A recycling system with a grasping device

Abstract

The application discloses a recycling system with a belt clamping device. The recycling system comprises a hatch device, a lifting device, a centering device and a locking device. The centering device comprises a clamping-through opening and a centering guide assembly. The centering device is connected with the lifting device. The clamping-through opening is arranged on a second-stage lifting platform and used for the cable of the belt clamping device to pass through. The centering guide assembly comprises a wedge-shaped baffle. When the cable pulls the belt clamping device to be close to the second-stage lifting platform, the wedge-shaped baffle is used for centering and limiting the belt clamping device. The application provides the recycling system with the belt clamping device, realizes stable and reliable centering and limiting of the belt clamping device and avoids collision.

Description

Technical Field

[0001] This invention relates to the field of mechanical control technology, and more specifically to a retrieval system with a cable tray. Background Technology

[0002] With my country's increasing demand for deep-sea exploration and resource development, more and more underwater mobile devices, such as underwater robots, are being developed and put into use. In existing technologies, underwater robots and other mooring devices require retrieval. Current retrieval methods for underwater robots involve winches, boom cranes, etc., which are labor-intensive and time-consuming. Especially in harsh sea conditions, these methods can easily damage the expensive underwater robots. Furthermore, this deployment and retrieval method is prone to swaying, and in strong winds, the underwater robot is susceptible to collisions with the retrieval device, leading to damage. Therefore, those skilled in the art have provided a retrieval system for mooring devices to address the problems mentioned in the background. Summary of the Invention

[0003] In view of the above-mentioned defects or improvement needs of the prior art, the present invention provides a retrieval system for a cable tray, which realizes stable and reliable centering and limiting of the cable tray to avoid collision.

[0004] To achieve the above objectives, the present invention adopts the following technical solution.

[0005] Some embodiments of this application provide a recovery system with a catchment device, the recovery system including a hatch device, a lifting device, a centering device, and a locking device;

[0006] The door device includes a door panel assembly and a door panel drive assembly. The door panel drive assembly is connected to the door panel assembly and is used to drive the door panel assembly to open and close.

[0007] The lifting device includes a first-stage lifting platform, a second-stage lifting platform, and a lifting drive assembly. The lifting drive assembly is connected to the first-stage lifting platform, and the first-stage lifting platform is connected to the second-stage lifting platform. The lifting drive assembly is used to drive the first-stage lifting platform to move a first distance, and the first-stage lifting platform drives the second-stage lifting platform to move a second distance, the second distance being twice the first distance. When the door panel assembly is opened, the lifting drive assembly can drive the second-stage lifting platform to extend out of the door panel assembly.

[0008] The centering device includes a cable passing opening and a centering guiding component. The centering device is connected to the lifting device. The cable passing opening is arranged on the second-level lifting platform and is used for the cable of the cable carrying device to pass through. The centering guiding component includes a wedge-shaped baffle. When the cable pulls the cable carrying device close to the second-level lifting platform, the wedge-shaped baffle centers and positions the cable carrying device.

[0009] The locking device includes a locking hook, a crank connecting rod mechanism, and a locking driving component. The locking driving component is connected to the crank connecting rod mechanism, and the crank connecting rod mechanism is connected to the locking hook. The locking driving component drives the locking hook through the crank connecting rod mechanism. The locking hook is used to lock the cable carrying device when the cable carrying device contacts the second-level lifting platform.

[0010] In some embodiments, the door panel driving component includes a driving hydraulic cylinder and a driving connecting rod. The driving connecting rod is hingedly connected to the door panel component. The driving hydraulic cylinder is connected to the driving connecting rod and there is a driving dead zone between the driving hydraulic cylinder and the driving connecting rod.

[0011] In some embodiments, there is one driving hydraulic cylinder. The door panel component includes a first door panel and a second door panel. One driving hydraulic cylinder drives the first door panel and the second door panel simultaneously. The door panel driving component includes a double-earring. The double-earring has a driving end, a first connecting end, and a second connecting end. The driving connecting rod includes a first driving connecting rod and a second driving connecting rod. The driving end is connected to the driving hydraulic cylinder. The first connecting end is connected to the first driving connecting rod. The second connecting end is connected to the second driving connecting rod. The first driving connecting rod is connected to the first door panel. The second driving connecting rod is connected to the second door panel.

[0012] In some embodiments, the first connecting end has a first strip-shaped hole, and the second connecting end has a second strip-shaped hole. One end of the first driving connecting rod is arranged in the first strip-shaped hole, and one end of the second driving connecting rod is arranged in the second strip-shaped hole. The door panel driving component further includes a guide rail, and the shape of the guide rail is "U".

[0013] In some embodiments, the lifting device includes a fixed frame. The lifting driving component includes a lifting hydraulic cylinder. The lifting hydraulic cylinder has a cylinder body and a piston rod. The cylinder body is fixed to the fixed frame. The piston rod is hingedly connected to the first-level lifting platform. There is a pulley component between the first-level lifting platform and the second-level lifting platform. The pulley component includes a movable pulley and a rope. The movable pulley is fixed on the first-level lifting platform. One end of the rope is fixed to the fixed frame. The rope bypasses the movable pulley and the other end of the rope is connected to the second-level lifting platform.

[0014] In some embodiments, the centering guide assembly further includes a guide limiting device, which includes a guide wheel, an elastic component, and a guide link. One end of the guide link is rotatably connected to the wedge-shaped baffle via a rotating shaft, and there is a moving space between the rotating shaft and the wedge-shaped baffle. The other end of the guide link is connected to the guide wheel and supported by the elastic component.

[0015] In some embodiments, the second-stage lifting platform includes a lifting plate, and the through-hole is disposed in the middle of the lifting plate, wherein the through-hole is a conical through hole.

[0016] In some embodiments, the locking drive assembly includes a locking drive hydraulic cylinder, one of which simultaneously drives two locking hooks, the two locking hooks including a first locking hook and a second locking hook, the first locking hook and the second locking hook being disposed opposite to each other for simultaneously locking both sides of the harness device.

[0017] In some embodiments, the crank-connecting rod mechanism has a self-locking function. The crank-connecting rod mechanism includes a first connecting rod, a first crank, a second connecting rod, a second crank, and a connecting rod. The two ends of the connecting rod are respectively connected to the first crank and the second crank. The first crank and the first locking hook are integrally formed. One end of the first connecting rod is hinged to the fixed frame, and the other end is connected to the first crank. The second crank and the second locking hook are integrally formed. One end of the second connecting rod is hinged to the fixed frame, and the other end is connected to the second crank. The locking drive hydraulic cylinder is connected to the connecting rod and drives the connecting rod to move up and down, thereby causing the first locking hook and the second locking hook to open and lock.

[0018] In some embodiments, the recycling system further includes a monitoring component, which includes an imaging device disposed at the junction of the lifting plate and the wedge-shaped baffle.

[0019] Compared with the prior art, the present invention has at least (including but not limited to) the following advantages. In some embodiments, only one hydraulic cylinder is used to achieve hatch opening / closing and locking when closed. In some embodiments of this application, by setting a blank stroke on the double lugs, the problem of the hatch cover automatically slightly opening after the hatch is closed can be effectively avoided due to the rigidity of the hydraulic system and the unavoidable internal leakage of the valves. In some embodiments of this application, the piston rod of the lifting hydraulic cylinder is hinged to the first-stage lifting platform, the movable pulley is fixed to the first-stage lifting platform, one end of the wire rope is fixed to the fixed frame, and the other end is fixed to the second-stage lifting platform. When the cylinder stroke is X, the second-stage lifting platform stroke is 2X, effectively utilizing space. In some embodiments of this application, multiple locking hooks can be arranged as needed, and the self-locking performance of the crank-connecting rod mechanism can effectively prevent the locking mechanism from opening automatically. In some embodiments of this application, a guide limiting device is used to achieve stable and reliable centering and limiting of the cable-stayed device, avoiding collisions. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the hatch device of the recovery system with a catchment device according to some embodiments of the present invention.

[0021] Figure 2 This is a partial structural schematic diagram of the recovery system of the cable tray device according to some embodiments of the present invention.

[0022] Figure 3 This is a partial structural schematic diagram of the recovery system of the cable tray device according to some embodiments of the present invention.

[0023] Figure 4 This is a schematic diagram of the structure of the hatch device according to some embodiments of the present invention.

[0024] Figure 5 This is a schematic diagram of the locking device according to some embodiments of the present invention.

[0025] Figure 6 This is a schematic diagram of the centering device according to some embodiments of the present invention.

[0026] Figure 7 This is a schematic diagram of the locking device in the open position according to some embodiments of the present invention. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0028] In the description of this invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. The interpretation of such terms should be made from the perspective of a person skilled in the art. For example, "above" or "below" should be understood as the positional relationship of the main structure or structure of a component, etc., in its initial state, which may be broken during movement. "...set on" should be understood as the general connection relationship of the components, not necessarily above.

[0029] In this invention, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," "link," and "fix" should be interpreted broadly from the perspective of someone skilled in the art. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0030] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0031] refer to Figures 1-3 Some embodiments of this application provide a retrieval system with a cable carrier 900 having a cable 901. The retrieval system includes a hatch assembly 100, a lifting assembly 200, a centering assembly 300, and a locking assembly 400.

[0032] refer to Figure 1 and Figure 4The door device 100 includes a door panel assembly 101 and a door panel drive assembly 102. The door panel drive assembly is connected to the door panel assembly and is used to drive the door panel assembly to open and close.

[0033] refer to Figure 3 The lifting device 200 includes a first-stage lifting platform 201, a second-stage lifting platform 202, and a lifting drive assembly 203. The lifting drive assembly is connected to the first-stage lifting platform, and the first-stage lifting platform is connected to the second-stage lifting platform. The lifting drive assembly drives the first-stage lifting platform to move a first distance, and the first-stage lifting platform drives the second-stage lifting platform to move a second distance, which is twice the first distance. When the door panel assembly is opened, the lifting drive assembly can drive the second-stage lifting platform to extend out of the door panel assembly. The second distance is twice the first distance, making full use of space and enabling a large telescopic driving displacement to be completed in a confined space.

[0034] refer to Figure 2 The centering device 300 includes a cable pass-through opening 301 and a centering guide assembly 302. The centering device is connected to the lifting device. The cable pass-through opening is located on the second-stage lifting platform for the cable 901 of the cable-carrying device to pass through. The centering guide assembly 302 includes a wedge-shaped baffle 3021. When the cable pulls the cable-carrying device closer to the second-stage lifting platform, the wedge-shaped baffle centers and limits the cable-carrying device. One end of the cable-carrying device matches the shape of the wedge-shaped baffle, and the wedge-shaped baffle centers and embeds one end of the cable-carrying device, thus completing the limiting.

[0035] refer to Figure 5 The locking device 400 includes a locking hook 401, a crank-connecting rod mechanism 403, and a locking drive assembly 402. The locking drive assembly is connected to the crank-connecting rod mechanism, and the crank-connecting rod mechanism is connected to the locking hook. The locking drive assembly drives the locking hook through the crank-connecting rod mechanism. The locking hook is used to lock the cable-stayed device when it contacts the second-stage lifting platform.

[0036] refer to Figure 4 In some embodiments, the door panel drive assembly 102 includes a drive hydraulic cylinder 1021 and a drive linkage. The drive linkage is hinged to the door panel assembly, and the drive hydraulic cylinder is connected to the drive linkage, with a drive blank stroke between the drive hydraulic cylinder and the drive linkage.

[0037] In some embodiments, the driving hydraulic cylinder is a single unit, the door panel assembly includes a first door panel 1011 and a second door panel 1012, the driving hydraulic cylinder 1021 simultaneously drives the first door panel 1011 and the second door panel 1012, the door panel driving assembly includes a double earring 1022, the double earring having a driving end, a first connecting end and a second connecting end, the driving linkage includes a first driving linkage 1023 and a second driving linkage 1024, the driving end is connected to the driving hydraulic cylinder, the first connecting end is connected to the first driving linkage, the second connecting end is connected to the second driving linkage, the first driving linkage is connected to the first door panel, and the second driving linkage is connected to the second door panel.

[0038] In some embodiments, the first connecting end has a first strip-shaped hole 1025, the second connecting end has a second strip-shaped hole 1026, one end of the first driving link is disposed in the first strip-shaped hole, and one end of the second driving link is disposed in the second strip-shaped hole. The door panel driving assembly further includes a guide rail 1027, which is U-shaped. Specifically, the double earrings 1022 move up and down along the U-shaped guide rail 1027 via a guide shaft 1028. There are two guide shafts 1028, and the first driving link 1023 and the second driving link 1024 are respectively disposed in the first strip-shaped hole 1025 and the second strip-shaped hole 1026 via the guide shafts 1028. The U-shaped guide rail can effectively achieve the driving blank stroke and drive the opening and closing of the first door panel 1011 and the second door panel 1012. Furthermore, when the first door panel 1011 and the second door panel 1012 are closed, a locking structure is formed. By setting the blank stroke, the problem of the hatch cover automatically opening slightly after the hatch is closed can be effectively avoided due to the rigidity of the hydraulic system and the unavoidable internal leakage of the valves.

[0039] refer to Figure 3 In some embodiments, the lifting device 200 includes a fixed frame 204, and the lifting drive assembly includes a lifting hydraulic cylinder 2031. The lifting hydraulic cylinder has a cylinder body 2032 and a piston rod 2033. The cylinder body is fixed to the fixed frame, and the piston rod is hinged to the first-stage lifting platform. A pulley assembly is provided between the first-stage and second-stage lifting platforms. The pulley assembly includes a movable pulley 205 and a rope 206. The movable pulley is fixed to the first-stage lifting platform, one end of the rope is fixed to the fixed frame, the rope passes around the movable pulley, and the other end of the rope is connected to the second-stage lifting platform. In some embodiments of this application, the piston rod of the lifting hydraulic cylinder is hinged to the first-stage lifting platform, the movable pulley is fixed to the first-stage lifting platform, one end of the wire rope is fixed to the fixed frame, and the other end is fixed to the second-stage lifting platform. When the cylinder stroke is X, the second-stage lifting platform stroke is 2X, resulting in high driving efficiency and effective space utilization.

[0040] refer to Figure 6 In some embodiments, the centering guide assembly 302 further includes guide limiting devices symmetrically arranged at both ends of the wedge-shaped baffle. Each guide limiting device includes a guide wheel 3022, an elastic component 3023, and a guide connecting rod 3024. One end of the guide connecting rod is rotatably connected to the wedge-shaped baffle 3021 via a rotating shaft, and there is a moving space between the rotating shaft and the wedge-shaped baffle. The other end of the guide connecting rod is connected to the guide wheel and supported by the elastic component. With the two guide limiting devices symmetrically arranged at both ends of the wedge-shaped baffle, when the cable-hauling device approaches and enters the guide limiting devices, it first contacts the guide wheel 3022. Under the guidance of the guide wheel, the cable-hauling device easily approaches the wedge-shaped baffle 3021. The two symmetrically arranged guide wheels 3022 simultaneously limit the cable-hauling device. As the cable-hauling device approaches the wedge-shaped baffle, it further compresses the guide wheel 3022, and the elastic component 3023 is further compressed, generating tension and pressure on the cable-hauling device, further pressing and limiting the cable-hauling device. In some embodiments, the elastic component 3023 includes a compression spring with pre-elastic force, which prevents violent collisions when the cable tray contacts the guide wheel. In some embodiments, the guide limiting device can be made relatively small, or even partially integrated into the wedge-shaped baffle to further prevent collision interference. The wedge-shaped baffle has a trapezoidal cross-section with an open long side, one end of which is used for the cable tray to enter. Some embodiments of this application use a guide limiting device to achieve stable and reliable centering and limiting of the cable tray, avoiding collisions.

[0041] In some embodiments, the second-stage lifting platform 202 includes a lifting plate 2021, and the cable pass-through opening 301 is disposed in the middle of the lifting plate 2021. The cable pass-through opening 301 is a conical through hole. The conical through hole allows for smoother winding and unwinding of the cable 901. In some embodiments, the cable 901 is a steel wire rope.

[0042] In some embodiments, the locking drive assembly 402 includes a locking drive hydraulic cylinder 4021, one of which simultaneously drives two locking hooks 401. The two locking hooks include a first locking hook 4011 and a second locking hook 4012, which are arranged opposite to each other for simultaneously locking both sides of the harness device.

[0043] In some embodiments, the crank-connecting rod mechanism has a self-locking function. The crank-connecting rod mechanism 403 includes a first connecting rod 4031, a first crank 4032, a second connecting rod 4033, a second crank 4034, and a connecting rod 4035. The two ends of the connecting rod are respectively connected to the first crank and the second crank. The first crank and the first locking hook are integrally formed. One end of the first connecting rod is hinged to the fixed frame, and the other end is connected to the first crank. The second crank and the second locking hook are integrally formed. One end of the second connecting rod is hinged to the fixed frame, and the other end is connected to the second crank. The locking drive hydraulic cylinder 4021 is connected to the connecting rod 4035, driving the connecting rod to move up and down, thereby opening and locking the first and second locking hooks. This method effectively achieves self-locking of the crank-connecting rod mechanism. When locked, the first connecting rod and the first locking hook are parallel to each other in the vertical direction, forming a self-locking structure; when opened, the first crank is subjected to force along the connecting rod direction, forming a self-locking structure (see reference). Figure 7 The second locking hook is symmetrically arranged with the first locking hook to further enhance the self-locking function. Of course, in some embodiments, the locking drive hydraulic cylinder 4021 can also drive the connecting rod to extend and retract horizontally, and the corresponding self-locking structure needs to be set separately. In some embodiments of this application, multiple locking hooks can be arranged as needed, and the self-locking performance of the crank-connecting rod mechanism can be used to effectively prevent the locking mechanism from opening automatically.

[0044] In some embodiments, the recovery system further includes a monitoring component 500, which includes an imaging device 501 disposed at the junction of the lifting plate 2021 and the wedge-shaped baffle 3021, thereby enabling complete monitoring of the cable-stayed device. The monitoring component 500 can monitor the cable-stayed device and observe its alignment and limiting status. In some embodiments, the imaging device 501 includes an underwater high-definition camera component.

[0045] It is understood that the technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments have been described. It is understood that as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification.

[0046] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements 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 retrieval system with a catcher, characterized in that, The recovery system includes a hatch device, a lifting device, a centering device, and a locking device; The hatch device includes a door panel assembly and a door panel driving assembly. The door panel driving assembly is connected to the door panel assembly and is used to drive the door panel assembly to open and close; The lifting device includes a first-stage lifting platform, a second-stage lifting platform, and a lifting driving assembly. The lifting driving assembly is connected to the first-stage lifting platform. The first-stage lifting platform is connected to the second-stage lifting platform. The lifting driving assembly is used to drive the first-stage lifting platform to move a first distance, and the first-stage lifting platform drives the second-stage lifting platform to move a second distance. The second distance is twice the first distance. When the door panel assembly is opened, the lifting driving assembly can drive the second-stage lifting platform to extend out of the door panel assembly; The centering device includes a cable passing port and a centering guiding assembly. The centering device is connected to the lifting device. The cable passing port is arranged on the second-stage lifting platform and is used for the cable of the cable carrying device to pass through. The centering guiding assembly includes a wedge-shaped baffle. When the cable pulls the cable carrying device close to the second-stage lifting platform, the wedge-shaped baffle centers and positions the cable carrying device; The locking device includes a locking hook, a crank connecting rod mechanism, and a locking driving assembly. The locking driving assembly is connected to the crank connecting rod mechanism. The crank connecting rod mechanism is connected to the locking hook. The locking driving assembly drives the locking hook through the crank connecting rod mechanism. The locking hook is used to lock the cable carrying device when the cable carrying device contacts the second-stage lifting platform; 2. The retrieval system for the cable-stayed device according to claim 1, characterized in that, The door panel driving assembly includes a driving hydraulic cylinder and a driving connecting rod. The driving connecting rod is hinged to the door panel assembly. The driving hydraulic cylinder is connected to the driving connecting rod and there is a driving blank stroke between the driving hydraulic cylinder and the driving connecting rod; 3. The recovery system for the cable-stayed device according to claim 2, characterized in that, There is one driving hydraulic cylinder. The door panel assembly includes a first door panel and a second door panel. One driving hydraulic cylinder simultaneously drives the first door panel and the second door panel. The door panel driving assembly includes a double-ear ring. The double-ear ring has a driving end, a first connection end, and a second connection end. The driving connecting rod includes a first driving connecting rod and a second driving connecting rod. The driving end is connected to the driving hydraulic cylinder. The first connection end is connected to the first driving connecting rod. The second connection end is connected to the second driving connecting rod. The first driving connecting rod is connected to the first door panel. The second driving connecting rod is connected to the second door panel; 4. The recovery system for the cable-stayed device according to claim 3, characterized in that, [[ID= 5. The recovery system for the cable-stayed device according to claim 4, characterized in that, The lifting device includes a fixed frame, and the lifting drive assembly includes a lifting hydraulic cylinder. The lifting hydraulic cylinder has a cylinder body and a piston rod. The cylinder body is fixed to the fixed frame, and the piston rod is hinged to the first-stage lifting platform. A pulley assembly is provided between the first-stage lifting platform and the second-stage lifting platform. The pulley assembly includes a movable pulley and a rope. The movable pulley is fixed to the first-stage lifting platform, one end of the rope is fixed to the fixed frame, the rope passes around the movable pulley, and the other end of the rope is connected to the second-stage lifting platform.

6. The recovery system for the cable-stayed device according to claim 5, characterized in that, The centering guide assembly also includes a guide limiting device, which includes a guide wheel, an elastic component, and a guide link. One end of the guide link is rotatably connected to the wedge-shaped baffle via a rotating shaft, and there is a moving space between the rotating shaft and the wedge-shaped baffle. The other end of the guide link is connected to the guide wheel and supported by the elastic component.

7. The recovery system for the cable-stayed device according to claim 6, characterized in that, The second-stage lifting platform includes a lifting plate, and the through-hole is located in the middle of the lifting plate. The through-hole is a conical through hole.

8. The recovery system for the cable-stayed device according to claim 7, characterized in that, The locking drive assembly includes a locking drive hydraulic cylinder, which simultaneously drives two locking hooks. The two locking hooks include a first locking hook and a second locking hook, which are arranged opposite to each other to simultaneously lock both sides of the cable device.

9. The recovery system for the cable-stayed device according to claim 8, characterized in that, The crank-connecting rod mechanism has a self-locking function. The crank-connecting rod mechanism includes a first connecting rod, a first crank, a second connecting rod, a second crank, and a connecting rod. The two ends of the connecting rod are respectively connected to the first crank and the second crank. The first crank and the first locking hook are an integral structure. One end of the first connecting rod is hinged to the fixed frame, and the other end is connected to the first crank. The second crank and the second locking hook are an integral structure. One end of the second connecting rod is hinged to the fixed frame, and the other end is connected to the second crank. The locking drive hydraulic cylinder is connected to the connecting rod and drives the connecting rod to move up and down, thereby causing the first locking hook and the second locking hook to open and lock.

10. The retrieval system for the cable-stayed device according to claim 9, characterized in that, The recycling system also includes a monitoring component, which includes an imaging device located at the junction of the lifting plate and the wedge-shaped baffle.

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