Marine rope traction system and operation ship suitable for culture raft frame

Abstract

The invention provides a marine rope traction system and an operation ship suitable for a culture raft frame, and relates to the technical field of mechanical platform traction systems.The marine rope traction system comprises an overwater operation platform, a traction wheel driving device and a rope traction wheel, the rope traction wheel comprises a left hub and a right hub, and the rotating axes of the left hub and the right hub are arranged at an obtuse angle alpha; the hubs on the two sides synchronously rotate in the circumferential direction; a plurality of jaws and rope supports are arranged on the peripheries of the hubs on the two sides, and the rope supports are located on the inner peripheries of the jaws; in the rotating process of the rope traction wheel, a traction arc section and a release arc section exist, and in the traction arc section, the transverse distance between jaws on the two corresponding sides is smaller than or equal to the diameter of a rope to be dragged; in the releasing arc section, the transverse distance between the jaws on the two corresponding sides is larger than the drift diameter of the rope. The rope is placed at a rope inlet point in front of the traction arc section, hubs on the two sides are synchronously rotated, the rope is gradually clamped and pulled, the platform is pulled by means of counter-acting force, and the rope is released after entering the release arc section so as to keep traction continuity.

Description

Technical Field

[0001] This application relates to the field of towing equipment for waterborne operation platforms, and more specifically, to a marine rope towing system and an operating vessel suitable for aquaculture rafts. Background Technology

[0002] A marine towing system is a mechanical device that uses a towing rope to achieve the towing function of a floating platform, widely applicable in shellfish and algae farming. The towing component, which interacts directly with the towing rope, is the core of the system, and its performance directly determines the towing effect. Existing towing component solutions include: (1) Friction Traction: Chinese utility model patent CN 201619671U discloses a net-lifting machine, including a frame, a traction wheel, a positioning wheel, and a pressure wheel mechanism. The traction wheel is installed on one side of the frame and is driven to rotate by a power device installed in the frame. A positioning wheel is provided on each side below the traction wheel. The steel rope of the fishing net passes under one positioning wheel, over the traction wheel, and then passes under the other positioning wheel. The pressure wheel on the pressure wheel mechanism presses the steel rope onto the traction wheel. This type of solution relies on the friction of the part in contact with the rope to complete the traction. Usually, the traction capacity is improved by improving the material of the contact part and increasing the contact surface. This type of traction component is not adaptable to ropes with varying diameters. Thin ropes cannot be stably clamped, and thick ropes are difficult to enter the clamping part. There is also the problem that the rope is difficult to exit from the traction component.

[0003] (2) Clamping and traction: Chinese invention patent with publication number CN111252201A uses a cam mechanism to enable the traction component to achieve a variable pitch clamping effect, which can clamp variable diameter ropes. However, its transmission structure is complex, the clamping end and the cam end are separated from each other, and the complex transmission structure has poor durability in the highly corrosive marine environment. Chinese invention patent with publication number CN118047004A discloses a variable pitch clamping scheme in which the clamping end and the cam end are directly combined. The distance between the clamping ends is directly determined by the track distance. However, the clamping end and the track itself still need to move relative to each other in this scheme, and it is driven by an independent conveyor belt. Its structure is still relatively complex.

[0004] (3) Clip-on traction: This method uses the clip-on part of the traction component to clip the knot or similar obstacle in the rope to achieve the dragging of the rope. It can be applied to the rope with float in raft aquaculture. However, this method requires the traction component and the knot to be well matched. It has no traction ability for sections without knots. When dragging with the float or other attachments as obstacles, it often damages the connection part of these attachments and affects the service life. Summary of the Invention

[0005] To solve the above problems, the technical solution adopted in this application is a marine cable traction system, including a water work platform, a traction wheel drive device and a cable traction wheel. The axle of the cable traction wheel is mechanically connected to the water work platform. The cable traction wheel includes two hubs, left and right. The rotation axes of the left and right hubs are set at an obtuse angle α, and the two hubs rotate synchronously in the circumferential direction. Multiple jaws are provided on the outer periphery of both wheel hubs, and a rope support is provided on the inner side of at least one wheel hub, with the rope support located on the inner periphery of the jaws; The rope traction wheel is constructed such that during its rotation, there is a pulling arc segment and a releasing arc segment; The arc segment with a central angle β, centered on the circumferential position of the angle bisector of the obtuse angle α between the rotation axes of the two wheel hubs, is the pulling arc segment. Within the pulling arc segment, the lateral distance between the corresponding jaws on both sides is less than or equal to the diameter of the rope to be pulled, so as to clamp and pull the rope together. There is at least one pair of jaws within this arc segment. The arc segment outside the central angle β is the release arc segment. Within the release arc segment, the lateral distance between the corresponding jaws on both sides is greater than the diameter of the rope to release the rope.

[0006] Optionally, the obtuse angle α is set to 170°–178°; the central angle β of the pulling arc segment is set to 30°–60°.

[0007] Optionally, the lateral distance between the two jaws corresponding to the rope entry point of the rope traction wheel is less than 1.5 times the rope diameter.

[0008] Optionally, within the pulling arc segment, the lateral distance between the corresponding two sides of the jaws furthest from the wheel axle is less than the diameter of the rope.

[0009] Optionally, the hubs on the left and right sides of the rope traction wheel are divided into a driving wheel and a driven wheel. The axle of the driven wheel is rigidly connected to the axle of the driving wheel, so that the rotation axes of the two hubs maintain a fixed obtuse angle α; the axle of the driving wheel is rigidly connected to the water work platform.

[0010] Optionally, both the driving wheel and the driven wheel are provided with circumferentially misaligned rope supports, and in the traction arc of the traction wheel, the rope supports on both sides are laterally intersected.

[0011] Optionally, a guide plate is provided at the outer end of the jaws, the guide plate is inclined toward the jaws, and the corresponding guide plates on the left and right hubs form a V-shaped guide funnel.

[0012] Optionally, the jaws and / or rope support are mounted on the same plate structure to form a rope locking plate, thereby improving the manufacturing process of the jaws and rope support, and improving the rope support effect; furthermore, a guide plate is added to the rope locking plate to guide the rope into the jaws.

[0013] Optionally, multiple rope locking plates are provided on the outer periphery of the hubs on both sides of the rope traction wheel. The corresponding locking plates on the left and right hubs are circumferentially aligned with each other. One locking plate includes a guide plate, jaws and rope support from the outer periphery to the inner periphery, while the other locking plate includes a guide plate, jaws and double legs from the outer periphery to the inner periphery. In the pulling arc of the traction wheel, the rope support is inserted laterally between the double legs of the opposite locking plate.

[0014] Optionally, multiple rope locking plates are provided on the outer periphery of the wheel hubs on both the left and right sides of the rope traction wheel, and the corresponding locking plates on the wheel hubs on the left and right sides are circumferentially offset from each other; The locking plate includes a guide plate, jaws, and rope support from the outer periphery to the inner periphery; Alternatively, the locking plate includes a guide plate and jaws from the outer periphery to the inner periphery; In the traction arc of the traction wheel, the corresponding inner ends of the ropes on the left and right wheel hubs are laterally intersecting each other.

[0015] Optionally, multiple sets of locking assemblies are evenly distributed along the outer circumference of both wheel hubs. Each locking assembly includes multiple locking plates with a minimum circumferential spacing of two opposing jaws within the same set that is less than the diameter of the rope.

[0016] Optionally, the locking assembly includes at least three rope supports, located on the left and right sides of the wheel hub respectively; one side has a single rope support with tangential engagement pins at both ends being spherical, the diameter of the complete sphere to which the spherical end of the engagement pin belongs is equal to the length of the engagement pin, and the other side has two rope supports, located at both ends of the engagement pin respectively.

[0017] This application also provides an operating vessel suitable for aquaculture rafts, including a hull and a gantry, comprising a marine towing system as described in any of the preceding claims. The hull is provided with a towing guide device and a marine towing system arranged sequentially from front to rear. The towing is an aquaculture raft towing rope, with a float and a lifting rope fixed on the towing. The towing guide device includes a rope support disposed within the gantry. A pair of corresponding rope supports are arranged near their inner ends to form a lifting rope through groove. The minimum span of the lifting rope through groove is less than the diameter of the towing rope but greater than the diameter of the lifting rope. The rope support and the gantry form a semi-closed annular structure. The geometry of the annular structure allows the float on the towing rope to pass through the interior of the annular structure.

[0018] Optionally, at least one rope support is movably connected to the gantry. After the rope support is moved or removed, the span of the rope through groove can be increased to be greater than the diameter of the rope. Alternatively, the gantry may include a movable frame that is movably connected to the hull via a kinematic pair, and after the movable frame is moved or disassembled, the span of the hoisting rope channel can be increased to be greater than the diameter of the rope.

[0019] Optionally, the hoisting rope channel is located above the full-load waterline of the hull, and the rope exit point of the rope guide device and the rope entry point of the traction wheel are both located above the water surface.

[0020] Optionally, a guardrail is provided on the outside of the towing wheel. The guardrail includes a guide rail and a barrier rail. The barrier rail is located at the end of the marine towing system away from its connection with the hull. The front end of the guide rail is smoothly connected to the hull, and the rear end of the guide rail is smoothly connected to the barrier rail.

[0021] Optionally, the working vessel is a catamaran mother ship, with a deck and / or gantry in the middle connecting the two hulls. The front of the catamaran mother ship is the harvesting area, and the rear is the berthing area for the daughter ship. Each side of the harvesting area is equipped with a set of rope guiding devices and a marine rope traction system, and the marine rope traction systems on both sides operate independently. The front end of the daughter ship berthing area is equipped with a retractable daughter ship anchoring mechanism. The front and rear ends of the daughter ship anchoring mechanism are respectively equipped with front and rear connecting parts, at least one of the front and rear connecting parts being a hinged connecting part. The hinge axis of the hinged connecting part is horizontally placed or ball-head hinged.

[0022] The advantages of the marine rope traction system and the applicable working vessel on the aquaculture raft provided in this application are as follows: (1) The variable pitch clamping is achieved by setting the rotation axis of the left and right hubs at an obtuse angle α. Multiple jaws are provided on the outer periphery of both hubs to squeeze the rope and deform it, providing higher friction. The deformed section pushes the non-deformed section or transition section to improve traction performance. The rope is placed at the rope entry point before the traction arc section. The two hubs are rotated synchronously to gradually clamp the rope and pull it. With the help of the reaction force, the traction platform is pulled. The rope is released after entering the release arc section to maintain the continuity of traction.

[0023] (2) The structure is simple and does not require the cam end to transmit power to the traction end. The hub of the rope traction wheel is both the moving end and the traction end, and the left and right hubs rotate synchronously in the circumference. On the one hand, it prevents the misalignment of the hub during operation and avoids the instantaneous reduction of traction force leading to rope derailment. On the other hand, it can be designed for single hub drive, allowing for single-sided cantilever installation, and further reduces the required structure. There is no need to clamp and pull the rope knot or similar obstacles, avoiding damage to the float and other accessories.

[0024] (3) When the water-based work platform moves along the raft frame rope, the minimum span of the rope passage is less than the rope diameter, so the rope will not detach from the rope guide device, ensuring that the water-based work platform does not deviate from the rope. The minimum span of the rope passage is greater than the rope diameter, so the rope can pass through the rope passage. The rope, as well as the seedling rope and the breeding cage below, will not get stuck on the guide device. The geometry of the annular space allows the buoy to pass through the interior of the annular space, and the buoy flips over from above the rope support. The annular space formed by the rope support and the gate frame prevents the stem rope from detaching, and there is no need to avoid the buoy, rope, seedling rope and breeding cage. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0026] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0027] Figure 1 This is a front view schematic diagram of the marine tow rope traction system provided in Embodiment 1 of this application; Figure 2 yes Figure 1 AA section view; Figure 3 yes Figure 1 BB cross-section; Figure 4 This is a three-dimensional schematic diagram of the marine rope traction system provided in Embodiment 1 of this application; Figure 5 This is a schematic diagram of the left and right rope support misalignment corresponding to the bevel gears in the marine rope traction system provided in Embodiment 2 of this application; Figure 6 This is a schematic diagram of the rope support inserted into the double outriggers provided in Embodiment 3 of this application; Figure 7 This is a schematic diagram of a single-sided wheel hub rope support provided in Embodiment 4 of this application; Figure 8 This is a schematic diagram of the rope guiding device provided in Embodiment 5 of this application; Figure 9 yes Figure 8 Enlarged view of point A; Figure 10 yes Figure 9 Enlarged view of point B; Figure 11 This is a schematic diagram of the gantry movable rope guide device provided in Embodiment Six of this application; Figure 12 yes Figure 11 Enlarged view of point A; Figure 13 yes Figure 12 Diagram showing the movable frame of the middle gantry in its flipped-open state; Figure 14 This is a schematic diagram of the movable rope guide device provided in Embodiment 7 of this application; Figure 15 yes Figure 14 A magnified view of a portion of the image; Figure 16 yes Figure 15 Diagram showing the right rope support in its flipped-open state; Figure 17This is a perspective view of an operating vessel suitable for aquaculture rafts provided in Embodiment 8 of this application; Figure 18 for Figure 17 Enlarged view of point A; Figure 19 This is a front view schematic diagram of the installation of the guardrail provided in Embodiment 8 of this application; Figure 20 This is a top view of the guardrail installation provided in Embodiment 8 of this application; Figure 21 This is a schematic diagram of the catamaran mother ship sailing in a kelp farming raft, as provided in Embodiment 9 of this application; Figure 22 for Figure 21 Enlarged view of point A; Figure 23 This is a schematic diagram of the anchoring of the catamaran mother ship and the daughter ship provided in Embodiment 9 of this application; Figure 24 for Figure 23 Enlarged view of point A.

[0028] Explanation of reference numerals in the attached figures: 1-Marine rope traction system; 101-Rope traction wheel; 102-Left hub; 103-Right hub; 104-Left axle; 105-Right axle; 106-Left bearing housing; 107-Right bearing housing; 108-Left axle axis; 109-Right axle axis; 110-Left jaw; 111-Right jaw; 112-Left rope support; 113-Right rope support; 114-Left guide plate; 115-Right guide plate; 116-Meshing column; 117-Double outriggers; 118-Locking plate; 119-Angle bisector of obtuse angle α; 2-Rope guide device; 201-Gantry frame; 202-Hinge shaft; 203-Left rope support; 204-Right rope support; 3-Hull; 301-Harvesting area; 302-Sub-vessel berthing area; 303-Sub-vessel; 4-Guardrail; 401-Guide railing; 402-Barrier railing; 5-Sub-ship anchoring mechanism; 501-Front hinge; 502-Rear hinge; 503-Front hinge shaft; 504-Rear hinge shaft; 6-Water surface; 7-Hanging rope; 701-Hanging rope; 702-Seedling rope; 703-Float; 704-Hanging rope groove. Detailed Implementation

[0029] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0030] Example 1 A marine rope traction system, such as Figures 1-4 As shown (to clearly illustrate key structures such as the jaws and rope support), Figure 2 , Figure 4 The structure includes a concealed rope 7, a water-based work platform (in this embodiment, the water-based work platform is the hull 3), a traction wheel drive device, and a rope traction wheel 101. The axle of the rope traction wheel 101 is mechanically connected to the hull 3. The rope traction wheel 101 includes two hubs: a left hub 102 and a right hub 103. The rotation axes of the left and right hubs are set at an obtuse angle α, and the two hubs rotate synchronously in the circumferential direction. Figure 2 In this embodiment, the axle directions of the left and right wheel hubs can be referenced to the left axle axis 108 of the left wheel axle 104 and the right axle axis 109 of the right wheel axle 105. Multiple jaws are provided on the outer periphery of both wheel hubs. Each set of jaws includes a left jaw 110 and a right jaw 111. At least one wheel hub has a rope support on its inner side (in this embodiment, rope supports are provided on the inner sides of both wheel hubs), and the rope support is located on the inner periphery of the jaws. The rope support includes a left rope support 112 and a right rope support 113. The traction wheel 101 is constructed such that during its rotation, there is a pulling arc segment and a releasing arc segment; the arc segment with a central angle β, centered on the circumferential position of the angle bisector 119 of the obtuse angle α between the rotation axes of the two wheel hubs, is the pulling arc segment. Within the pulling arc segment, the lateral distance between the corresponding left jaw 110 and right jaw 111 is less than or equal to the diameter of the rope 7, so as to jointly clamp and pull the rope 7. There is at least one pair of jaws within this arc segment.

[0031] The arc segment outside the central angle β is the release arc segment. The lateral distance between the corresponding left jaw 110 and right jaw 111 within the release arc segment is greater than the diameter of the rope, so as to release the rope 7.

[0032] Taking the angle bisector 119 of the obtuse angle α between the rotation axes of the left hub 102 and the right hub 103 as being located at 67.5° above and behind the traction wheel as an example, in this embodiment, the traction arc segment is located above and behind the rope traction wheel 101 (i.e., Figure 1 The range of 45° to 90° (upper left) is defined in this embodiment as follows: the central angle β of the pulling arc is set to 45° (typically, the central angle β is configured to be greater than or equal to the central angle of two adjacent locking components to ensure pulling continuity). At this time, the point where the rope enters the rope traction wheel 101 (the release arc located above and in front of the rope traction wheel 101, i.e.) is... Figure 1The lateral distance between the left jaw 110 and the right jaw 111 (upper right) is greater than the diameter of the rope 7. Under its own weight, the rope 7 falls into the rope support on the inner circumference of the jaws. The traction wheel drive device is activated, and the rope traction wheel 101 rotates backward (i.e., counterclockwise) under the power drive. The jaws, which were originally laterally spaced greater than the diameter of the rope 7, gradually close under the drive of the two wheel hubs on both sides, which are set at an obtuse angle α on the axis of rotation. Eight sets of circumferentially distributed left jaws 110 and right jaws 111 effectively clamp the rope 7 at a position 45° backward from directly above, with one side of the rope traction wheel 101 as the axis. At this point, the rope 7 enters the pulling arc from the release arc and continues to rotate to the 67.5° position where it has the maximum clamping force. Then, the left jaws 110 and right jaws 111 gradually open and are held at a 90° position. The rope 7 then enters the release arc from the pulling arc and releases. At this time, the next set of left jaws 110 and right jaws 111 have rotated to the 45° position and take over clamping the rope 7. In this way, the rope 7 can be continuously clamped and pulled backward. The reaction force acting on the wheel axle of the rope traction wheel 101 and its mounting base propels the hull 3 forward at a constant speed.

[0033] The term "mechanical connection" as used in this application includes, but is not limited to, rotary connection and rigid connection; "synchronous circumferential rotation of both wheel hubs" includes, but is not limited to, independent synchronous drive of both wheel hubs and synchronous circumferential rotation of one wheel hub driving the other wheel hub.

[0034] The "nominal diameter" of the rope 7 refers to the minimum size of the rope 7 after being compressed and deformed. It is determined by the structure and material of the rope 7. For stranded ropes, such as rope 7, the nominal diameter refers to the minor axis dimension when it is deformed into an ellipse (or flattened circle) under transverse force. More accurately, it is the width of the smooth narrow groove that the rope 7 can squeeze through after being deformed under force. The nominal diameter of the rope 7 is usually 50% to 80% of the diameter of the rope 7. In practical applications, it can be obtained through a narrow groove pull-out test.

[0035] "Rope support" includes, but is not limited to, lateral protrusions, including the hub, located below the jaws. In a preferred embodiment, the rope support is integrated with the jaws, and the rope 7 is supported and lifted to the jaws. The "correspondence" between the jaws on both sides or the rope support includes, but is not limited to, circumferential alignment and circumferential misalignment. "Jaws" include, but are not limited to, straight jaws and curved jaws.

[0036] The transverse component at the lower edge of the rope 7, located at the high position of the rope traction wheel 101, is defined as the rope support, and the radial components located on the left and right sides of the rope 7 are defined as the jaws. The rope support is used to prevent the rope 7 from falling under the jaws. The rope support has various structural forms. In this embodiment, the rope support and the jaws are located on the same plate component (e.g., Figures 1-4As shown, the locking plate 118 has a simple structure and a good rope-supporting effect. Regardless of the form in which the rope support is constructed, the rope support has the following characteristics: the distance from the wheel axle to the upper plane of the rope support is equal to the distance from the wheel axle to the lower end of the jaws, and the rope support protrudes laterally inward relative to the jaws, that is, the rope support extends towards the opposite wheel hub.

[0037] Mechanical connections include rigid connections and rotary connections. As one feasible implementation, the axle of the traction wheel is rigidly connected to the waterborne work platform (e.g., Figure 2 (As shown); "The jaws on the left and right hubs and the rope supports correspond to each other" includes circumferential alignment and circumferential misalignment; when rope supports are provided on both the left and right sides, the rope supports on both sides are circumferentially misaligned and intersect each other laterally in the pulling arc section, which is used to prevent the rope 7 from falling below the jaws and also serves as a circumferential synchronous rotating meshing tooth.

[0038] The orientation of the marine rope traction system 1 is defined with reference to the rope 7: the length direction of the rope 7 is longitudinal, and the longitudinal dimension is length. When the rope traction wheel 101 is working, the rope 7 is locked by the anchor cable, and the rope traction wheel 101 rolls along the rope 7, thereby driving the hull 3, on which the rope traction wheel 101 is installed, to move forward relative to the rope 7. The direction of travel of the waterborne work platform is forward ( Figure 1 (Right side of the middle). This article defines the direction perpendicular to the angle bisector 119 of the obtuse angle α and perpendicular to the longitudinal direction as the transverse direction of the rope traction wheel 101. In engineering applications, for ease of installation, the wheel axle on one side of the hub is usually installed horizontally (e.g., Figure 2 The right wheel axle axis 109 is slightly deviated from the horizontal plane because the rotation axes of the two wheel hubs are set at an obtuse angle α. In order to distinguish it from the conventional horizontal lateral direction, the above definition of "defining the direction perpendicular to the angle bisector 119 perpendicular to the obtuse angle α and perpendicular to the longitudinal direction as the lateral direction of the rope traction wheel 101" is only applicable to the description of the rope traction wheel 101 (that is, this definition is only applicable in Embodiments 1 to 4).

[0039] When the two hubs of the rope traction wheel 101 are located on the left and right sides of the rope 7, the side of the hub and locking plate 118 closer to the rope 7 is the inner side, and the side farther from the rope 7 is the outer side. The lateral dimension is the width, and the circumferential direction of the rope traction wheel 101 is called the circumferential direction. The circumferential dimension is the arc length. The locking plate 118 is divided into a major diameter, a middle diameter, and a minor diameter region along the radial direction. For ease of description, the orientation is defined by the locking plate 118 located at the high position of the hub. At this time, the radial dimension is equal to the vertical dimension. The major diameter, middle diameter, and minor diameter regions are respectively called the upper part (or top), the middle part, and the lower part (or root).

[0040] In summary, the longitudinal direction is divided into front and back, and the transverse direction is divided into left and right. Based on whether it is close to or far from the rope 7, the transverse direction is further divided into inside and outside. In particular, the radial direction is divided into size, also known as up and down. For example, the locking plate 118 is divided into three parts along the radial direction: upper, middle and lower. At this time, the locking plate 118 is at the high position of the rope traction wheel 101. The vertical direction is divided into high and low, to distinguish it from the radial direction of up and down.

[0041] Without affecting understanding, when radial orientation is not suitable to be described by size or up and down, we still use inside and outside orientation. For example, "outer circumference" in "outer circumference of the hub" is radial orientation, not left and right orientation. When vertical orientation is not suitable to be described by height, we still use up and down orientation. For example, "above" in "taking the angle bisector 119 of the obtuse angle α of the rotation axis as being located at 67.5° above and behind the traction wheel" is vertical orientation, not radial orientation.

[0042] The jaws on the left and right sides can be either circumferentially aligned (both jaws are located in the same circumferential position) or circumferentially misaligned (the jaws are located in different circumferential positions; the circumferential misalignment is usually no greater than the diameter of the rope 7, taking into account the jaw wall thickness; the circumferential misalignment refers to the tangential distance between the rear edge of one jaw and the front edge of the other jaw). If the jaws on the left hub 102 and the right hub 103 are circumferentially aligned, the jaws rely solely on lateral clamping force to lock the rope 7. When the rope 7 is of uneven thickness or various marine organisms grow on it, the clamping effect and compatibility of the jaws will be affected. As a feasible implementation method, the jaws on the left hub 102 and the right hub 103 are circumferentially misaligned. A group of multiple jaws with misaligned sides will squeeze the rope 7 into an S-shape, thereby increasing the circumferential locking effect of the rope 7 and providing better compatibility with ropes of different thicknesses or with different marine organisms attached.

[0043] The rope support can be integrated with the jaws (circumferentially located in the same plane) or it can be independent of the jaws and circumferentially offset from them. As a feasible implementation method, the rope support and the jaws are set on the same locking plate 118 (the process is simpler), and the locking plates 118 on both sides of the hub are circumferentially offset and correspond to each other. This not only increases the longitudinal locking effect of the rope 7, but also the rope support on both sides, which is circumferentially offset and corresponds to each other and laterally intersects each other in the traction arc, can also serve as circumferentially synchronous rotating meshing teeth.

[0044] The cable traction wheel 101 in this application is driven by a traction wheel drive device mounted on a floating work platform. The traction wheel drive device includes a power unit, a driver, and a transmission mechanism. The power unit includes, but is not limited to, fuel-powered and battery-powered systems; the driver includes, but is not limited to, electric motors and hydraulic motors; and the transmission mechanism includes, but is not limited to, couplings, gear drives, chain drives, and belt drives. The "floating work platform" in this application includes, but is not limited to, vessels, floating platforms, and other work vehicles that operate based on cable 7.

[0045] The rotation of the rope traction wheel 101 can occur in two ways: rotating on the moving shaft and rotating on the stationary shaft. When the hub is rigidly connected to its axle, the axle is rotatably connected to the water work platform through the bearing housing. The drive unit drives the axle to rotate along with the hub through the transmission mechanism (usually a coupling, which is considered a type of transmission mechanism). This is rotating on the moving shaft. When the hub is rotatably connected to its axle, the axle is directly rigidly connected to the water work platform. The drive unit drives the hub to rotate through the transmission mechanism (usually a chain drive or belt drive). At this time, the axle remains stationary. This is rotating on the stationary shaft.

[0046] The connection methods between the rope traction wheel axle and the water work platform include, but are not limited to, the following: 1. Two wheel axles are respectively rotatably connected to the water work platform (moving shaft rotation); 2. Two wheel axles are respectively rigidly connected to the water work platform (stationary shaft rotation); 3. One wheel axle is rotatably connected to the water work platform (moving shaft rotation), and the other wheel axle is rigidly connected to the water work platform (stationary shaft rotation); 4. The inner ends of two wheel axles are rigidly connected, and one of the wheel axles is rigidly connected to the water work platform (stationary shaft rotation).

[0047] Two drives can be used to synchronously drive the left hub 102 and the right hub 103 respectively. At this time, the axle can be rigidly fixedly connected to the water work platform (static shaft rotation) or rotatably connected to the water work platform through the bearing seat (moving shaft rotation).

[0048] As a feasible implementation scheme, a rotary drive is used to drive one side of the hub, and then the other side of the hub is driven to rotate synchronously (static shaft rotation) through the transmission mechanism. At this time, the two axles physically intersect at an obtuse angle (the inner ends of the two axles are rigidly connected) and one side of the axle is rigidly connected to the water operation platform. This simplifies the mechanism, reduces costs, and improves reliability. When the rope traction wheel 101 is used for the kelp harvesting water operation platform, it can only be driven on one side due to the limitation of the kelp seedling ropes on the unharvested rows next to it.

[0049] The above two scenarios of rotating moving shaft and rotating stationary shaft, various wheel and axle connection methods with the waterborne operation platform, various drive and transmission mechanisms, and single and dual drive modes are all covered by this application.

[0050] The obtuse angle α is set to 170°~178°, and in this embodiment, the obtuse angle α is set to 174°; the central angle β of the pulling arc segment is set to 30°~60°, and in this embodiment, the central angle β of the pulling arc segment is set to 45°.

[0051] The rope entry point of the rope traction wheel 101 is located in the release arc segment, and the lateral distance between the corresponding two jaws at the rope entry point is less than 1.5 times the diameter of the rope 7.

[0052] In practical use, the rope 7 may be composed of multiple sections of rope connected by knots. After the knot enters the jaws of the rope traction wheel 101, as the rope traction wheel 101 rotates, the jaws between the hubs on the left and right sides, whose rotation axes are set at an obtuse angle α, gradually tighten. There is a risk that the knot may "get stuck" in the jaws of the rope traction wheel 101. "Getting stuck" means that as the jaws gradually tighten, the knot cannot continue to contract due to the obstruction of its own incompressible volume, and the rope traction wheel 101 stops rotating.

[0053] Taking a rope 7 with a diameter of 22mm as an example (the nominal diameter is about 17mm), in this embodiment, the lateral distance between the jaws on both sides corresponding to the rope entry point is set to 29mm, which is less than 1.5 times the diameter of the rope 7 (1.5×22=33mm). This ensures that the knot (the size is about 44mm) will not enter the jaws from the rope entry point, thus protecting the reliable operation of the rope traction wheel 101.

[0054] Within the traction arc, the lateral distance between the corresponding jaws on both sides away from the axle is less than the diameter of the rope 7. The jaws on both sides include a left jaw 110 and a right jaw 111. The left jaw 110 and the right jaw 111 are inclined relative to each other, and the distance between the jaws gradually decreases as they move from the position near the axle to the position away from the axle. Within the traction arc of the rope traction wheel 101, the lateral distance between the corresponding ends of the left jaw 110 and the right jaw 111 away from the axle is less than the diameter of the rope 7, forming a gourd-shaped jaw with a small opening and a large belly. In this embodiment, the diameter of the rope 7 is 22mm (the diameter is about 17mm). The lateral distance between the corresponding ends of the left jaw 110 and the right jaw 111 near the axle (lower end) is 20mm, and the lateral distance between the ends away from the axle (upper end) is 10mm. This effectively clamps the rope 7 and prevents the rope 7 from being dislodged by wave vibration. In the release arc, the opening at the outer end of the jaws gradually opens, releasing the rope 7, thereby achieving continuous traction drive.

[0055] The hubs on the left and right sides of the rope traction wheel 101 are divided into a driving wheel and a driven wheel. The axle of the driven wheel is rigidly connected to the axle of the driving wheel, so that the rotation axes of the two hubs maintain a fixed obtuse angle α. The axle of the driving wheel is rigidly connected to the water work platform.

[0056] As a feasible method of circumferential synchronous rotation transmission between hubs, the right axle 105 of the rope traction wheel 101 is rigidly connected to the hull 3, and the inner end of the left axle 104 of the rope traction wheel 101 is rigidly connected to the inner end of the right axle 105 (for axles, "inner end" refers to the side opposite to the left and right axles, and "outer end" refers to the side opposite to the left and right axles). The left axle 104 and the right axle 105 are set at an obtuse angle α. There are multiple horizontally protruding left rope supports 112 evenly distributed on the left hub 102, and multiple horizontally protruding right rope supports 113 evenly distributed on the right hub 103. Based on the engagement of the meshing column 116, the left rope supports 112 and the right rope supports 113 drive the right hub 103, which in turn drives the left hub 102 around the circumference through the right rope supports 113 and the meshing column 116. The wheels rotate synchronously; the left hub 102 is equipped with a left guide plate 114 and a left jaw 110, and the right hub 103 is also equipped with a right guide plate 115 and a right jaw 111; above the rope traction wheel 101, the lateral distance between the left jaw 110 and the right jaw 111 is greater than the diameter of the rope 7, and the rope 7 falls into the jaws by its own weight and is supported by the left rope support 112 and the right rope support 113. When 101 rotates backward, the lateral distance between the left jaw 110 and the right jaw 111 gradually decreases, thereby clamping the rope 7 and pulling the rope 7 backward. In actual application, the front end of the rope 7 is fixed by an anchor rope. At this time, under the drive of the reaction force, the hull 3 moves forward along the rope 7. When the rope traction wheel 101 continues to rotate to the release arc, the jaws gradually open, releasing the rope 7, thereby realizing continuous traction drive.

[0057] The right wheel, where the right hub 103 is located, is the driving wheel, and the left wheel, where the left hub 102 is located, is the driven wheel. Both the driving wheel and the driven wheel are equipped with circumferentially misaligned rope supports, and in the traction arc of the traction wheel, the rope supports on both sides are laterally intersecting each other.

[0058] The staggered rope supports form alternating support points, ensuring that at least one side of the rope 7 is always supported during traction, preventing the rope 7 from slipping or falling below the jaws. The staggered rope support is based on the mutual meshing of the meshing pins 116.

[0059] A left guide plate 114 is provided on the outer periphery of the left jaw 110, and a right guide plate 115 is provided on the outer periphery of the right jaw 111. The left guide plate 114 is inclined toward the left jaw 110, and the right guide plate 115 is inclined toward the right jaw 111. The corresponding guide plates on the left and right hubs form a V-shaped guide funnel. The guide plates help the rope 7 to be smoothly guided into the jaws and further limit the range of movement of the rope 7 outside the rope traction wheel 101, effectively reducing the risk of the rope 7 detaching from or deviating from the rope traction wheel 101 due to swinging.

[0060] Multiple rope locking plates 118 are provided on the outer periphery of the hubs on both the left and right sides of the rope traction wheel 101. The corresponding locking plates 118 on the left and right sides of the hub are circumferentially offset from each other. The locking plate 118 includes a guide plate, jaws, and rope support from the outer periphery to the inner periphery; Alternatively, the locking plate 118 may include a guide plate and jaws from the outer periphery to the inner periphery (i.e., provided that at least one side of the locking plate 118 is provided with a rope support, if one side of the locking plate 118 only includes a guide plate and jaws, then the other side of the locking plate 118 includes a guide plate, jaws and rope support). In the pulling arc of the rope traction wheel 101, the corresponding inner ends of the rope support on the left hub 102 and the right hub 103 are transversely intersected.

[0061] In this embodiment, as Figures 1-4 As shown, multiple rope locking plates 118 are provided on the outer periphery of the left and right hubs of the rope traction wheel 101. The corresponding locking plates 118 on the left and right hubs are circumferentially staggered and correspond to each other. The left locking plate 118 includes a left guide plate 114, a left jaw 110 and a left rope support 112 from the outer periphery to the inner periphery. The right locking plate 118 includes a right guide plate 115, a right jaw 111 and a right rope support 113 from the outer periphery to the inner periphery. In the pulling arc section of the rope traction wheel 101, the inner ends of the corresponding rope supports on the left hub 102 and the right hub 103 are laterally staggered.

[0062] The circumferentially aligned jaws have a narrow applicability to the rope 7. When the lateral spacing of the jaws is small, the compatibility is poor; when the lateral spacing of the jaws is large, it is not conducive to clamping the rope 7. Therefore, this embodiment proposes a misaligned locking plate 118 to expand the compatibility range for the diameter of the rope 7. The lateral spacing of the misaligned jaws can be set to be smaller, smaller than the lateral spacing of the aligned jaws. When the rope 7 becomes thinner (weary), the jaws with a smaller lateral spacing provide higher traction force, and the rope 7 is coiled in an S-shape on the misaligned jaws, further increasing the friction. When the rope 7 becomes thicker (with attachments), the attachments on the rope 7 can be embedded in the circumferential gaps of the misaligned jaws, increasing compatibility.

[0063] Multiple sets of locking assemblies are evenly distributed along the outer circumference of both wheel hubs. Within the same set, the minimum circumferential distance between two adjacent jaws is smaller than the diameter of the rope 7. As the locking assembly rotates from the release arc to the pulling arc, the staggered jaws coil the rope 7 in an S-shape between the jaws. At this time, within the same set of locking assemblies, the circumferential distance between adjacent locking plates 118 is smaller than the diameter of the rope 7, which increases the deformation stress of the rope 7, thereby increasing the traction force.

[0064] As a feasible implementation, the locking assembly provided in this embodiment includes 8 sets of locking assemblies, each set of locking assemblies includes 5 locking plates 118, also known as a 2-to-3 scheme.

[0065] like Figures 1-4As shown, the outer end of the right axle 105 of the traction wheel 101 is rigidly connected to the water work platform, and the inner end of the left axle 104 of the traction wheel is rigidly connected to the inner end of the right axle 105. The left axle 104 and the right axle 105 are set at an obtuse angle α. Twenty locking plates 118 are provided on the outer periphery of the left hub 102. These twenty locking plates 118 are divided into eight groups. Four groups include two locking plates 118 with parallel jaws, which are called two-plate groups. The other four groups include three locking plates 118 with parallel jaws, which are called three-plate groups. The three-plate groups and the aforementioned two-plate groups are circumferentially connected. The twenty locking plates 118 are evenly distributed in a staggered manner. Their outer peripheries are all inwardly inclined left guide plates 114, with a left clamp 110 in the center. In the two-plate group, each of the two locking plates 118 has a left rope support 112 on its inner periphery. In the three-plate group, the central locking plate 118 also has a left rope support 112 on its inner periphery, and this rope support also has an engaging pin 116. Similarly, the right wheel hub 103 has twenty locking plates 118 on its outer periphery. These twenty locking plates 118 are also circumferentially staggered and evenly distributed in four groups of two-plate groups and four groups of three-plate groups. All twenty locking plates 118 have an inwardly inclined outer periphery. The right guide plate 115 has a right jaw 111 in the middle. In the two-plate assembly, both locking plates 118 have right rope supports 113 on their inner circumference. In the three-plate assembly, the central locking plate 118 also has a right rope support 113 on its inner circumference. This rope support also has an engaging pin 116. The three-plate assembly on the left hub 102 and the two-plate assembly on the right hub 103, with their circumferentially offset but on the same side, form a locking assembly called the left-three-right-two locking assembly. Similarly, the two-plate assembly on the left hub 102 and the three-plate assembly on the right hub 103, with their circumferentially offset but on the same side, form a locking assembly. The clamping plate 118 forms another set of locking components adjacent to each other, called the left second and right third locking components. The rope traction wheel 101 is circumferentially alternately provided with four sets of left third and right second locking components and four sets of left second and right third locking components, which together constitute eight sets of locking components on the rope traction wheel 101. The circumferential distance between the jaws of the five locking plates 118 in the same locking component is less than the diameter of the rope 7. In the pulling arc section, the left rope support 112 and the right rope support 113 in the locking component are circumferentially misaligned and laterally intersected. The meshing column 116 is located between the rope supports of the two plate groups.When the right wheel hub 103 is driven by the power, the engagement pin 116 on the right wheel hub 103 will drive the left cable support 112 on the left wheel hub 102 (or the right cable support 113 on the right wheel hub 103 will drive the engagement pin 116 on the left wheel hub 102), thereby achieving synchronous circumferential rotation of the two wheel hubs; above the cable traction wheel 101, the lateral distance between the left jaw 110 and the right jaw 111 is greater than the diameter of the cable 7, and the cable 7 falls into the ground by its own weight. The clamping jaws, supported by the left rope support 112 and the right rope support 113, gradually decrease in lateral spacing as the rope traction wheel 101 rotates backward (counter-clockwise), thus clamping the rope 7 and pulling it backward. In practical applications, the front end of the rope 7 is fixed by an anchor rope. Under the reaction force, the platform moves forward along the rope 7. As the traction wheel continues to rotate to the rear, the clamping jaws gradually open, releasing the rope 7. The three-plus-two locking assembly provides better locking effect, and the use of the engagement pin 116 also optimizes the engagement effect.

[0066] In the three-plate assembly of the three-plus-two locking system, the central locking plate 118 has a right rope support 113 on its inner circumference. This rope support also has an engaging pin 116, the end of which is spherical. The engaging pin 116 directly transmits power from one side to the adjacent interlaced rope supports. Given that the rotation axes of the left and right wheel hubs are set at an obtuse angle α, the engaging pin 116 is perpendicular to the two opposing rope supports only at the circumferential position (i.e., 67.5° in this embodiment) of the angle bisector 119 of the obtuse angle α. As the rope traction wheel 101 rotates, the engaging pin 116 also rotates relative to the two opposing rope supports accordingly. Figure 3 As shown, the diameter of the complete sphere to which the end of the meshing column belongs is equal to the axial length of the meshing column 116, which can keep the gap between the end of the meshing column 116 and the inner side of the two opposing rope supports unchanged, thereby improving the meshing effect.

[0067] Example 2 like Figure 5 As shown, the rope support is mounted on the wheel hub; the left rope support 112 and the right rope support 113 form a bevel gear-like engagement, thereby achieving synchronous circumferential rotation of the wheel hubs on both sides. In this embodiment, the obtuse angle α is set to 173°, and the left jaw 110 and the right jaw 111 are circumferentially aligned, providing a higher clamping force. During the release arc, the lateral distance between the left jaw 110 and the right jaw 111 is greater than the diameter of the rope 7. The rope 7 falls into the jaws by its own weight and is supported by the left rope support 112 and the right rope support 113. When the rope traction wheel 101 rotates backward, the lateral distance between the jaws gradually decreases, thereby clamping the rope 7 and pulling it backward. In practical applications, the front end of the rope 7 is fixed by an anchor rope. At this time, under the reaction force, the hull 3 moves forward along the rope 7. When the rope traction wheel 101 continues to rotate downward, the jaws gradually open, releasing the rope 7, thereby achieving continuous traction drive.

[0068] Example 3 like Figure 6 As shown, within the pulling arc of the rope traction wheel 101, the lateral distance between the corresponding two jaws at the ends away from the wheel axle is less than the diameter of the rope 7. The two jaws include a left jaw 110 and a right jaw 111. When the left jaw 110 and the right jaw 111 are in a semi-circular arc, within the pulling arc of the rope traction wheel 101, the lateral distance between the corresponding ends of the left jaw 110 and the right jaw 111 away from the wheel axle is less than the diameter of the rope 7. The corresponding left jaw 110 and the right jaw 111 in the pulling arc close into a ring (the jaws do not clamp the rope 7, but pull the traction rope 7 by means of float lugs or rope straps). At this time, although the diameter of the ring is greater than or equal to the diameter of the rope 7, the lateral distance between the upper edges of the left jaw 110 and the right jaw 111 is less than the diameter of the rope 7 (close to closed), so as to prevent the rope 7 from detaching from the jaws. In the release arc, the opening at the outer end of the jaws gradually opens, releasing the rope 7, thereby realizing continuous traction drive.

[0069] like Figure 6 As shown, multiple rope locking plates 118 are provided on the outer periphery of the left and right hubs of the rope traction wheel 101. The corresponding locking plates 118 on the left hub 102 and the right hub 103 are circumferentially aligned with each other. The right locking plate 118 includes a right guide plate 115, a right jaw 111 and a right rope support 113 from the outer periphery to the inner periphery. The left locking plate 118 includes a left guide plate 114 and a left jaw 110 from the outer periphery to the inner periphery. The lower part of the left jaw 110 is provided with double legs 117 with a vertical slot in the middle. In the pulling arc section of the rope traction wheel 101, the right rope support 113 is inserted laterally into the gap inside the double legs 117 of the opposite locking plate 118.

[0070] During the pulling arc, the right rope support 113 inserts into the gap inside the double support legs 117 below the left jaw 110. When the right wheel hub 103 is driven by power, the right rope support 113 on the right wheel hub 103 will drive the double support legs 117 on the left wheel hub 102, thereby achieving synchronous circumferential rotation of both wheel hubs. During the release arc, the lateral distance between the left jaw 110 and the right jaw 111 is greater than the diameter of the rope 7. The rope 7 falls into the jaws by its own weight and is supported by the right rope support 113. When the traction wheel 101 rotates backward, the lateral distance between the left jaw 110 and the right jaw 111 gradually decreases, thereby pulling the traction cable 7 backward by means of the float lug or cable tie. In actual application, the front end of the cable 7 is fixed by an anchor rope. At this time, under the drive of the reaction force, the water work platform moves along the cable 7. When the traction wheel 101 continues to rotate downward, the jaws gradually open, releasing the cable 7, thereby realizing continuous traction drive.

[0071] Example 4 like Figure 7As shown, this embodiment provides a scheme in which a single-sided hub protrudes inward to support the cable, and both the left and right wheels of the cable traction wheel 101 are connected to the waterborne work platform machinery (in this embodiment, the waterborne work platform is the hull 3). The cable support is located at the inner end of the hub (e.g., Figure 8 As shown, this is part of the hub. At this time, the base of the jaws rests on the outer edge of the hub, and the inner end of the hub protrudes more laterally relative to the inward side of the jaws. The left axle 104 of the traction wheel 101 is rotatably connected to the hull 3 through the left bearing seat 106. The left hub 102 of the traction wheel is rigidly connected to the left axle 104. The right axle 105 of the traction wheel is rotatably connected to the hull 3 through the right bearing seat 107. The right hub 103 of the traction wheel is rigidly connected to the right axle 105. The axis 108 of the left axle and the axis 109 of the right axle are set at an obtuse angle α (in this embodiment, the obtuse angle α is set to 170°). Since there are no meshing teeth, the left axle 104 and the right axle 105 need to be driven independently and synchronously. Synchronous drive refers to the left axle... 104 and the right wheel axle 105 are driven at the same speed; the left wheel hub 102 is provided with a left jaw 110, and the left wheel hub 102 protrudes inward to form a left rope support 112; the right wheel hub 103 is provided with a right jaw 111, the rope 7 enters the jaw and is supported by the left rope support 112 (the inward protrusion of the left wheel hub 102). When the rope traction wheel 101 rotates backward, the lateral distance between the jaws will gradually decrease, thereby clamping the rope 7 and pulling the rope 7 backward. In actual application, the front end of the rope 7 is fixed. At this time, under the reaction force, the hull 3 moves forward along the rope 7; when the rope traction wheel 101 continues to turn downward, the jaws gradually open, releasing the rope 7, thereby realizing continuous traction drive.

[0072] Example 5 like Figures 8-10 As shown, a float 703 and a suspension rope 701 are fixed on the rope 7. The two ends of the seed rope 702 are tied to the left and right ropes 7 via the suspension rope 701. The rope guiding device 2 includes a rope support installed inside the gantry 201. In this embodiment, the rope support includes a left rope support 203 and a right rope support 204. The inner ends of the left rope support 203 and the right rope support 204 are adjacent to form a suspension rope through groove 704. The minimum span of the suspension rope through groove 704 is less than the diameter of the rope 7 and greater than the diameter of the suspension rope 701. The left rope support 203, the right rope support 204 and the gantry 201 form a semi-closed annular structure. The geometry of the annular structure allows the float 703 on the rope 7 to pass through the interior of the annular structure.

[0073] In this application, "gantry" refers to a structure installed on the hull 3 that forms an annular space with the rope support. It can be installed independently, or it can be integrated with the hull 3, or it can be the hull 3 itself (if the connecting structure connecting the catamaran is regarded as the hull 3 itself, then in this case, the gantry 201 is entirely composed of the hull 3).

[0074] When the hull 3 travels along the raft frame rope 7, the rope 7 will not detach from the rope guide device 2 because the minimum span of the rope passage 704 is less than the diameter of the rope 7, thus ensuring that the hull 3 does not deviate from the rope 7. The minimum span of the rope passage 704 is greater than the diameter of the rope 701, so the rope 701 can pass through the rope passage 704. The rope 701, the seedling rope 702 below it, and the (potentially existing) breeding cage will not get stuck on the guide device. The geometry of the annular space allows the float 703 to pass through the interior of the annular space. The float 703 flips over from above the left rope support 203 and the right rope support 204.

[0075] For ease of description, this application refers to the section of thin rope that is not planted with seafood tied to the rope 7 as the hanging rope 701.

[0076] This application defines orientation based on the relative position of the rope 7 in its ideal state (i.e., when the rope 7 is in a straight state): the length direction of the rope 7 is longitudinal, which is divided into front and back, with the front of the longitudinal direction referring to the front of the hull 3 as it is moving; the horizontal direction perpendicular to the rope 7 is transverse (this transverse definition applies in embodiments five to nine), which is divided into left and right or inside and outside, with the side of the gantry 201 or hull 3 closest to the rope 7 being the inside, and the span of the rope channel 704 is usually the transverse spacing, but it does not exclude the situation where the inner ends of the rope supports on both sides are misaligned vertically or front and back. In this case, the span of the rope channel 704 is the minimum straight-line distance between the inner ends of the rope supports on both sides; the vertical direction perpendicular to the rope 7 is vertical, which is divided into up and down or high and low.

[0077] The nominal diameter of the rope 7 or the nominal diameter of the suspension rope 701 refers to the minor axis dimension when the stranded rope deforms into an elliptical (or flattened) shape under lateral force. More precisely, it is the width dimension of the smooth narrow groove that the rope 7 or suspension rope 701 can squeeze through after being deformed under force.

[0078] The gantry 201 usually overlaps with the longitudinal position of the rope support, but the possibility of the gantry 201 being longitudinally misaligned with the rope support cannot be ruled out; the gantry 201 is usually a transverse member, but the possibility of the gantry 201 being composed of oblique or bent members cannot be ruled out. The function of the gantry 201, which is not a transverse member, is still transverse connection.

[0079] Example 6 like Figures 11-13 As shown, the gantry 201 includes a movable frame that is movably connected to the hull 3 via a kinematic pair. After the movable frame is moved or disassembled, the span of the hoisting rope groove 704 can be increased to be greater than the diameter of the rope 7. The "movable frame" refers to the structure in the gantry 201 that can increase the span of the hoisting rope groove 704 by adjusting its position.

[0080] In this embodiment, the movable frame is connected to the hull 3 via the hinge shaft 202, causing the movable frame to rotate upward around the hinge shaft 202 as the rotation center, thereby increasing the span of the rope passage 704, which allows the rope 7 to be conveniently introduced or introduced into the guide device when the hull 3 enters or exits the aquaculture raft.

[0081] Example 7 like Figures 14-16 As shown, at least one rope support is movably connected to the gantry 201, so that moving or removing the rope support can increase the span of the rope through groove 704 to a point where the span of the rope through groove 704 is greater than the diameter of the rope 7. Before or after operation, the span of the rope channel 704 needs to be increased to guide the rope 7 into or out of the rope guide device 2 provided in this application for vessels operating on aquaculture rafts. There are various solutions based on moving the rope support to increase the span of the rope channel 704; this embodiment demonstrates one such solution. Figures 14-16 The flipping scheme shown is only an example of a scheme to increase the span of the hoisting rope through groove 704 by moving the rope support. In addition to this flipping scheme, this application does not exclude other forms of flipping the rope support or telescopic rope support to increase the span of the hoisting rope through groove 704.

[0082] Compared to the scheme of moving the movable frame of the gantry 201, which in turn moves the rope support set on one side of the movable frame to increase the span of the hoisting rope through groove 704, the scheme of directly moving the rope support to increase the span of the hoisting rope through groove 704 only requires moving the rope support, which is more labor-saving. Especially when the gantry 201 constitutes a structural component of the hull 3 and it is inconvenient to move the gantry 201, the scheme of directly moving the rope support is the only choice.

[0083] like Figures 14-16 As shown, at least one rope support is a flipping roller, and the outer end of the flipping roller is provided with a longitudinal shaft rotation pair. After the flipping roller flips, the span of the rope through groove 704 can be increased to be greater than the diameter of the rope 7.

[0084] The inner ends of the rope supports on both sides form a rope passage 704. The minimum span of the rope passage 704 is less than the diameter of the rope 7 and greater than the diameter of the rope 701. When the rope 7 passes through the guide device, it will not fall off, ensuring that the hull 3 does not deviate from the rope 7, while also allowing the rope 701 to pass through. Before or after the start of the operation, the right rope support 204 is flipped upward so that the rope passage 704 is larger than the diameter of the rope 7, so as to guide or release the rope 7.

[0085] Example 8 To improve nearshore aquaculture profitability, the current practice is to adopt a mixed shellfish and algae culture model, which involves simultaneously suspending high-value-added shellfish such as abalone under rafts used for kelp or seaweed cultivation. This results in a lack of window periods for bringing the rafts ashore for cleanup, while cleanup at sea is subject to interference from ocean currents, tidal changes, and the structure of the rafts themselves, making it impossible for conventional vessels to navigate and operate effectively on the rafts.

[0086] like Figures 17-20 As shown, this application provides an operating vessel suitable for aquaculture rafts, including a hull 3 and a gantry 201. The hull 3 is provided with a rope guiding device 2 and a marine rope traction system 1 from front to back. The rope is an aquaculture raft rope 7, and a float 703 and a sling 701 are fixed on the rope 7.

[0087] The term "hull" sometimes does not refer to a ship-shaped vehicle in the conventional sense, but can simply be a floating vessel. For ease of description, this article will refer to it as "hull".

[0088] like Figure 19 As shown, the hoisting rope channel 704 is located above the full-load waterline of the hull 3, and the rope exit point of the rope guide device 2 and the rope entry point of the rope traction wheel 101 are both located above the water surface 6.

[0089] When the rope 7 leaves the water surface 6, the hoisting rope 701 attached to the rope 7 will naturally droop under the action of gravity, thereby ensuring that the hoisting rope 701 can pass smoothly through the hoisting rope groove 704 and preventing the hoisting rope 701 from being stuck at the position of the rope guide device 2.

[0090] like Figures 17-20 As shown, this application provides an operating vessel suitable for aquaculture rafts, with a rope guide device 2, a guardrail 4, and a marine rope traction system 1 arranged sequentially on the outer side of the hull 3 from its direction of travel rearward.

[0091] The vessel provided in this application, applicable to operations on aquaculture rafts, in the kelp farming area, has its rope 7 moving backward from the direction of travel of the hull 3, passing sequentially through the rope guide device 2, the guardrail 4, and the marine rope traction system 1. Under the traction of the ship's rope traction system 1, the rope 7 and the float 703 on the rope pass through the ring structure formed by the rope support and the gantry 201. The hoisting rope 701 passes through the hoisting rope through groove 704. Then, guided by the guardrail 4, only the rope 7 falls into the ship's rope traction system 1. The float 703 passes over the ship's rope traction system 1. A set of hoisting ropes 701, seed ropes 702 and other structures under the ship are guided to the outside of the ship's rope traction system 1 to ensure that the seed rope 702 will not climb over the rails and get stuck on the ship's rope traction system 1. Finally, the seed rope 702 is successfully discharged from under the hull 3 after passing through the ship's rope traction system 1.

[0092] like Figures 17-20As shown, the guardrail 4 includes a guide rail 401 and a barrier rail 402. The barrier rail 402 is located at one end of the marine rope traction system 1 away from its connection with the hull 3. The guide rail 401 is smoothly connected to the hull 3, and the guide rail 401 is smoothly connected to the barrier rail 402.

[0093] In this embodiment, "smooth connection" means that the structure connecting the hoisting rope 701, the seedling rope 702, etc., to the rope 7 will not be obstructed or hindered when contacting and passing through the guide rail 401 and the barrier rail 402. Figures 17-20 As shown, the front end of the guide rail 401 is connected to the hull 3, and the rear end is connected to the barrier rail 402. In a top-down view, the guide rail 401 slopes outward from the hull 3 towards the outside of the hull 3; in a front-view view, the guide rail 401 slopes upward from the bottom towards the front of the hull. The guide rail 401 guides the structures connected to the rope 701, seed rope 702, etc., to the outside of the barrier rail 402. The barrier rail 402 prevents the structures connected to the rope 701, seed rope 702, etc., that have already passed through the guide device from derailing again in front of the rope traction wheel. In this embodiment, the barrier rail 402 is parallel to the longitudinal direction of the hull 3, but alternative solutions exist, such as the barrier rail 402 being inclined relative to the longitudinal direction of the hull 3, or the barrier rail 402 and guide rail 401 being integrated, with the front end functioning as the guide rail 401 and the rear end functioning as the barrier rail 402. This application does not exclude the possibility of the barrier rail 402 and guide rail 401 being integrated.

[0094] Example 9 like Figures 21-24 As shown, in this embodiment, the working vessel is a catamaran mother ship. The two ropes 7 spanning between the left and right hulls form the harvesting ridge. The left and right hulls of the catamaran travel on the unharvested or harvested ridges on both sides of the harvesting ridge. The catamaran mother ship has a deck and / or gantry 201 in the middle to connect the two hulls 3. The front of the catamaran mother ship is the harvesting area 301, and the rear is the berthing area 302 for the daughter ship. Each side of the harvesting area 301 is equipped with a set of rope guiding devices 2 and a ship rope traction system 1. The ship rope traction systems 1 on both sides operate independently. The front end of the daughter ship berthing area 302 is equipped with a retractable daughter ship anchoring mechanism 5.

[0095] The aquaculture raft includes ropes 7, hoisting ropes 701, seedling ropes 702, and buoys 703. The catamaran mother ship 3, which operates across ridges, floats on the aquaculture raft (the diagram shows the seedling ropes 702 to be harvested in front of the middle harvesting ridge, the left side ridge has been harvested, and the right side ridge has not yet been harvested). The hull is equipped with three sets of masts 201, which connect the two sides of the hull into one unit to form a catamaran. Between the catamarans are two sets of rope guiding devices 2, guardrails 4, and a ship rope traction system 1.

[0096] After the seedling rope 702 of the harvested ridges is untied from the hoisting rope 701, it is lifted out of the water by the harvesting device on the mother ship and towed to the berthing area 302 of the subsequent sub-ship and falls into the sub-ship 303. The seedling rope 702 of the unharvested ridges is guided by the guardrail 4, passes around the rope traction wheel 101, and is brought out from the bottom of the ship.

[0097] The draft of the sub-ship changes during the loading of kelp. The sub-ship 303 and the mother ship are fixed by the retractable sub-ship anchoring mechanism 5, so that the connection between the sub-ship 303 and the mother ship can adapt to the changes in their relative positions. At the same time, the retractable sub-ship anchoring mechanism 5 can also adjust the longitudinal relative position of the sub-ship 303 and the mother ship, which makes it easier to lay each layer of kelp in a staggered manner, reduce the stacking height and facilitate unloading.

[0098] like Figures 23-24 As shown, the sub-ship anchoring mechanism 5 has front and rear connecting parts at its front and rear ends, respectively. At least one of the front and rear connecting parts is a hinged connecting part, and the hinge axis of the hinged connecting part is horizontally transverse or ball-joint. In this embodiment, the front end of the sub-ship anchoring mechanism 5 is provided with a front hinge 501, which is movably connected to the mother ship based on the horizontally transverse front hinge axis 503 (in this embodiment, the front hinge 501 is movably connected to the gantry 201 fixed on the mother ship based on the horizontally transverse front hinge axis 503). The rear end of the sub-ship anchoring mechanism 5 is provided with a rear hinge 502, which is movably connected to the sub-ship 303 based on the horizontally transverse rear hinge axis 504.

[0099] When the mother ship harvests kelp or transfers kelp to the daughter ship 303, the waterlines of the daughter ship 303 and the mother ship will change relative to each other due to the change in load. The daughter ship 303 and the mother ship are anchored based on the horizontal or ball-head hinge shaft, which can adapt to the relative change in the waterlines between the daughter ship 303 and the mother ship.

[0100] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A marine cable traction system, comprising a floating work platform, a traction wheel drive device, and a cable traction wheel, wherein the axle of the cable traction wheel is mechanically connected to the floating work platform, characterized in that: The rope traction wheel includes two hubs, left and right, with the rotation axes of the left and right hubs set at an obtuse angle α, and the two hubs rotating synchronously in the circumferential direction; Multiple jaws are provided on the outer periphery of both wheel hubs, and a rope support is provided on the inner side of at least one wheel hub, with the rope support located on the inner periphery of the jaws; The rope traction wheel is constructed such that during its rotation, there is a pulling arc segment and a releasing arc segment; The arc segment with a central angle β, centered on the circumferential position of the angle bisector of the obtuse angle α between the rotation axes of the two wheel hubs, is the pulling arc segment. Within the pulling arc segment, the lateral distance between the corresponding jaws on both sides is less than or equal to the diameter of the rope to be pulled, so as to jointly clamp and pull the rope. There is at least one pair of jaws within this arc segment. The arc segment outside the central angle β is the release arc segment. Within the release arc segment, the lateral distance between the corresponding jaws on both sides is greater than the diameter of the rope to release the rope.

2. The marine rope traction system according to claim 1, characterized in that: The obtuse angle α is set to 170°~178°; the central angle β of the pulling arc segment is set to 30°~60°.

3. The marine rope traction system according to claim 1, characterized in that: The lateral distance between the two jaws corresponding to the rope entry point of the rope traction wheel is less than 1.5 times the rope diameter.

4. The marine rope traction system according to claim 1, characterized in that: Within the traction arc segment, the lateral distance between the corresponding two sides of the jaws furthest from the axle is less than the diameter of the rope.

5. The marine rope traction system according to claim 1, characterized in that: The hubs on the left and right sides of the rope traction wheel are divided into a driving wheel and a driven wheel. The axle of the driven wheel is rigidly connected to the axle of the driving wheel, so that the rotation axes of the two hubs maintain a fixed obtuse angle α. The axle of the driving wheel is rigidly connected to the water work platform.

6. The marine rope traction system according to claim 5, characterized in that: Both the driving wheel and the driven wheel are equipped with circumferentially misaligned rope supports, and in the traction arc section of the traction wheel, the rope supports on both sides are laterally intersecting each other.

7. The marine rope traction system according to claim 1, characterized in that: A guide plate is provided at the outer end of the jaws, and the guide plate is inclined toward the jaws. The corresponding guide plates on the left and right hubs form a V-shaped guide funnel.

8. The marine rope traction system according to claim 1, characterized in that: Multiple rope locking plates are provided on the outer periphery of the hubs on both sides of the rope traction wheel. The corresponding locking plates on the left and right hubs are circumferentially aligned with each other. One locking plate includes a guide plate, jaws and rope support from the outer periphery to the inner periphery. The other locking plate includes a guide plate, jaws and double legs from the outer periphery to the inner periphery. In the pulling arc section of the traction wheel, the rope support is inserted laterally between the double legs of the opposite locking plate.

9. The marine rope traction system according to claim 1, characterized in that: Multiple rope locking plates are provided on the outer circumference of the wheel hubs on both the left and right sides of the rope traction wheel, and the corresponding locking plates on the left and right wheel hubs are circumferentially offset from each other; The locking plate includes a guide plate, jaws, and rope support from the outer periphery to the inner periphery; Alternatively, the locking plate may include a guide plate and jaws from its outer periphery to its inner periphery; In the traction arc of the traction wheel, the corresponding inner ends of the ropes on the left and right wheel hubs are laterally intersecting each other.

10. The marine rope traction system according to claim 9, characterized in that: Both wheel hubs have multiple sets of locking components evenly distributed along the outer circumference of the wheel hub. The locking components include multiple locking plates with a minimum circumferential spacing of two opposing jaws within the same group that is smaller than the diameter of the rope.

11. The marine rope traction system according to claim 10, characterized in that: The locking assembly includes at least three rope supports, located on the left and right sides of the wheel hub respectively; one side has a single rope support with tangential engagement pins at both ends, the diameter of the complete sphere to which the spherical end of the engagement pin belongs is equal to the length of the engagement pin; the other side has two rope supports, located at both ends of the engagement pin respectively.

12. An operating vessel suitable for aquaculture rafts, comprising a hull and a mast, characterized in that: The system includes a marine tow rope traction system as described in any one of claims 1-11, wherein the hull is provided with a tow rope guiding device and a marine tow rope traction system sequentially from front to rear, the tow rope is an aquaculture raft frame tow rope, a float and a lifting rope are fixed on the tow rope, the tow rope guiding device includes a rope support disposed within a gantry, and a pair of corresponding rope supports are arranged near their inner ends to form a lifting rope through groove, the minimum span of the lifting rope through groove being less than the diameter of the tow rope and greater than the diameter of the lifting rope; the rope support and the gantry form a semi-closed annular structure, the geometry of the annular structure allowing the float on the tow rope to pass through the interior of the annular structure.

13. The working vessel for aquaculture rafts according to claim 12, characterized in that: At least one of the rope supports is movably connected to the gantry. After the rope support is moved or removed, the span of the rope through groove can be increased to be greater than the diameter of the rope. Alternatively, the gantry may include a movable frame that is movably connected to the hull via a kinematic pair. After the movable frame is moved or disassembled, the span of the hoisting rope through groove can be increased to be greater than the diameter of the rope.

14. The working vessel for aquaculture rafts according to claim 12, characterized in that: The hoisting rope channel is located above the full-load waterline of the hull, and the rope exit point of the rope guide device and the rope entry point of the traction wheel are both located above the water surface.

15. The working vessel for aquaculture rafts according to claim 12, characterized in that: A protective railing is provided on the outside of the towing wheel. The protective railing includes a guide rail and a barrier rail. The barrier rail is located at the end of the marine towing system away from its connection with the hull. The front end of the guide rail is smoothly connected to the hull, and the rear end of the guide rail is smoothly connected to the barrier rail.

16. The working vessel for aquaculture rafts according to claim 12, characterized in that: The operating vessel is a catamaran mother ship, which has a deck and / or gantry in the middle connecting the two hulls. The front of the catamaran mother ship is the harvesting area, and the rear is the berthing area for the sub-vessels. Each side of the harvesting area is equipped with a set of rope guiding devices and a marine rope traction system, which operate independently. The front end of the sub-vessel berthing area is equipped with a retractable sub-vessel anchoring mechanism. The front and rear ends of the sub-vessel anchoring mechanism are respectively provided with front and rear connecting parts, at least one of which is a hinged connecting part. The hinge axis of the hinged connecting part is horizontally placed or ball-joint hinged.

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