An integrated grabbing and releasing surface deployment device suitable for soft structures

Abstract

This invention discloses an integrated grabbing and releasing surface deployment device suitable for soft structures. The deployment device includes two rhomboid linkage mechanisms, a release hoist, a remote-controlled release hook, a grabbing hoist, two half-shells, and a short cable. The length of the release hoist is greater than the length of the grabbing hoist. The top end of the release hoist is connected to the top end of the short cable. The bottom end of the short cable is connected to the top end of the remote-controlled release hook. The bottom end of the remote-controlled release hook is connected to the top end of the grabbing hoist. The two half-shells are arranged horizontally opposite each other, and both ends are hinged together by the rhomboid linkage mechanisms. The top end of the rhomboid linkage mechanisms is connected to the bottom end of the grabbing hoist. The bottom end of the release hoist is connected to the middle of the two half-shells. The above device has a simple deployment structure, is easy to operate, enables repeated grabbing and releasing, allows for rapid deployment, requires no lifting points on the product, has no attachments that enter the water with the product, and effectively solves the problem of product deformation.

Description

Technical Field

[0001] This invention relates to the field of water surface deployment technology, and more specifically to an integrated water surface deployment device suitable for soft structures that can be grasped and released. Background Technology

[0002] Surface deployment devices are widely used in the deployment of various products such as submarines, ships, underwater vehicles, and underwater platforms. There are various forms of deployment devices, such as suspending, sliding, pushing, and throwing, each with its own advantages, disadvantages, and applicable scenarios. Among them, suspending is the most widely used due to its simple structure, strong applicability, and no special requirements for the mother ship.

[0003] There are countless forms of fabric lifting devices, but the general method involves using a crane on the mother ship to connect a release hook, then lifting the product to the deployment area, releasing the hook, and finally releasing the product into the water, completing the deployment process. This process typically presents several problems, making it unsuitable for products with special requirements: First, this method requires lifting points on the product. For products without lifting points, slings, wire ropes, and other tools must be used for assistance. Retrieving these tools during deployment is difficult, and deploying them along with the product is uneconomical and may adversely affect the product's performance. Second, lifting via lifting points requires a certain structural strength and is only suitable for products with good rigidity. Many modern products, especially biomimetic ones, use soft materials, and excessive deformation after lifting can affect or even damage the product's structural performance. Third, conventional fabric lifting methods only achieve the deployment function and cannot achieve the product's gripping function. After each deployment, the product must be prepared again for the next lifting, resulting in low deployment efficiency.

[0004] It can be seen that conventional hanging methods have certain limitations and cannot be applied to all situations, especially for some products with special requirements, such as products without lifting points, products with low rigidity, products that need to be repeatedly and quickly deployed, and products that cannot have any accessories deployed with them. Conventional hanging methods cannot achieve these requirements. Summary of the Invention

[0005] In view of this, the present invention provides an integrated grabbing and releasing water surface deployment device suitable for soft structures. The device has a simple deployment structure, is easy to operate, can realize repeated grabbing and releasing, rapid deployment, requires no lifting points on the product, has no attachments entering the water with the product, and can effectively solve the problem of product deformation.

[0006] The present invention adopts the following specific technical solution:

[0007] An integrated grabbing and releasing surface deployment device suitable for soft structures, the deployment device includes two diamond-shaped linkage mechanisms, a release hoist, a remote-controlled release hook, a grabbing hoist, two half-shells, and a short cable;

[0008] The length of the release device is greater than the length of the grabbing device; the top end of the release device is connected to the top end of the short cable for connecting to the crane;

[0009] The bottom end of the short cable is connected to the top end of the remote-controlled release hook;

[0010] The bottom end of the remote-controlled release hook is connected to the top end of the gripping device, and is used to control the lifting and releasing of the gripping device through the remote-controlled release hook;

[0011] The two semi-shells are arranged opposite each other in the horizontal direction, and both ends are hinged together by the diamond-shaped linkage mechanism;

[0012] The top end of the rhomboid linkage mechanism is connected to the bottom end of the gripping lifting device;

[0013] The bottom end of the release device is connected to the middle of the two semi-shells;

[0014] The two half-shells have a gripping state and a releasing state; when in the gripping state, the diamond linkage mechanism closes the two half-shells into a complete semicircle under the action of gravity and the tension of the gripping lifting device; when in the releasing state, the remote release hook releases the gripping lifting device, the gripping lifting device disengages from the remote release hook, and the two half-shells open under the action of gravity of the two half-shells and the tension of the releasing lifting device.

[0015] Furthermore, the semi-shell includes a quarter-circular arc plate and end plates fixedly connected to both ends of the quarter-circular arc plate;

[0016] The end plates at corresponding ends of the two semi-shells are hinged together to form a first hinge point;

[0017] The rhomboid linkage mechanism consists of a first link, a second link, and two end plates;

[0018] The top ends of the first link and the second link are hinged together to form a second hinge point;

[0019] The bottom end of the first connecting rod is hinged to one of the end plates, forming a third hinge point;

[0020] The bottom end of the second connecting rod is hinged to another end plate, forming a fourth hinge point;

[0021] Along the height direction, both the third hinge point and the fourth hinge point are located between the first hinge point and the second hinge point.

[0022] Furthermore, along the radial direction of the semi-shell, the length of the end plate is greater than the radius of the semi-shell.

[0023] Furthermore, the semi-shell also includes a right-angled support;

[0024] The right-angled support is provided with an arc-shaped surface that matches the shape of the semi-shell, and is fixedly connected to the outer wall of the semi-shell through the arc-shaped surface;

[0025] The bottom end of the release device is attached to the right-angled support.

[0026] Furthermore, the release device includes four first cables of equal length;

[0027] Each of the half-shells is provided with two right-angled supports symmetrically arranged about the axial center line of the half-shell;

[0028] One of the first cables is attached to each of the right-angled supports;

[0029] The gripping device includes two second cables of the same length. One second cable is connected to the diamond-shaped linkage mechanism at one end of the half-shell, and the other second cable is connected to the diamond-shaped linkage mechanism at the other end of the half-shell.

[0030] Beneficial effects:

[0031] 1. The integrated grabbing and releasing surface deployment device of the present invention is suitable for grabbing and releasing soft structures. The deployment device includes a grabbing device, a releasing device, a short cable, a remote-controlled release hook, two rhomboid linkage mechanisms, and two half-shells. Two identical and synchronously operating rhomboid linkage mechanisms are hinged to both ends of the two half-shells, connecting the two half-shells into a single unit via their hinge points. One end of the grabbing device is connected to the rhomboid linkage mechanism. In the grabbing state, the rhomboid linkage mechanism, under the action of gravity and the tension of the grabbing device, holds the two half-shells together. The two half-shells close together to form a complete semicircle. In the released state, the remote-controlled release hook releases the gripping device, and the diamond-shaped linkage mechanism connected to the other end of the gripping device is in a free state. Under the action of gravity and the pulling force of the release device, the two half-shells open. When the two half-shells are closed, the resulting whole can support the entire product, effectively reducing product deformation. When the two half-shells are open, each half-shell rotates 90° and is fully opened, and the previously formed whole is fully opened, allowing the product to reliably detach under its own gravity. Because the aforementioned deployment device has its own lifting points, no lifting points are needed on the product, solving the problems of existing products lacking lifting points and the lifting accessories entering the water during deployment; the integral structure formed by the two half-shells during lifting greatly increases the contact area with the product, solving the problem of product deformation due to uneven force after lifting; the aforementioned deployment device can achieve a smooth transition between the two states of gripping and releasing, and by changing the load-bearing capacity of the gripping and releasing lifting devices, it achieves the effect of replacing the resetting process of the deployment device with the gripping process, realizing continuous and rapid repeated deployment and solving the problem of low fabric lifting efficiency.

[0032] 2. The two semi-shells of the placement device of the present invention include a quarter-circle arc plate and an end plate fixedly connected to both ends of the quarter-circle arc plate. The complete semicircle formed by the two quarter-circle arc plates during gripping can support the entire product, greatly increasing the contact area with the product, effectively reducing product deformation, and solving the problem of product deformation due to uneven force after lifting.

[0033] 3. The semi-shell of the deployment device of the present invention also includes a right-angled support. The right-angled support not only enables the connection with the release hoist, but also forms a stable support structure. Therefore, the right-angled support can be used to temporarily place and display products, and can serve as a temporary shelf for products, thus achieving multiple uses. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the integrated grabbing and releasing water surface deployment device of the present invention in the grabbing state;

[0035] Figure 2 This is a schematic diagram of the integrated grabbing and releasing water surface deployment device of the present invention in the release state;

[0036] Figures 3a-3f This is a schematic diagram of the deployment process of the integrated grabbing and releasing water surface deployment device of the present invention;

[0037] Figures 4a-4f This is a schematic diagram of the grabbing process of the integrated grabbing and releasing water surface deployment device of the present invention.

[0038] Among them, 1-diamond linkage mechanism, 2-release lifting device, 3-remote control release hook, 4-grabbing lifting device, 5-product, 6-half-shell, 7-short cable Detailed Implementation

[0039] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0040] This invention provides an integrated grasping and releasing water surface deployment device suitable for soft structures, such as... Figure 1 and Figure 2 As shown in the structure, the deployment device includes two rhomboid linkage mechanisms 1, a release lifting device 2, a remote-controlled release hook 3, a gripping lifting device 4, two half-shells 6, and a short cable 7. The length of the release lifting device 2 is greater than the length of the gripping lifting device 4. The top end of the release lifting device 2 is connected to the top end of the short cable 7 for connecting to the hook of the crane. The bottom end of the short cable 7 is connected to the top end of the remote-controlled release hook 3. The bottom end of the remote-controlled release hook 3 is connected to the top end of the gripping lifting device 4 for controlling the lifting and release of the gripping lifting device 4 via the remote-controlled release hook 3. The top end of the gripping lifting device 4 may be equipped with a hook. The two half-shells 6 are arranged opposite each other in the horizontal direction, and both ends are hinged together by the rhomboid linkage mechanism 1. The top end of the rhomboid linkage mechanism 1 is connected to the bottom end of the gripping lifting device 4. The bottom end of the release lifting device 2 is connected to the middle of the two half-shells 6.

[0041] The two half-shells 6 have grasping and releasing states; such as Figure 1 As shown, when in the gripping state, the rhomboid linkage mechanism 1, under the action of gravity and the pulling force of the gripping lifting device 4, brings the two half-shells 6 together into a complete semicircle; as Figure 2 As shown, when in the release state, the remote release hook 3 releases the gripping device 4, and the gripping device 4 disengages from the remote release hook 3. Under the weight of the two half-shells 6 and the pulling force of the release device 2, the two half-shells 6 open.

[0042] The aforementioned deployment device can perform the deployment process independently, or the grasping process independently, or it can perform the complete grasping-deployment process and repeat it continuously to complete the grasping-deployment process.

[0043] When the above-mentioned deployment device is deployed, the deployment process is as follows: Figures 3a-3f As shown in the structure, when the deployment device is in Figure 3aIn the intermediate state, the grabbing spreader 4 is straightened and bears the force under the action of the ship's hook. The grabbing spreader 4 acts on the diamond linkage mechanism 1, causing the two half-shells 6 to close and support the product 5 to be deployed. At this time, the release spreader 2 is in a slack state and only plays an auxiliary traction role. When the entire deployment reaches the deployment area under the traction of the ship's crane, such as Figure 3b As shown in the status diagram, the remote-controlled release hook 3 is released, releasing the gripping device 4. At this time, the release device 2 is straightened and bears the load. Since the gripping device 4 is released, the diamond linkage mechanism 1 is in a free state. Under the gravity of the release device 2 and the product 5, the two half-shells 6 are opened, as shown. Figure 3c , Figure 3d , Figure 3e As shown in the diagram; finally, each of the two half-shells 6 rotates 90° around its hinge point and is fully opened. The product 5 then detaches under its own weight, completing the placement process, as shown. Figure 3f The status is as shown.

[0044] During the deployment process of the aforementioned deployment device, the grasping process is as follows: Figures 4a-4f As shown in the structure, when the deployment device is in Figure 4a In this state, the release device 2 lifts the entire deployment device. One end of the gripping device 4 is not connected to the remote release hook 3, so the gripping device 4 is in a slack state. After the hook lifts the entire deployment device above the product 5, it slowly descends. When the deployment device descends and contacts the product 5, during the continued descent, the two half-shells 6 close together under the action of gravity. Figure 4b , Figure 4c as well as Figure 4d As shown in the diagram; when the two semi-shells 6 touch the ground and can no longer close, the gripping device 4 is connected to the remote-controlled release hook 3, and the remote-controlled release hook 3 is locked. Then, the product is slowly lifted. At this time, the gripping device 4 is straightened to bear the force, and the release device 2 is in a relaxed state until the product 5 is completely lifted. Under the action of the tension and the weight of the product 5, the two semi-shells 6 completely close, completing the gripping process. Figure 4e and Figure 4f The status is as shown.

[0045] When implementing the grab-deploy process, from Figures 3a-3f as well as Figures 4a-4f It can be seen that the final state of the deployment process is the initial state of the grasping process, and the final state of the grasping process is also the initial state of the deployment process. When the deployment device deploys a product 5 and then grasps the next product 5, the grasping-release process can be completed, thereby realizing the rapid and repeated deployment of multiple products 5.

[0046] The aforementioned deployment device is suitable for grasping and releasing soft structures. The device includes a grasping lifting device 4, a release lifting device 2, a short cable 7, a remote-controlled release hook 3, two rhomboid linkage mechanisms 1, and two half-shells 6. Two identical and synchronously operating rhomboid linkage mechanisms 1 are hinged to both ends of the two half-shells 6, connecting the two half-shells 6 into a single unit via the hinge points of the rhomboid linkage mechanisms 1. One end of the grasping lifting device 4 is connected to the rhomboid linkage mechanism 1. In the grasping state, the rhomboid linkage mechanism 1, under the action of gravity and the pulling force of the grasping lifting device 4, closes the two half-shells 6. When the two halves of the shell 6 are in a complete semicircle, the remote control release hook 3 releases the gripping device 4, and the rhomboid linkage mechanism 1 connected to the other end of the gripping device 4 is in a free state. Under the action of gravity and the pulling force of the release device 2, the two halves of the shell 6 are opened. When the two halves of the shell 6 are in a closed state, the whole formed can support the entire product 5, which can effectively reduce the deformation of the product 5. When the two halves of the shell 6 are in an open state, each of the two halves of the shell 6 is rotated 90° and fully opened. The whole formed before is fully opened, and the product 5 is reliably released under its own gravity. Because the above-mentioned deployment device has its own lifting points, product 5 does not need lifting points, which solves the problem that existing products 5 have no lifting points and that lifting accessories will fall into the water during deployment; the integral structure formed by the two half-shells 6 during lifting greatly increases the contact area with product 5, solving the problem of product 5 deforming due to uneven force after lifting; the above-mentioned deployment device can realize a smooth transition between the two states of gripping and releasing. By changing the load-bearing capacity of gripping lifting device 4 and releasing lifting device 2, the effect of replacing the resetting process of the deployment device with the gripping process is achieved, realizing continuous and rapid repeated deployment and solving the problem of low cloth lifting efficiency.

[0047] In one specific embodiment, the semi-shell 6 includes a quarter-circular arc plate and end plates fixedly connected to both ends of the quarter-circular arc plate; the end plates at corresponding ends of the two semi-shells 6 are hinged together to form a first hinge point; the rhomboid linkage mechanism 1 consists of a first link, a second link, and two end plates; the top ends of the first link and the second link are hinged together to form a second hinge point; the bottom end of the first link is hinged to one of the end plates to form a third hinge point; the bottom end of the second link is hinged to the other end plate to form a fourth hinge point; along the height direction, both the third and fourth hinge points are located between the first and second hinge points. Figure 3a As shown in the diagram, the first and second links are located between the gripping device 4 and the semi-shell 6. The first and second links are symmetrically arranged vertically. The gripping action is achieved by the pulling force applied to the first and second links by the gripping device 4. Along the radial direction of the semi-shell 6, the length of the end plate is greater than the radius of the semi-shell 6.

[0048] The two semi-shells 6 of the above-mentioned deployment device include a quarter-circle arc plate and an end plate fixedly connected to both ends of the quarter-circle arc plate. The complete semi-circle formed by the two quarter-circle arc plates during gripping can support the entire product 5, greatly increasing the contact area with the product 5, effectively reducing the deformation of the product 5, and solving the problem of deformation of the product 5 due to uneven force after lifting.

[0049] Furthermore, such as Figure 1 , Figure 2 , Figure 3c , Figure 3d As shown, the semi-shell 6 also includes a right-angled support; in this embodiment, two right-angled supports are fixedly connected to the outside of each semi-shell 6 as an example for explanation; the right-angled support is provided with an arc-shaped surface that matches the shape of the semi-shell 6, and is fixedly connected to the outer wall of the semi-shell 6 through the arc-shaped surface; the bottom end of the release hoist 2 is attached to the right-angled support.

[0050] The semi-shell 6 of the aforementioned deployment device also includes a right-angled support. The right-angled support not only enables the connection with the release hoist 2, but also forms a stable support structure. Therefore, the right-angled support can be used to temporarily place and display the product 5, serving as a temporary shelf for the product 5, thus achieving multiple uses.

[0051] Based on the various embodiments described above, such as Figure 1 and Figure 2 As shown, the release device 2 includes four first cables of the same length; the grabbing device 4 includes two second cables of the same length, one second cable is connected to a rhomboid linkage mechanism 1 at one end of the half-shell 6, and the other second cable is connected to a rhomboid linkage mechanism 1 at the other end of the half-shell 6; each half-shell 6 is provided with two right-angled supports symmetrically arranged around the axial center line of the half-shell 6; a first cable is hung on each right-angled support.

[0052] When each half-shell 6 is provided with two right-angled supports, the two right-angled supports are symmetrically arranged about the axial center line of the half-shell 6. That is, the distance between the two right-angled supports and the axial center line of the half-shell 6 is equal, and the distance between the two right-angled supports and the end of the corresponding half-shell 6 is also equal. This ensures that the four first cables are symmetrically distributed, and the force and angle acting on each right-angled support are equal, ensuring the uniformity of the force and preventing safety hazards caused by the product 5 being tilted.

[0053] The aforementioned deployment device can always be connected to the crane on the mother ship, repeatedly switching between the grabbing and releasing states. It can quickly grab product 5, then lift product 5 with the crane on the mother ship and move it to the water area outside the ship's side to be deployed. It is released by the remote-controlled release hook 3, and product 5 is deployed into the water under its own weight, completing one grabbing-release cycle. Then, the crane moves the deployment device above the next product 5, and the above grabbing-release process is repeated to achieve rapid and repeated deployment.

[0054] In summary, the above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A gripping and releasing integrated water surface deployment device suitable for soft structures, characterized in that, It includes two diamond linkage mechanisms, a release device, a remote-controlled release hook, a gripping device, two half-shells, and short cables; The length of the release device is greater than the length of the grabbing device; the top end of the release device is connected to the top end of the short cable for connecting to the crane; The bottom end of the short cable is connected to the top end of the remote-controlled release hook; The bottom end of the remote-controlled release hook is connected to the top end of the gripping device, and is used to control the lifting and releasing of the gripping device through the remote-controlled release hook; The two semi-shells are arranged opposite each other in the horizontal direction, and both ends are hinged together by the diamond-shaped linkage mechanism; The top end of the rhomboid linkage mechanism is connected to the bottom end of the gripping lifting device; The bottom end of the release device is connected to the middle of the two semi-shells; The two semi-shells have a gripping state and a releasing state; when in the gripping state, the diamond linkage mechanism closes the two semi-shells into a complete semicircle under the action of gravity and the tension of the gripping lifting device; when in the releasing state, the remote release hook releases the gripping lifting device, the gripping lifting device disengages from the remote release hook, and the two semi-shells open under the action of gravity and the tension of the releasing lifting device. The semi-shell includes a quarter-circular arc plate and end plates fixedly connected to both ends of the quarter-circular arc plate; The end plates at corresponding ends of the two half-shells are hinged together to form a first hinge point; The rhomboid linkage mechanism consists of a first link, a second link, and two end plates; The top ends of the first link and the second link are hinged together to form a second hinge point; The bottom end of the first connecting rod is hinged to one of the end plates, forming a third hinge point; The bottom end of the second connecting rod is hinged to another end plate, forming a fourth hinge point; Along the height direction, both the third hinge point and the fourth hinge point are located between the first hinge point and the second hinge point; The semi-shell also includes a right-angled support; The right-angled support is provided with an arc-shaped surface that matches the shape of the semi-shell, and is fixedly connected to the outer wall of the semi-shell through the arc-shaped surface; The bottom end of the release device is attached to the right-angled support; The release device includes four first cables of equal length; Each of the half-shells is provided with two right-angled supports symmetrically arranged about the axial center line of the half-shell; One of the first cables is attached to each of the right-angled supports; The gripping device includes two second cables of the same length. One second cable is connected to the diamond-shaped linkage mechanism at one end of the half-shell, and the other second cable is connected to the diamond-shaped linkage mechanism at the other end of the half-shell.

2. The water surface deployment device as described in claim 1, characterized in that, Along the radial direction of the semi-shell, the length of the end plate is greater than the radius of the semi-shell.

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