Locking type locking device for lifting fin plate and using method

Abstract

The invention discloses a locking type locking device for lifting a fin and a using method, and belongs to the technical field of ship equipment.The locking type locking device comprises a deep well, a power motor is arranged on the right side wall of the deep well, the power motor is connected with a three-jaw mechanical arm through a rotating shaft, the three-jaw mechanical arm controls transverse displacement of the fin, and the fin is connected to the lower portion of a hanging plate through a hanging assembly; the contact face, matched with the three-jaw mechanical arm, of the fin plate is provided with at least one sensor unit, and the left side wall of the deep well is provided with a spring bed buffering cushion. According to the locking type locking device for lifting the fin plate and the using method, the holding claws of the three-claw mechanical arm are designed to be streamlined and used for being matched with the streamlined appearance of the fin plate, the three-claw mechanical arm can accurately clamp the fin plate in combination with multiple sensors, and damage to the fin plate is reduced while the fin plate is clamped; a spring bed buffer pad is adopted to reduce damage caused by the fact that the fin impacts the deep well and damage to the fin possibly caused by shaking of the ship body.

Description

Technical Field

[0001] The present invention relates to the technical field of ship equipment, and in particular to a locking device for lifting fins and a use method thereof. Background Art

[0002] As an important auxiliary equipment for ships, the reliability of the locking device of the lifting fin is directly related to the safety of ship navigation and the efficiency of scientific research operations. In actual applications, the traditional hydraulic cylinder and wedge locking device exposes a series of difficult technical problems. First, the traditional device uses a hydraulic cylinder to drive the wedge to achieve locking. However, the response delay and pressure fluctuation problems of the hydraulic system itself make high-precision positioning difficult to achieve. This causes obvious position deviation during locking, seriously affecting the reliability of the locking and posing a hidden danger to the stable operation of the ship in complex sea conditions. Secondly, such traditional devices mostly use manual braking, which has a cumbersome operating process, low efficiency, and is greatly affected by human factors.

[0003] As modern ships pursue highly automated operations, this low-level automation device clearly cannot meet actual needs, severely restricting improvements in ship operating efficiency. When ships are exposed to the high-pressure environment of deep sea, traditional hydraulic systems are prone to problems such as seal failure and oil leakage. These failures not only reduce the stability of the device but also significantly shorten its service life, increase equipment operation risks, and introduce significant uncertainty to missions such as marine scientific research. Given these issues, the development of a new locking device is urgent. This new device should possess high positioning capabilities and a high level of automation, capable of stable operation in a variety of complex environments, while reducing maintenance costs, in order to meet the high-performance and high-standard requirements of modern marine research vessels for lifting fin locking devices. Summary of the Invention

[0004] The purpose of the present invention is to provide a locking device for lifting and lowering fins and a method for use. The claws of a three-claw robotic arm are designed to be streamlined to adapt to the streamlined appearance of the fins. Combined with pressure sensors, displacement sensors, and contact sensors, the three-claw robotic arm can accurately clamp the fins, reducing damage to the fins while clamping them; a spring bed cushion is used to reduce damage caused by the fins hitting the deep well, as well as damage to the fins that may be caused by the shaking of the hull.

[0005] To achieve the above-mentioned objectives, the present invention provides a locking device for lifting fins, comprising a deep well, wherein a power motor is provided on the right side wall of the deep well, the power motor is connected to a three-claw robotic arm through a rotating shaft, the three-claw robotic arm controls the lateral displacement of the fin, the fin is connected to the bottom of the hanging plate through a suspension assembly, the contact surface between the fin and the three-claw robotic arm is provided with at least one set of sensor units, and a spring bed buffer pad is provided on the left side wall of the deep well.

[0006] Preferably, the rotating shaft passes through the right side wall of the deep well.

[0007] Preferably, the suspension assembly includes a pulley mechanism and a suspension rope.

[0008] Preferably, the pulley mechanism includes a fixed pulley and a movable pulley, the fixed pulley is fixedly connected to the hanging plate; the movable pulley is fixedly connected to the fin plate by bolts, and the height of the movable pulley does not exceed the upper surface of the fin plate.

[0009] Preferably, the suspension rope serves as a safety redundant structure, the upper end of the suspension rope is connected to the lower surface of the suspension plate, and the lower end of the suspension rope is connected to the suspension ring on the upper surface of the fin plate.

[0010] Preferably, the sensor unit includes a pressure sensor, a displacement sensor and a contact sensor.

[0011] Preferably, the three-claw robotic arm fits tightly against the outer side of the fin.

[0012] The present invention also provides a method for using a locking device for lifting fins, comprising the following steps:

[0013] S1: The fin receives the locking command, and the pulley mechanism adjusts the fin to the preset height. At the same time, the displacement sensor records the fin movement information in real time and monitors the displacement change;

[0014] S2: The power motor works, transmitting power to the three-claw robotic arm through the rotating shaft, causing the three-claw robotic arm to extend and retract. At the same time, the pressure sensor records the pressure information of the three-claw robotic arm's grip.

[0015] S3, the gripper of the three-claw robot contacts the surface of the fin and forms a stable contact and clamping state;

[0016] S4, the power motor pushes the fin plate toward the spring bed cushion pad, and the displacement sensor records the displacement information of the fin plate in real time, which is used to calculate the distance between the fin plate and the spring bed cushion pad;

[0017] S5: At the moment when the fin plate contacts the spring bed cushion pad, the contact sensor captures the contact signal between the fin plate and the spring bed cushion pad, and the power motor stops power output, completing the locking of the fin plate.

[0018] Therefore, the present invention adopts the above-mentioned locking device and method for lifting fins, which has the following beneficial effects:

[0019] 1) The three-claw robot's gripper is streamlined to match the fin's streamlined appearance and fit tightly against its outer surface. During the tightening process, pressure sensors, displacement sensors, and contact sensors continuously collect information, enabling the three-claw robot to accurately clamp the fin. The pressure applied to the fin minimizes damage while tightening it.

[0020] 2) In the process of approaching the deep well wall, the spring bed buffer pad can effectively reduce the damage caused by the fin hitting the deep well. At the same time, it also provides a buffer pad for the fin in the cruising state, which can reduce the damage to the fin that may be caused by the shaking of the hull.

[0021] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of an embodiment of a locking device for lifting fins and a method of use of the present invention;

[0023] Figure 2 This is a top view of a movable pulley according to an embodiment of a locking device for lifting fins and a method of use of the present invention;

[0024] Figure 3 This is a bottom-up view of a fixed pulley showing an embodiment of a locking device for lifting fins and a method of use of the present invention;

[0025] Figure 4 It is a schematic diagram of a suspension assembly according to an embodiment of a locking device for lifting fins and a method of use of the present invention;

[0026] Figure 5 The present invention is a schematic diagram of the internal structure of a spring bed cushion according to an embodiment of a locking device for lifting fins and a method of use thereof.

[0027] Reference numerals

[0028] 1. Deep well; 2. Power motor; 3. Rotating shaft; 4. Three-claw robotic arm; 5. Sensor unit; 6. Fin; 7. Spring bed cushion; 8. Suspension assembly; 81. Movable pulley; 82. Suspension rope; 83. Lifting ring; 84. Fixed pulley; 9. Suspension plate. DETAILED DESCRIPTION

[0029] The technical solution of the present invention is further described below with reference to the accompanying drawings and embodiments.

[0030] Unless otherwise defined, the technical or scientific terms used in the present invention shall have the usual meanings understood by persons of ordinary skill in the field to which the present invention belongs. The words "first", "second" and similar terms used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "include" or "comprise" mean that the elements or objects preceding the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0031] Example 1

[0032] The present invention provides a locking device for lifting fins and a method of using the same, the structure of which is as follows: Figure 1 — Figure 4 As shown, the apparatus comprises a deep well 1, with a power motor 2 mounted on the right side wall thereof. This power motor 2 is connected to a three-claw robotic arm 4 via a rotating shaft 3. The three-claw robotic arm 4 is a telescopic robotic arm used to clamp the fin 6. The rotating shaft 3 extends through the right side wall of the deep well 1. The three-claw robotic arm 4 has a streamlined design, designed to match the streamlined appearance of the fin 6 and fit tightly against the outer surface of the fin 6. This multi-claw design also provides thrust from top to bottom on the fin 6, creating a secure grip and facilitating uniform force distribution across the surface of the fin 6, preventing large-scale deviation and shaking. The three-claw robotic arm 4 controls the lateral displacement of the fin 6, which is connected to the underside of the hanging plate 9 via a suspension assembly 8. The suspension assembly 8 includes a pulley mechanism and a suspension rope 82. The pulley mechanism includes a fixed pulley 84 and a movable pulley 81. The fixed pulley 84 is fixedly connected to the hanging plate 9. The movable pulley 81 is bolted to the fin 6, and its height does not exceed the upper surface of the fin 6. The suspension rope 82 serves as a safety redundant structure, with the upper ends of the suspension rope 82 being connected to the lower surface of the hanging plate 9, and the lower ends of the suspension rope 82 being connected to the suspension ring 83 on the upper surface of the fin 6. Once the connection of the pulley mechanism fails, the suspension rope 82 can prevent the fin 6 from falling off.

[0033] The contact surface between the fin plate 6 and the three-claw robot 4 is provided with at least one set of sensor units 5, which include a pressure sensor, a displacement sensor and a contact sensor. The left wall of the deep well 1 is provided with a spring bed cushion 7, the internal structure of which is as follows: Figure 5 As shown, due to the heavy weight of the fin 6, if there is no buffer, when the wall of the deep well 1 and the fin 6 come into contact, both surfaces will be subjected to a large impact force. The spring compression in the spring bed buffer pad 7 can increase the braking stroke and play a buffering role.

[0034] When the locking device for lifting fins described in this embodiment is used, the process is as follows:

[0035] S1. The fin 6 receives the locking instruction, and the pulley mechanism slowly lifts or lowers the fin 6 to adjust the fin 6 to a preset height. At the same time, the displacement sensor records the movement information of the fin 6 in real time and monitors the displacement change.

[0036] S2, the power motor 2 works, and transmits power to the three-claw robot 4 through the rotating shaft 3, and the three-claw robot 4 extends and retracts step by step; at the same time, the pressure sensor records the pressure information of the gripping claw of the three-claw robot 4, and reduces the pressure on the fin 6 while ensuring that there is no sliding between the gripping claw of the three-claw robot 4 and the fin 6, thereby avoiding damage to the surface of the fin 6.

[0037] S3. The gripper of the three-claw robot arm 4 contacts the surface of the fin 6. The unique design of the gripper that matches the streamlined surface of the fin 6 helps to firmly hold the fin 6 and form a stable contact and clamping state.

[0038] S4: Power motor 2 operates in a low-speed, high-torque mode, slowly and steadily pushing fin 6 toward spring cushion 7. During this propulsion process, the displacement sensor records the displacement of fin 6 in real time, which is used to calculate the distance between fin 6 and spring cushion 7. Based on this real-time distance data, the propulsion speed and force of the three-claw robot arm 4 are dynamically controlled to ensure that fin 6 maintains a safe and stable operation during its approach to spring cushion 7, avoiding unnecessary damage to fin 6 caused by excessive propulsion or improper force.

[0039] At step S5, the moment fin 6 contacts the spring cushion 7, the contact sensor captures the contact signal between fin 6 and spring cushion 7, causing power motor 2 to stop outputting power, completing the locking of fin 6. When fin 6 contacts spring cushion 7, the springs within spring cushion 7 undergo elastic deformation, effectively absorbing and dissipating the impact force exerted on fin 6 during contact. This cushioning effect mitigates potential damage to fin 6 caused by impact, ensuring the structural integrity and functional stability of fin 6 throughout the locking process. This synergistic buffering mechanism ensures reliable and secure locking of fin 6, whether in high-intensity cruising conditions or in complex and changing standby environments.

[0040] Therefore, the present invention adopts the above-mentioned locking device and method of use for lifting the fin, and designs the claws of the three-claw robotic arm to be streamlined to adapt to the streamlined appearance of the fin and avoid force concentration on the fin. Combined with pressure sensors, displacement sensors, and contact sensors, the three-claw robotic arm can accurately clamp the fin and reduce damage to the fin while clamping the fin; a spring bed buffer pad is used to reduce the damage caused by the fin hitting the deep well, as well as the damage to the fin that may be caused by the shaking of the hull.

[0041] 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 the same. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solutions of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A locking device for lifting fins, characterized by: It includes a deep well, a power motor is provided on the right side wall of the deep well, the power motor is connected to a three-claw robotic arm through a rotating shaft, the three-claw robotic arm controls the lateral displacement of the fin, the fin is connected to the bottom of the hanging plate through a suspension assembly, and the contact surface between the fin and the three-claw robotic arm is provided with no less than one group of sensor units, and a spring bed buffer pad is provided on the left side wall of the deep well.

2. The locking device for a lifting fin according to claim 1, characterized in that: The rotating shaft passes through the right side wall of the deep well.

3. The locking device for a lifting fin according to claim 1, characterized in that: The suspension assembly includes a pulley mechanism and a suspension rope.

4. The locking device for lifting fins according to claim 3, characterized in that: The pulley mechanism includes a fixed pulley and a movable pulley, wherein the fixed pulley is fixedly connected to the hanging plate; the movable pulley is fixedly connected to the fin plate by bolts, and the height of the movable pulley does not exceed the upper surface of the fin plate.

5. The locking device for lifting fins according to claim 3, characterized in that: The suspension rope serves as a safety redundant structure, the upper end of the suspension rope is connected to the lower surface of the suspension plate, and the lower end of the suspension rope is connected to the suspension ring on the upper surface of the fin plate.

6. The locking device for a lifting fin according to claim 1, characterized in that: The sensor unit includes a pressure sensor, a displacement sensor, and a contact sensor.

7. The locking device for a lifting fin according to claim 1, characterized in that: The three-claw robotic arm is tightly fitted to the outer side surface of the fin.

8. A method for using a locking device for lifting fins, characterized in that: The following steps are involved: S1: The fin receives the locking command, and the pulley mechanism adjusts the fin to the preset height. At the same time, the displacement sensor records the fin movement information in real time and monitors the displacement change; S2: The power motor works, transmitting power to the three-claw robotic arm through the rotating shaft, causing the three-claw robotic arm to extend and retract. At the same time, the pressure sensor records the pressure information of the three-claw robotic arm's grip. S3, the gripper of the three-claw robot contacts the surface of the fin and forms a stable contact and clamping state; S4, the power motor pushes the fin plate toward the spring bed cushion pad, and the displacement sensor records the displacement information of the fin plate in real time, which is used to calculate the distance between the fin plate and the spring bed cushion pad; S5: At the moment when the fin plate contacts the spring bed cushion pad, the contact sensor captures the contact signal between the fin plate and the spring bed cushion pad, and the power motor stops power output, completing the locking of the fin plate.

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