accuracy of unhooking equipment, and provides an unhooking device with precise delivery function, which collects the sailing state of the equipment or the state of underwater delivery and environmental parameters and uploads them, and provides necessary functional hardware for error compensation for advancing or delaying the delivery time according to the preset delivery landing point, thereby making precise delivery possible. At the same time, it can switch between automatic control of preset delivery coordinates and manual remote control on board, thereby enhancing the flexibility of unhooking control. The unhooking device also optimizes the internal driving structure of the unhooking device, converting the traditional unhooking device hook body rotation drive into a linear travel drive mode through a screw-connecting arm transmission, thereby simplifying the opening and closing control of the hook body and improving the stability of the opening and closing state, while improving the durability of the driving components.

[0034] The above description shows the main features, basic principles, and advantages of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments or embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, the above embodiments or embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the attached claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure mark in the claims should not be regarded as limiting the claims involved.

[0035] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A dehooker with precise delivery function, characterized by: The invention comprises a housing (1), a hook body (2) arranged at the front end of the housing (1), and a driving mechanism (3) arranged inside the housing (1), wherein a control box (4) is arranged on one side of the rear part of the housing (1), a control mechanism (5) is arranged inside the control box (4), and a positioning mechanism (6) is arranged outside the control box (4), an input end of the control mechanism (5) is serially connected to the positioning mechanism (6), an output end of the control mechanism (5) is electrically connected to the driving mechanism (3), and the driving mechanism (3) is mechanically connected to the hook body (2); The control mechanism (5) comprises a main control board (51), a single-chip microcomputer processor (52) integrated on the main control board (51), a wireless transceiver module (53), a pulse signal receiving circuit module (54), a channel switch module (55), a storage module (56), and a power conversion module (57); the positioning mechanism (6) comprises a GPS locator (61), a speed sensor (62), a current meter (63), and a radar position sensor (64); the GPS locator (61), the speed sensor (62), the current meter (63), and the radar position sensor (64) are connected to the single-chip microcomputer processor (52) via a serial port bus; the single-chip microcomputer processor (52) is connected to the wireless transceiver module (53) and the storage module (56) via a TXD / RXD pin group; an input end of the single-chip microcomputer processor (52) is connected to the pulse signal receiving circuit module (54); an output end of the single-chip microcomputer processor (52) is connected to a control end of the channel switch module (55); the wireless transceiver module (53), the pulse signal receiving circuit module (54) and the storage module (56) are connected to the control end of the channel switch module (55); The blocks (54) are respectively connected to the input ends of the channel switch module (55), and the output end of the channel switch module (55) is connected to the driving mechanism (3); the GPS locator (61) is used to collect the position of the ship, the speed sensor (62) is used to collect the speed and direction of the ship, the current meter (63) is used to collect the flow velocity and direction at the unhooking position, and the radar position sensor (64) is used to collect the position of the lifting equipment; the collected information is sent to the single-chip processor (52), and sent to the remote control end through the wireless transceiver module (53), or directly loaded into the single-chip processor (52) through the storage module (56) equipped with compensation calculation software to perform release time difference calculation, and the unhooking control signal of the ideal state release time±compensated release time difference after processing is sent to the servo controller of the drive motor through the channel switch module (55), thereby achieving precise delivery; when active control is required, the pulse signal receiving circuit module (54) receives the remote control signal, and sends an instant signal to the servo controller of the drive motor through the channel switch module (55), thereby achieving manual control; The driving mechanism (3) comprises, in order of power output, a servo motor (31), a crank rod (32), a driving nut (33), a driving rod (34) and a pair of transmission arms (35); the servo driver of the servo motor (31) is signal-connected to the output end of the channel switch module (55); the transmission arm (35) is pivotally connected to the upper end of the hook body (2); a support plate (11) and a pair of pins (12) are provided inside the housing (1); a pair of guide rails (13) are provided below the support plate (11); a through hole is provided on the support plate (11) at a position between the two guide rails (13); a transfer bearing (131) is fixedly connected in the through hole; the driving nut (33) is fixed to the transfer bearing The outer ring of the transfer bearing (131) is fixed on the inner wall of the through hole in the center of the support plate (11); the lower part of the driving rod (34) is in the shape of a square column and is slidably fitted in the guide rail (13); the upper part of the driving rod (34) is in the shape of a cylinder and is provided with a thread portion, the thread portion is internally connected to the driving nut (33), and the hook body (2) is rotatably connected to the pin shaft (12); the driving nut (33) is fixedly connected to the servo motor (31) through a curved rod (32); the upper end of the hook body (2) is provided with a connecting ear (21), the inner side ends of the transmission arm (35) are respectively hinged to the two sides of the lower end of the driving rod (34), and the inner side ends of the transmission arm (35) are respectively hinged to the connecting ears at the upper ends of the two hook bodies (2).

2. The dehooker with precise delivery function according to claim 1 is characterized in that: The single-chip processor (52) adopts an STM32F series 103C8T6 chip, the wireless transceiver module (53) adopts a SX1278 433MHz radio frequency data transmission module in the form of LoRa wireless communication, the pulse signal receiving circuit module (54) adopts an integrated RX-TP-L4 pulse signal receiving integrated circuit module, and the channel switch module (55) adopts an AD9854 multi-channel DDS switching module; the GPS locator (61) adopts an SPS855 ocean locator, the speed sensor (62) adopts a WTGAHRS3 six-axis inertial speed sensor, the current meter (63) adopts a BES--PSC30F-S04 flow velocity and direction sensor, and the radar position sensor (64) adopts a TOF-N10 deep-water radar probe.

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