CN104925218B - Automatic lifting device and method for tower-shaped mast - Google Patents
Automatic lifting device and method for tower-shaped mast Download PDFInfo
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- CN104925218B CN104925218B CN201510243883.3A CN201510243883A CN104925218B CN 104925218 B CN104925218 B CN 104925218B CN 201510243883 A CN201510243883 A CN 201510243883A CN 104925218 B CN104925218 B CN 104925218B
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Abstract
The invention discloses an automatic lifting device and method for a tower-shaped mast. A mast base frame is provided with a horizontal shaft, and the lower portion of the mast is hinged to the horizontal shaft. A mast motor on the mast is meshed with a speed reduction gear through a driving gear and an intermediate gear. The mast base frame is provided with a fixing gear coaxial with the horizontal shaft. The speed reduction gear is meshed with the fixing gear. A balance block is arranged at the position, below the horizontal shaft, of the tail end of the mast. Swinging type barrier detection devices are arranged on two sides of the top of the mast respectively. The automatic lifting device for the tower-shaped mast further comprises a control device and an alarm device. The control device is connected with the mast motor, the barrier detection device and the alarm device. The automatic lifting device and method for the tower-shaped mast resolve the problem that mast in the prior art are prone to being crashed due to negligence or misjudgment. The automatic lifting device for the tower-shaped mast can automatically detect barriers and put down the mast so as to guarantee navigation safety, and has high practical value.
Description
Technical field
The present invention relates to ship mast lifting technology field, can effectively prevent ship mast and bridge more particularly, to one kind
The tower mast apparatus for automatically lifting collided on barrier and its mast elevating method.
Background technology
Mast is typically all installed on the highest ceiling centerline of ship, for installing radar, naval light and leading to
Letter antenna etc., very important safety devices when being ship's navigation.The structural shape of mast generally has single-column rod-type, tower-type
Deng.When ship is passed through under built a bridge grade from the water surface, if the mast on ship may be collided with bridge, need
Fell in advance（Or put down）Mast, passes through just can safety of ship after reducing height.The mast of prior art fell process needs
Manually it is determined in advance whether front has the air draght of the barriers such as the barriers such as bridge and bridge, after determining obstacle height
Determine the need for mast falling to avoid colliding in advance according to the air draght of ship upper mast by crewman again.But it is actual
The air draght of the barriers such as upper bridge is relevant with water surface height（The water surface height that such as flood tide ebb, flood etc. cause changes）,
And the air draght of ship upper mast is also relevant with the drinking water depth of ship, therefore, many data are needed to be grasped every time can just make
Accurately judge；The workload of this crewman for not only increasing, while carelessness also easily occur or judging by accident causing collision accident to send out
Raw, so as to cause great property loss, when especially ship is navigated by water at night, this problem is just more projected.Publication date is
On September 18th, 2013, the Chinese patent literature of Publication No. CN103303435A disclose a kind of mast lift, including base
Seat, mast base and mast, are further fixedly arranged on screw foot, are provided with portable stanchion on the screw foot on the pedestal
And screw rod, the actuating device being connected with which is provided with the screw rod, lifting pedestal, institute on the mast, is fixedly installed
State to be provided with lifting pedestal and the portable stanchion being connected is rotated with which, the screw rod is threadedly coupled with the portable stanchion, described
The rotation direction of portable stanchion and the portable stanchion is identical around the rotation direction of the mast base with the mast.The structure
Lower end with mast is rotated using screw mandrel and drives mast to fall or rose by feed screw nut, although screw mandrel as run-on point is hinged
There is labor-saving effect with nut screw connection, but as mast is higher, therefore the stress of screw mandrel is very big, and hand lifting/lowering relatively takes
Power；In addition, the structure does not solve the problems, such as that crewman occurs neglecting or judging by accident being likely to result in collision accident yet.
The content of the invention
The purpose of the present invention is to solve the mast lift of prior art easily because carelessness or erroneous judgement cause to collide thing
Therefore, so as to the problem for the heavy losses of property occur, there is provided one kind can automatic detection barrier, it is to avoid cause the heavy losses of property
Tower mast apparatus for automatically lifting and its elevating method.
The concrete technical scheme that the present invention is adopted to solve above-mentioned technical problem is that a kind of tower mast automatic lifting is filled
Put, the tower mast is spindle rotationally arranged on the mast pedestal of ship, mast pedestal is opening up U-shaped structure, institute
State pedestal and be provided with a trunnion axis vertical with direction of ship travel, bottom and the trunnion axis of mast are hinged, and mast is provided with
Mast motor, the output shaft of mast motor are provided with drive gear, and drive gear is engaged with an idler gear, idler gear
Wheel shaft is provided with reduction gearing, and mast pedestal is provided with the fixed gear coaxial with trunnion axis, the reduction gearing and fixing tooth
Wheel engagement, the mast terminal part below trunnion axis are provided with balancing weight, and handwheel is additionally provided with the wheel shaft of idler gear, and mast motor turns
When dynamic, drive gear drives reduction gearing to rotate by idler gear, and mast is rotated relative to trunnion axis and fixed gear；Mast
Top be provided with for detecting the obstacle detector of direction of ship travel barrier, obstacle detector includes detecting mould
Block and adjustable speed swing mechanism, described swing mechanism include setting up horizontal hunting mechanism and the vertical pendulum motivation on mast both sides separately
Structure, the detection module are two, are separately positioned in horizontal hunting mechanism and vertical oscillation mechanism；The bottom of mast is provided with
The lock hole parallel with the trunnion axis, mast pedestal are provided with mast latching device, and mast latching device includes a latch, insert
It is arranged in the middle part of pin in solenoid, head and the lock hole of latch are wanted to be adapted to, the tail end of latch is provided with draw ring, on latch also
It is arranged with reset tension spring；Tower mast apparatus for automatically lifting also includes control device and alarm device, and control device connects and controls
Mast motor processed, obstacle detector, mast latching device and alarm device.
The present invention tower mast be arranged on mast pedestal, mast pedestal be provided with one it is vertical with direction of ship travel
Trunnion axis, bottom and the trunnion axis of mast be hinged, and mast is provided with mast motor, and the output shaft of mast motor is provided with driving
Gear, drive gear are engaged with idler gear, and the fixed gear of the reduction gearing coaxial with idler gear and horizontal shaft end is nibbled
Close, mast bottom is provided with balancing weight, when mast motor is rotated, drive gear drives reduction gearing to rotate by idler gear,
As fixed gear is fixed with pedestal, therefore mast is rotated relative to trunnion axis and fixed gear.This mast structure is due to mast
Bar bottom is provided with balancing weight, therefore the mast of trunnion axis both sides is substantially the same relative to the torque of trunnion axis, rotates mast and rises
Drop process is very laborsaving, had so both solved the problems, such as that mast shaft should have enough height immediately, and had also avoided the monolateral rotation of mast
Lifting needs overcome very high-torque, need the problem of larger power, can meet mast lifting needs using less motor.And
By the handwheel being arranged on mast lifter wheel wheel shaft, hand lifting/lowering mast can also be realized, while during hand lifting/lowering mast
Also it is very light, solve the problems, such as relatively elaborate during the mast hand lifting/lowering of prior art.
Obstacle detector is used for the obstacle may collide with ship mast on automatic detection direction of ship travel
Thing, swing mechanism realize obstacle detector Scanning Detction barrier in certain scope, and horizontal hunting mechanism is used for water
Flat angle detecting, vertical oscillation mechanism are detected for vertical direction, it is ensured that in the range of a cross on ship running direction
The barrier that may be collided with mast is detected, it is ensured that navigation safety.Control device can be according to barrier
Different situations control mast elevating system fell and mast or gave a warning so that mast fell automatization, it is to avoid because manually grasping
The carelessness or erroneous judgement of work causes collision accident, in turn results in the problem of the heavy losses of property.
The latch being arranged on mast pedestal is coordinated for by raised configuration with the lock hole being arranged on mast
Mast is locked, and when needing mast fell, latch is pulled out from lock hole by the electromagnetic force produced by solenoid, makes mast
Bar unblock is in rotatable state；The setting of draw ring can be such that the unlocking motion of mast pulls using artificial or other machineries
Mode is achieved, and when back-moving spring can ensure that mast rises fixed, the head of latch is in lock hole all the time, it is ensured that mast
Bar is locked.In addition it is also possible to bolt device is arranged on mast, and corresponding lock hole is set on pedestal.
Preferably, detection module includes the laser pickoff and note that laser generator and laser generator be set up in parallel
When system, obstacle detector emitted beam according to laser generator the time difference received with laser pickoff between reflection light
The distance of detection means and barrier is calculated, laser generator is equipped with the pipe that is in the light with the front end of laser pickoff, and laser is sent out
The be in the light length of tube of the length of tube more than laser pickoff front end that be in the light of raw device front end, the effective detection distance of detection module be not little
In 900 meters.Detection module of the present invention is similar with laser ranging system, can be judged using reflection light with emission pulse laser beam
With the presence or absence of barrier, and distance is calculated using the time difference emitted beam between reflection light, the setting of the pipe that is in the light can
Disturbed with reducing to emit beam the interference to laser pickoff and reduce other light, only with the direction height that emits beam
Consistent light could be received by laser pickoff.
Preferably, swing mechanism includes an oscillating motor, the oscillating motor is buncher, the power of oscillating motor
Fold on axle and be provided with forward drive gear and reverse drive gear, forward drive gear is number of teeth identical with reverse drive gear
Sector gear and the arrangement that misplaces, swing mechanism also include wobble gear, and forward drive gear is engaged with wobble gear discontinuity, instead
Engage to drive gear with tumbler gear discontinuity, tumbler gear is engaged with wobble gear, wobble gear passes through a deceleration transmission
Gear is engaged with output gear is swung, and when forward drive gear is engaged with wobble gear, reverse drive gear is taken off with tumbler gear
From engagement, when reverse drive gear is engaged with tumbler gear, forward drive gear is disengaged from wobble gear, the positive drive
Moving gear drives the angle that the wobble gear swings to drive the swing tooth by tumbler gear with the reverse drive gear
The angle that wheel swings is equal, and detection of obstacles module is fixed on the wheel shaft for swinging output gear.
Oscillating motor drives forward drive gear and the equidirectional rotation of reverse drive gear by drive shaft, works as forward drive
When gear is engaged with wobble gear, wobble gear is rotated backward to be driven by a under drive gear and swings positive turn of output gear
Dynamic, forward drive gear is rotated further and is disengaged from wobble gear, and wobble gear stops operating, now reverse drive gear with
Tumbler gear is engaged, and reverse drive gear drives wobble gear to rotate forward by tumbler gear, and reverse drive gear continues to turn
After dynamic and tumbler gear is disengaged from, forward drive gear starts to engage with wobble gear again, repeats said process, realizes motor
Continuous rotational band movable pendulum moves swinging back and forth by a small margin for output gear, so as to further realize obstacle detector certain
In the range of Scanning Detction barrier, it is ensured that a range of barrier on ship running direction is detected, it is ensured that ship
Oceangoing ship navigation safety.The horizontal hunting mechanism of the present invention is consistent with the internal structure of vertical oscillation mechanism, the direction simply installed
Difference, one swings in the horizontal direction, and one swings in vertical direction.The mechanism that swings back and forth of prior art generally adopts motor
Rotating is realizing, but the shortcoming one of motor positive and inverse is to need complicated control system, and two is that the frequent rotating of motor can shadow
Its service life is rung, is not suitable for working long hours；And the rotating of the present invention is realized by frame for movement completely, satisfactorily solve
The problems referred to above, can work long hours.
Preferably, the pendulum angle of horizontal hunting mechanism is 4 to 6 degree, the pendulum angle of vertical oscillation mechanism is 2 to 3
Degree, the initial swing frequency of vertical oscillation mechanism are identical with the initial swing frequency of horizontal hunting mechanism.Horizontal hunting mechanism
Pendulum angle determines obstacle detector sweeping on certain detecting distance with the pendulum angle size of vertical oscillation mechanism
Retouch range size；Pendulum angle is bigger, and corresponding detection range is bigger, but the possibility that the barrier unrelated with mast collision occurs
Property is also bigger, easily affects accuracy of detection；Pendulum angle is less, and corresponding detection range is less, although unrelated with mast collision
The probability that occurs of barrier it is also less, but some barriers may be missed, the latticed barrier such as special bridge.Separately
Outward, as the detection of obstacles of the present invention is considered as just mast anticollision, and the barrier of mast pedestal is less than due to not belonging to
In the technical problem that the present invention can solve the problem that, not in the limit of consideration of the present invention.Therefore the pendulum angle of vertical oscillation mechanism
Can be determined according to the mast height on mast pedestal and with reference to suitable detecting distance, suitable detecting distance is here
What is determined after required time, safety allowance etc. consider was fallen to the maximum speed that is likely to occur, mast, people in the art
Member is easily able to.And the pendulum angle of horizontal hunting mechanism is probably a kind of downward opening gap structure except consideration barrier,
This structure perhaps ship can from middle safety, but if the ship that looks to the future is likely to occur certain direction skew,
And may collide after offseting, therefore also it is considered as falling in advance mast to avoid colliding.
Preferably, mast pedestal is provided with mast rotating limit device, mast rotating limit device includes limit switch
And spacing elastic buffer block, when mast motor is rotated, mast maximum rotation angle is 90 degree.Mast rotating limit device is used to limit
Determine the extreme position of mast rotation, when mast turns to horizontal level, limit switch closure sends mast and rotate in place signal,
Mast motor stalls；Spacing elastic buffer block can play cushioning effect.
Preferably, mast top is provided with emergent anticollision mechanism, the emergent anticollision mechanism includes a straight-bar and compression bullet
Spring, the length direction of straight-bar are parallel with the length direction of ship, and straight-bar is slidably arranged on mast, and the leading section of straight-bar sets
There is impact head, described compression spring is set on straight-bar, and one end of compression spring is abutted with impact head, and the other end is supported with mast
Connect, the rear end of straight-bar is provided with the limiting plate for preventing straight-bar from deviating from, the straight-bar end of the rear side of limiting plate is fixed with drawstring, and drawstring leads to
Cross pulley mechanism to be connected with draw ring.When mast fell automatically system malfunctions, mast and barrier collision it is inevitable when, this
Latch is pulled out from the lock hole of mast by the emergent anticollision mechanism of invention, makes mast unblock in rotatable state, such mast
Can be pushed over backward, so as to play cushioning effect, be mitigated the infringement that collision is likely to result in；When emergent anticollision mechanism is set, barrier
Hinder analyte detection device be arranged on the side of mast, while it should be noted that emergent anticollision mechanism can not disturb obstacle detector
Normal work.
Preferably, clutch is provided between drive gear and idler gear, described clutch is that manual/electric is dual-purpose
Clutch, clutch are provided with hand driving lever, and hand driving lever is connected with drawstring.Present invention clutch engagement in normal work,
When needing to rise mast manually, manually clutch separation can be mitigated load by driving lever, play labour-saving effect；Separately
On the one hand, when mast top is provided with emergent anticollision mechanism action, by drawstring, hand driving lever by clutch separation, it is also possible to
Mitigate resistance when mast fell, make mast be easier to fall, further mitigate the infringement that collision is likely to result in.
A kind of mast elevating method of tower mast apparatus for automatically lifting, comprises the following steps：
A. obstacle detector is opened, swing mechanism is with default initial swing warble, horizontal hunting mechanism pendulum
Dynamic to drive detection module to swing in the horizontal direction, the pendulum angle of horizontal hunting mechanism is ± 2 to ± 3 degree, while hanging down
Straight swing mechanism swings and drives detection module to swing up and down, and the pendulum angle of vertical oscillation mechanism is spent to+0.5 for -2.5～-1.5
Degree；Detection module whether there is barrier in front of scan mode detection ship, and record in a complete sweep cycle with most
The distance of nearly barrier.
On the basis of the pendulum angle of horizontal hunting mechanism here refers to the boat length line of direction to cross mast, to left-hand
It is right to deflect 2 degree to 3 degree（Total pendulum angle is 4 to 6 degree）；And the pendulum angle of vertical oscillation mechanism is then with horizontal line as base
Standard ,+0.5 degree to upward deflect 0.5 degree, spend to deflect down 1.5 to 2.5 by -2.5～-1.5 degree（Total pendulum angle is 2 to 3
Degree）；In addition, any one position of the present invention within two detection modules respective scan period has detected barrier
The distance between when, decide that front has a barrier, and record with barrier；As barrier is probably continuous structure or many
Individual distribution structure, therefore when two or more barriers being detected in a scan period, record nearest barrier
Distance, and in this, as the distance of mast and barrier.Here a scan period refers to horizontal hunting mechanism or vertical
Swing mechanism completely swings one back and forth.
When it is 480 to 600 meters that obstacle detector is detected with the distance of barrier, control device control oscillating machine
Structure accelerates to swing, and its hunting frequency is 3 times of swing mechanism initial swing frequency, when being not detected by barrier in continuous 10 seconds
When, control device control swing mechanism recovers initial swing frequency.When detecting, there is barrier in front but obstacle distance is farther out
When, process by the way of quickening detection speed is further detected confirmation to barrier；Due to moving ahead with ship, barrier
Hinder the angle between the line between thing and detection module and direction of ship travel line increase, therefore previously detected barrier
Hinder thing possibly off the detection zone of obstacle detector, therefore when barrier is not detected by continuous 10 seconds, control
Device control swing mechanism restPoses.As ship encounters the barriers such as bridge during navigation, need mast
The probability fallen is not very big, therefore the initial detecting state of the present invention is that a swing mechanism swing speed is relatively slow
State, it is to be found when remotely there is barrier just by the way of detection speed is accelerated, can so reduce associated mechanisms
Abrasion, the service life of extension device.
When obstacle detector is detected with the distance of barrier less than or equal to 480 meters and more than 240 meters, control dress
Put control swing mechanism to accelerate to swing, its hunting frequency is 5 times of swing mechanism initial swing frequency, passes through with timed unit
Alarm device sends alarm signal, reminds deck officer to note preceding object thing；When being not detected by obstacle in continuous 10 seconds
During thing, control device control swing mechanism recovers initial swing frequency, alarm device stop alarm.
When obstacle detector is detected is less than or equal to 240 meters with the distance of barrier, control device control mast
Latching device makes mast thread off with mast pedestal, rotates with timed unit control mast motor, turns to mast horizontal
State, alarm device stop alarm.When detecting barrier closer to the distance in the sweep limitss of obstacle detector, judge
The probability that the barrier is collided with mast is larger, it is contemplated that need certain safety allowance and ship to be likely to occur certain inclined
Boat, adding the mast that fell needs the regular hour, therefore the carrying out using the mast that fell in advance avoids.The mast that fell is avoided
Opportunity it is relevant with the headway of ship and the time fallen needed for mast, structure its mast of the present invention fell the time about
10 seconds are needed, and ship speed is thought of as 10 meter per seconds, ship can advance 100 meters in such 10 seconds, therefore away from obstacle
The mast that starts to fall in the distance that 240 meters of thing has enough safety allowances.In addition, the distance with mainly with vertical oscillation mechanism
Pendulum angle and the Partial Height that can fall of mast it is relevant, i.e. L（Distance）=h（Mast height）/tanα（Pendulum angle is just
Cut）, the mast such as 7 meters, when pendulum angle is twice, about 200 meters of corresponding distance certainly should also be plus certain
Safety allowance, the time can be fallen according to mast in practicality and ship speed first determined the distance, then according to mast height
And safety allowance determines pendulum angle.
Obstacle detector proceeds detection, when an obstacle is detected, record time and continues detection, and continuous 30
When being not detected by barrier in second, control device control mast motor is rotated backward, and is made mast rotate into upright state, is controlled
Device control swing mechanism recovers initial swing frequency, while mast latching device dead electricity resets, make mast and mast pedestal it
Between be in the lock state；When barrier is not detected by continuous 100 seconds, control device control mast motor is rotated backward,
Mast is made to rotate into upright state, control device control swing mechanism recovers initial swing frequency, while mast latching device loses
Reset, makes to be in the lock state between mast and mast pedestal.Mast was likely to occur two states after falling, one kind is in mast
Occurs barrier above bar（Such as bridge）, the detection module for now pointing into the sky can detect barrier, detect most
Barrier afterwards judged that ship has passed over barrier, therefore mast is risen again after 30 seconds.Another kind is after mast fell
The detection module for pointing into the sky is not detected by barrier, now can be determined that the barrier for detecting above positioned at the side of ship
Side（Ship lock structure is similar to such as）, therefore in the case where the long period is not detected by barrier, also mast is risen again.
As the barrier above the ship is generally apart from close, and the pendulum angle of obstacle detector is less, therefore works as mast
When bar fell, normal detection of the structure near mast without interference with obstacle detector.
Preferably, control device connection ship's navigation controller, when obstacle detector is detected and barrier
When distance is less than or equal to 200 meters and is more than 125 meters, control device is slowed down and is reported to the police by ship's navigation controller ship；Work as barrier
Analyte detection device is hindered to detect when being less than or equal to 125 meters with the distance of barrier, control device passes through ship's navigation controller pair
Ship implements braking.When the failure mechanisms for the mast that fell, although control device has been started up mast lift, but real
Declining and rotating do not occur in border upper mast, and this timed unit controls ship by ship's navigation controller and slows down or parking,
Need to fall mast by manual type, to avoid colliding.
Preferably, mast top is provided with emergent anticollision mechanism, the emergent anticollision mechanism includes a straight-bar and compression bullet
Spring, the length direction of straight-bar are parallel with the length direction of ship, and straight-bar is slidably arranged on mast, and the leading section of straight-bar sets
There is impact head, described compression spring is set on straight-bar, and one end of compression spring is abutted with impact head, and the other end is supported with mast
Connect, the rear end of straight-bar is provided with the limiting plate for preventing straight-bar from deviating from, the straight-bar end of the rear side of limiting plate is fixed with drawstring, and drawstring leads to
Cross pulley mechanism to be connected with draw ring；Clutch is provided between drive gear and idler gear, described clutch is manual/electric
Dual-purpose clutch, clutch are provided with hand driving lever, and hand driving lever is connected with drawstring；When impact head is collided with barrier, pressure
Contracting spring stress compresses, and straight-bar rear end is moved rearwards by, and drawstring pulls draw ring by pulley mechanism, by inserting in mast latching device
Pin is pulled out from the lock hole of mast, makes mast thread off with mast pedestal, while drawstring pulls hand driving lever by pulley mechanism,
Clutch separation between mast motor and mast drive gear.When mast was fallen system malfunctions, mast and obstacle automatically
When thing collision is inevitable, latch is pulled out from the lock hole of mast by the emergent anticollision mechanism of the present invention, is unlocked mast and is in
Rotatable state, such mast can be pushed over backward, so as to play cushioning effect, mitigate the infringement that collision is likely to result in；And
By drawstring, hand driving lever by clutch separation, resistance when mast is pushed over by external force can be mitigated（Such as clutch when mast falls down
Engagement then needs drive motor to rotate, therefore mast is fallen down with larger resistance, in particular by reducing motor when
Wait）, make mast be easier to fall, further mitigate the infringement that collision is likely to result in.
The invention has the beneficial effects as follows, it efficiently solves the mast lift of prior art easily because neglecting or missing
Sentence and cause collision accident, so as to the problem for the heavy losses of property occur, the mast lift of the present invention can be hindered with automatic detection
Hinder thing and the mast that fell automatically, it is to avoid collide and cause the heavy losses of property, it is ensured that navigation safety, with very high practicality
Value.
Description of the drawings
Fig. 1 is a kind of structural representation of tower mast apparatus for automatically lifting of the present invention；
Fig. 2 is a kind of structural representation of mast latching device of the present invention；
Fig. 3 is a kind of drive mechanism schematic diagram of tower mast apparatus for automatically lifting of the present invention；
Fig. 4 is a kind of structural representation of vertical oscillation mechanism of the present invention；
Fig. 5 is a kind of present invention structural representation of emergent anticollision mechanism.
In figure：1. mast, 2. mast pedestal, 3. trunnion axis, 4. mast motor, 5. drive gear, 6. idler gear, 7. subtracts
Fast gear, 8. fixed gear, 9. balancing weight, 10. handwheel, 11. detection modules, 13. horizontal hunting mechanisms, 14. vertical pendulum motivations
Structure, 15. lock holes, 16. latches, 17. solenoids, 18. draw rings, 19. reset tension springs, 20. are in the light pipe, 21. line shafts, and 22.
Forward drive gear, 23. reverse drive gears, 24. wobble gears, 25. tumbler gears, 26. under drive gears, 27. swing
Output gear, 28. straight-bars, 29. compression springs, 30. impact heads, 31. limiting plates, 32. drawstrings, 33. pulley mechanisms.
Specific embodiment
Below by embodiment, and accompanying drawing is combined, technical scheme is described in further detail.
Embodiment 1
In such as Fig. 1 embodiment illustrated in fig. 31, a kind of tower mast apparatus for automatically lifting, the tower mast 1 are rotatable
Be arranged on the mast pedestal 2 of ship, mast pedestal is opening up U-shaped structure, and the pedestal is provided with one and ship
The vertical trunnion axis 3 in oceangoing ship navigation direction, bottom and the trunnion axis of mast are hinged, and mast is provided with mast motor 4, mast motor
Output shaft is provided with drive gear 5, and drive gear is engaged with an idler gear 6, and the wheel shaft of idler gear is provided with reducing gear
Wheel 7, mast pedestal is provided with the fixed gear 8 coaxial with trunnion axis, and the reduction gearing is engaged with fixed gear, under trunnion axis
The mast terminal part of side is provided with balancing weight 9, and handwheel 10 is additionally provided with the wheel shaft of idler gear, when mast motor is rotated, sliding tooth
Wheel drives reduction gearing to rotate by idler gear, and mast is rotated relative to trunnion axis and fixed gear；It is provided with the top of mast
For detecting the obstacle detector of direction of ship travel barrier, obstacle detector includes detection module 11 and adjustable
Fast swing mechanism, described swing mechanism include setting up the horizontal hunting mechanism 13 and vertical oscillation mechanism 14 on mast both sides separately,
The detection module is two, is separately positioned in horizontal hunting mechanism and vertical oscillation mechanism.The present embodiment horizontal pendulum motivation
The pendulum angle of structure is 5 degree, and the pendulum angle of vertical oscillation mechanism is 2.5 degree, the initial swing frequency of vertical oscillation mechanism and
The initial swing frequency of horizontal hunting mechanism is identical.Detection module includes what laser generator and laser generator were set up in parallel
Laser pickoff and timing system, obstacle detector emit beam according to laser generator and receive reflection with laser pickoff
The time difference between light calculates the distance with barrier, and laser generator is equipped with the pipe that is in the light with the front end of laser pickoff
20, the be in the light length of tube of the length of tube more than laser pickoff front end that be in the light of laser generator front end, effective inspection of detection module
Find range from not less than 900 meters.
The bottom of mast is provided with the lock hole 15 parallel with the trunnion axis, and mast pedestal is provided with mast latching device
（See Fig. 2）, mast latching device includes a latch 16, is arranged in solenoid 17 in the middle part of latch, head and the lock of latch
Determine hole and think adaptation, the tail end of latch is provided with draw ring 18, reset tension spring 19 is also arranged with latch；Tower mast apparatus for automatically lifting
Also include control device and alarm device, control device connects and control mast motor, obstacle detector, mast locking machine
Structure and alarm device.
The mast elevating method of the tower mast apparatus for automatically lifting of embodiment 1, comprises the following steps：
A. obstacle detector is opened, swing mechanism is with default initial swing warble, horizontal hunting mechanism pendulum
Dynamic to drive detection module to swing in the horizontal direction, the pendulum angle of horizontal hunting mechanism is ± 2.5 degree, while vertical pendulum
Motivation structure swings and drives detection module to swing up and down, and the pendulum angle of vertical oscillation mechanism is spent to+0.5 degree for -1.5；Detection mould
Block whether there is barrier in front of scan mode detection ship, and record in a complete sweep cycle with nearest barrier
Distance.
When it is 480 to 600 meters that obstacle detector is detected with the distance of barrier, control device control oscillating machine
Structure accelerates to swing, and its hunting frequency is 3 times of swing mechanism initial swing frequency, when being not detected by barrier in continuous 10 seconds
When, control device control swing mechanism recovers initial swing frequency.
When obstacle detector is detected with the distance of barrier less than or equal to 480 meters and more than 240 meters, control dress
Put control swing mechanism to accelerate to swing, its hunting frequency is 5 times of swing mechanism initial swing frequency, passes through with timed unit
Alarm device sends alarm signal, reminds deck officer to note preceding object thing；When being not detected by obstacle in continuous 10 seconds
During thing, control device control swing mechanism recovers initial swing frequency, alarm device stop alarm.
When obstacle detector is detected is less than or equal to 240 meters with the distance of barrier, control device control mast
Latching device makes mast thread off with mast pedestal, rotates with timed unit control mast motor, turns to mast horizontal
State, alarm device stop alarm.
Obstacle detector continues detection, when an obstacle is detected, record time and continues detection, in continuous 30 seconds
When being not detected by barrier, control device control mast motor is rotated backward, and makes mast rotate into upright state, control device
Control swing mechanism recovers initial swing frequency, while mast latching device dead electricity resets, makes to locate between mast and mast pedestal
In lock-out state；When barrier is not detected by continuous 100 seconds, control device control mast motor is rotated backward, and makes mast
Bar rotates into upright state, and control device control swing mechanism recovers initial swing frequency, while mast latching device dead electricity is multiple
Position, makes to be in the lock state between mast and mast pedestal.
Embodiment 2
The swing mechanism of embodiment 2（See Fig. 4）Including an oscillating motor（It is not drawn in figure）, the oscillating motor is speed governing
Motor, folds on the line shaft 21 of oscillating motor and is provided with forward drive gear 22 and reverse drive gear 23, forward drive gear with
Reverse drive gear is number of teeth identical sector gear and the arrangement that misplaces, and swing mechanism also includes wobble gear 24, positive to drive
Moving gear is engaged with wobble gear discontinuity, and reverse drive gear is engaged with 25 discontinuity of tumbler gear, tumbler gear with swing
Gear engage, wobble gear by a under drive gear 26 with swing output gear 27 engage, forward drive gear with swing
When gear is engaged, reverse drive gear is disengaged from tumbler gear, when reverse drive gear is engaged with tumbler gear, positive to drive
Moving gear is disengaged from wobble gear, and the forward drive gear drives the angle that the wobble gear swings reverse with described
Drive gear drives the angle that the wobble gear swings equal by tumbler gear, and it is defeated that detection of obstacles module is fixed on swing
Go out on the wheel shaft of gear.The control device connection ship's navigation controller of embodiment 2, mast pedestal are provided with mast and rotate limit
Position device, mast rotating limit device include limit switch and spacing elastic buffer block（It is not drawn in figure）, the rotation of mast motor
When, mast maximum rotation angle is 90 degree, and remaining is identical with embodiment 1.
The mast elevating method of the tower mast apparatus for automatically lifting of embodiment 2, in addition to the method for embodiment 1, works as obstacle
When analyte detection device is detected with the distance of barrier less than or equal to 200 meters and more than 125 meters, control device passes through ship's navigation
Controller ship slows down and reports to the police；When obstacle detector is detected is less than or equal to 125 meters with the distance of barrier, control
Device is implemented to brake to ship by ship's navigation controller.
Embodiment 3
The mast top of embodiment 3 is provided with emergent anticollision mechanism（See Fig. 5）, the emergent anticollision mechanism includes a straight-bar 28
And compression spring 29, the length direction of straight-bar is parallel with the length direction of ship, and straight-bar is slidably arranged on mast, straight-bar
Leading section be provided with impact head 30, described compression spring is set on straight-bar, and one end of compression spring is abutted with impact head, separately
One end is abutted with mast, and the rear end of straight-bar is provided with the limiting plate 31 for preventing straight-bar from deviating from, and the straight-bar end of the rear side of limiting plate is solid
Surely there is drawstring 32, drawstring is connected with draw ring by pulley mechanism 33.The obstacle detector of the present embodiment is arranged on straight-bar
Lower section；It is provided with clutch between drive gear and idler gear, described clutch is the dual-purpose clutch of manual/electric, clutch
Device is provided with hand driving lever, and hand driving lever is connected with drawstring, and remaining is identical with embodiment 1 or embodiment 2.
The mast elevating method of the tower mast apparatus for automatically lifting of embodiment 3, except embodiment 1 or the method for embodiment 2
Outward, when impact head is collided with barrier, compression spring forced compression, straight-bar rear end are moved rearwards by, and drawstring passes through pulley mechanism
Draw ring is pulled, the latch in mast latching device is pulled out from the lock hole of mast, make mast thread off with mast pedestal, while
Drawstring pulls hand driving lever, the clutch separation between mast motor and mast drive gear by pulley mechanism.
In addition to the implementation, in the scope disclosed in claims of the present invention and description, the skill of the present invention
Art feature or technical data can be reselected and be combined, and so as to constitute new embodiment, these present invention are without detailed
The embodiment of thin description is that those skilled in the art just can be realized easily without the need for creative work, therefore these are not detailed
The embodiment of description also should be regarded as the present invention specific embodiment and within protection scope of the present invention.
Claims (10)
1. a kind of tower mast apparatus for automatically lifting, the tower mast are spindle rotationally arranged on the mast pedestal of ship, mast
Bar pedestal is opening up U-shaped structure, be it is characterized in that, the pedestal is provided with a level vertical with direction of ship travel
Axle（3）, bottom and the trunnion axis of mast be hinged, and mast is provided with mast motor（4）, the output shaft of mast motor is provided with driving
Gear（5）, drive gear and an idler gear（6）Engagement, the wheel shaft of idler gear are provided with reduction gearing（7）, mast base
Frame is provided with the fixed gear coaxial with trunnion axis（8）, the reduction gearing engaged with fixed gear, the mast below trunnion axis
Terminal part is provided with balancing weight（9）, on the wheel shaft of idler gear, it is additionally provided with handwheel（10）, when mast motor is rotated, drive gear leads to
Crossing idler gear drives reduction gearing to rotate, and mast is rotated relative to trunnion axis and fixed gear；Be provided with the top of mast for
The obstacle detector of detection direction of ship travel barrier, obstacle detector include detection module（11）And adjustable speed
Swing mechanism, described swing mechanism include setting up the horizontal hunting mechanism on mast both sides separately（13）With vertical oscillation mechanism
（14）, the detection module is two, is separately positioned in horizontal hunting mechanism and vertical oscillation mechanism；The bottom of mast sets
There is the lock hole parallel with the trunnion axis（15）, mast pedestal is provided with mast latching device, and mast latching device includes one
Latch（16）, in the middle part of latch, it is arranged on solenoid（17）In, the head of latch is adapted with lock hole, and the tail end of latch sets
There is draw ring（18）, on latch, also it is arranged with reset tension spring（19）；Tower mast apparatus for automatically lifting also includes control device and report
Alarm device, control device connect and control mast motor, obstacle detector, mast latching device and alarm device.
2. tower mast apparatus for automatically lifting according to claim 1, it is characterised in that detection module includes that laser occurs
Laser pickoff and timing system that device and laser generator are set up in parallel, obstacle detector are sent out according to laser generator
Going out the time difference that light and laser pickoff received between reflection light calculates distance with barrier, laser generator and laser
The front end of receptor is equipped with the pipe that is in the light（20）, the gear of the length of tube more than laser pickoff front end that be in the light of laser generator front end
Optical tube length, the effective detection distance of detection module are not less than 900 meters.
3. tower mast apparatus for automatically lifting according to claim 1, it is characterised in that the swing mechanism includes a pendulum
Galvanic electricity machine, the oscillating motor be buncher, the line shaft of oscillating motor（21）Upper folding is provided with forward drive gear（22）With
Reverse drive gear（23）, forward drive gear is number of teeth identical sector gear with reverse drive gear and dislocation is arranged,
Swing mechanism also includes wobble gear（24）, forward drive gear engaged with wobble gear discontinuity, reverse drive gear with change
To gear（25）Discontinuity is engaged, and tumbler gear is engaged with wobble gear, and wobble gear passes through a under drive gear（26）With
Swing output gear（27）Engagement, when forward drive gear is engaged with wobble gear, reverse drive gear is departed from tumbler gear
Engagement, when reverse drive gear is engaged with tumbler gear, forward drive gear is disengaged from wobble gear, the forward drive
Gear drives the angle that the wobble gear swings to drive the wobble gear by tumbler gear with the reverse drive gear
The angle of swing is equal, and detection of obstacles module is fixed on the wheel shaft for swinging output gear.
4. tower mast apparatus for automatically lifting according to claim 1, it is characterised in that the angle of oscillation of horizontal hunting mechanism
Spend and spend for 4 to 6, the pendulum angle of vertical oscillation mechanism is 2 to 3 degree, the initial swing frequency of vertical oscillation mechanism and horizontal pendulum
The initial swing frequency of motivation structure is identical.
5. tower mast apparatus for automatically lifting according to claim 1, it is characterised in that mast pedestal is provided with mast and turns
Dynamic stopping means, mast rotating limit device include limit switch and spacing elastic buffer block, and when mast motor is rotated, mast is most
Big rotational angle is 90 degree.
6. the tower mast apparatus for automatically lifting according to any one of claim 1-5, it is characterised in that mast top is provided with
Emergent anticollision mechanism, the emergent anticollision mechanism include a straight-bar（28）And compression spring（29）, the length direction and ship of straight-bar
Length direction only is parallel, and straight-bar is slidably arranged on mast, and the leading section of straight-bar is provided with impact head（30）, described pressure
Contracting spring is set on straight-bar, and one end of compression spring is abutted with impact head, and the other end is abutted with mast, and the rear end of straight-bar is provided with
The limiting plate for preventing straight-bar from deviating from（31）, the straight-bar end of the rear side of limiting plate is fixed with drawstring（32）, drawstring is by turbine
Structure（33）It is connected with draw ring.
7. tower mast apparatus for automatically lifting according to claim 6, it is characterised in that the drive gear and center tooth
It is provided with clutch between wheel, described clutch is the dual-purpose clutch of manual/electric, clutch is provided with hand driving lever, manually
Driving lever is connected with drawstring.
8. a kind of mast elevating method of tower mast apparatus for automatically lifting as claimed in claim 1, it is characterised in that include with
Lower step：
A. obstacle detector is opened, swing mechanism swings band with default initial swing warble, horizontal hunting mechanism
Dynamic detection module is swung in the horizontal direction, and the pendulum angle of horizontal hunting mechanism is 4 to 6 degree, while vertical pendulum motivation
Structure swings and drives detection module to swing up and down, and the pendulum angle of vertical oscillation mechanism is spent to+0.5 degree for -2.5～-1.5；Detection
Module whether there is barrier in front of scan mode detection ship, and record in a complete sweep cycle with nearest barrier
Distance；
B. when it is 480 to 600 meters that obstacle detector is detected with the distance of barrier, control device control swing mechanism
Accelerate to swing, its hunting frequency is 3 times of swing mechanism initial swing frequency, when being not detected by barrier in continuous 10 seconds
When, control device control swing mechanism recovers initial swing frequency；
C. when obstacle detector is detected with the distance of barrier less than or equal to 480 meters and more than 240 meters, control device
Control swing mechanism accelerates to swing, 5 times for swing mechanism initial swing frequency of its hunting frequency, with timed unit by report
Alarm device sends alarm signal, reminds deck officer to note preceding object thing；When being not detected by barrier in continuous 10 seconds
When, control device control swing mechanism recovers initial swing frequency, alarm device stop alarm；
D. when obstacle detector is detected is less than or equal to 240 meters with the distance of barrier, control device control mast lock
Buckle mechanism makes mast thread off with mast pedestal, rotates with timed unit control mast motor, makes mast turn to horizontality,
Alarm device stop alarm；
E. obstacle detector continues detection, when an obstacle is detected, record time and continues detection, does not have in continuous 30 seconds
When detecting barrier, control device control mast motor is rotated backward, and makes mast rotate into upright state, control device control
Swing mechanism processed recovers initial swing frequency, while mast latching device dead electricity resets, makes to be between mast and mast pedestal
Lock-out state；When barrier is not detected by continuous 100 seconds, control device control mast motor is rotated backward, and makes mast
Upright state is rotated into, control device control swing mechanism recovers initial swing frequency, while mast latching device dead electricity resets,
Make to be in the lock state between mast and mast pedestal.
9. mast elevating method according to claim 8, the control device connect ship's navigation controller, and its feature exists
In when obstacle detector is detected with the distance of barrier less than or equal to 200 meters and more than 125 meters, control device leads to
Cross ship's navigation controller ship to slow down and report to the police；It is less than or equal to the distance of barrier when obstacle detector is detected
When 125 meters, control device is implemented to brake to ship by ship's navigation controller.
10. mast elevating method according to claim 8 or claim 9, mast top are provided with emergent anticollision mechanism, described emergent anti-
The structure that collides includes a straight-bar and compression spring, and the length direction of straight-bar is parallel with the length direction of ship, and straight-bar is slidably worn
On mast, the leading section of straight-bar is provided with impact head, and described compression spring is set on straight-bar, one end of compression spring with
Impact head is abutted, and the other end is abutted with mast, and the rear end of straight-bar is provided with the limiting plate for preventing straight-bar from deviating from, the rear side of limiting plate
Straight-bar end is fixed with drawstring, and drawstring is connected with draw ring by pulley mechanism；Clutch is provided between drive gear and idler gear
Device, described clutch is the dual-purpose clutch of manual/electric, and clutch is provided with hand driving lever, and hand driving lever is connected with drawstring；
Characterized in that, when impact head is collided with barrier, compression spring forced compression, straight-bar rear end are moved rearwards by, and drawstring passes through
Pulley mechanism pulls draw ring, and the latch in mast latching device is pulled out from the lock hole of mast, makes mast and mast pedestal
Thread off, while drawstring pulls hand driving lever, the clutch separation between mast motor and mast drive gear by pulley mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510243883.3A CN104925218B (en) | 2015-05-13 | 2015-05-13 | Automatic lifting device and method for tower-shaped mast |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510243883.3A CN104925218B (en) | 2015-05-13 | 2015-05-13 | Automatic lifting device and method for tower-shaped mast |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104925218A CN104925218A (en) | 2015-09-23 |
| CN104925218B true CN104925218B (en) | 2017-04-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510243883.3A Expired - Fee Related CN104925218B (en) | 2015-05-13 | 2015-05-13 | Automatic lifting device and method for tower-shaped mast |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111587824B (en) * | 2020-06-16 | 2024-07-19 | 浙江海富海洋生物科技有限公司 | Automatic shellfish seedling packaging machine |
| CN118179940A (en) * | 2024-04-19 | 2024-06-14 | 江苏佑彩智能制造有限公司 | Intelligent automatic visual detection device for die castings |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050252432A1 (en) * | 2004-05-13 | 2005-11-17 | Pamula Roman W | Extendable sailboat mast |
| CN2747149Y (en) * | 2004-09-15 | 2005-12-21 | 沪东中华造船(集团)有限公司 | Means for lifting/lowering mast |
| CN201056284Y (en) * | 2007-05-25 | 2008-05-07 | 李振国 | Elevator apparatus of navigation bridge building and bending and lifting equipment of steel tower on upper part of bridge building |
| CN201120947Y (en) * | 2007-11-02 | 2008-09-24 | 广州文冲船厂有限责任公司 | Portal frame type mainmast |
| CN202765230U (en) * | 2012-08-31 | 2013-03-06 | 烟台中集来福士海洋工程有限公司 | Retractable mast and yacht with the same |
| CN103661811A (en) * | 2012-09-25 | 2014-03-26 | 中国葛洲坝集团机械船舶有限公司 | Gear transmission type collapsible mast |
| CN104354833B (en) * | 2014-10-23 | 2017-03-22 | 江苏海通海洋工程装备有限公司 | Device for putting down/lifting mast on deck and collapsible mast |
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