CN105083468A - Automatic anti-collision device and method of cylindrical mast - Google Patents
Automatic anti-collision device and method of cylindrical mast Download PDFInfo
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Abstract
The invention discloses an automatic anti-collision device and method of a cylindrical mast. A horizontal rotating shaft is arranged on a mast base frame. A sliding sleeve is fixed to the middle of the horizontal rotating shaft. The mast penetrates in the sliding sleeve. The outer wall of the lower half part of the mast is axially provided with a rack. A mast motor is engaged with the rack through a mast drive gear and a mast lifting gear. The mast base frame is provided with a fixing gear coaxial with the horizontal rotating shaft. The mast lifting gear is engaged with the fixing gear through a reduction gear set. Swinging type obstacle detecting devices are arranged on the two sides of the mast base frame. The automatic anti-collision device of the cylindrical mast further comprises a control device and an alarm device. The control device is connected with the mast motor, the obstacle detection devices and the alarm device. The automatic anti-collision device and method effectively solve the problem that a mast lifting device in the prior art is likely to cause collision accidents due to negligence or misjudgment. The automatic anti-collision device of the cylindrical mast can automatically detect an obstacle and automatically place the mast down, the navigation safety is ensured, and high practical value is achieved.
Description
Technical field
The present invention relates to ship mast lifting technology field, especially relate to a kind of can effectively prevent the obstacles such as boats and ships mast and bridge from colliding cylindricality mast automatic crash-proof device and avoiding collision.
Background technology
Mast is generally all installed on the highest ceiling centerline of boats and ships, for installing radar, running light and communication antenna etc., very important safety facilities when being ship's navigation.The structural shape of mast has single-column rod-type, tower-type etc. usually.When passing through under ship builds a bridge etc. from the water surface, if the mast on ship may collide with bridge, then needing to fall in advance (or putting down) mast, after reducing height, safety of ship just can be made to pass through.The mast of the prior art process need that fell manually determines whether front has the air draft of the obstacles such as obstacle and bridge such as bridge in advance, is determined whether to need to be fallen by mast in advance to avoid colliding again after determining obstacle height by crewman according to the air draft of ship upper mast.But the in fact air draft of the obstacle such as bridge relevant with water surface height (water surface as flood tide is ebbed tide, flood etc. causes just changes), and the air draft of ship upper mast is also relevant with the drinking water depth of ship, therefore, need to be grasped a lot of data just can make and judging accurately at every turn; The work capacity of this crewman not only increased, also easily occur that carelessness or erroneous judgement cause collision case to occur simultaneously, thus cause great property damage, when especially boats and ships navigate by water at night, this problem is just more outstanding.Publication date is on September 18th, 2013, publication number is that the Chinese patent literature of CN103303435A discloses a kind of mast lift, comprise pedestal, mast base and mast, described pedestal is also fixedly installed screw foot, described screw foot is provided with movable pillar and screw rod, described screw rod is provided with the driving device be in transmission connection with it, described mast is fixedly installed lifting pedestal, described lifting pedestal is provided with the movable pillar be rotationally connected with it, described screw rod is threaded with described movable pillar, described movable pillar is identical around the rotation direction of described mast base with described mast with the rotation direction of described movable pillar.This structure is hinged run-on point with the lower end of mast, adopt screw mandrel to rotate through feed screw nut drive mast to fall or rise, although screw mandrel and nut screw connection have labor-saving effect, because mast is higher, therefore screw mandrel is stressed very large, and hand lifting/lowering is relatively required great effort; In addition, this structure does not solve crewman yet and occurs neglecting or erroneous judgement may cause the problem of collision case.
Summary of the invention
The mast lift that the object of the invention is for solving prior art easily causes collision case because neglecting or judging by accident, thus there is the problem of the heavy losses of property, there is provided one automatically can detect obstacle, avoid the cylindricality mast automatic crash-proof device and the avoiding collision thereof that cause the heavy losses of property.
The present invention solves the problems of the technologies described above the concrete technical scheme adopted to be, a kind of cylindricality mast automatic crash-proof device, described cylindricality mast is arranged on the mast pedestal of boats and ships rotationally, mast pedestal is opening up U-shaped structure, described pedestal is provided with a horizontal rotating shaft vertical with direction of ship travel, the middle part of horizontal rotating shaft is fixed with one for locating the sliding sleeve of mast, mast is located in sliding sleeve, the lower part outer wall of mast is axially arranged with tooth bar, the outer wall of sliding sleeve is provided with mast motor, the output shaft of mast motor is provided with mast driven wheel, mast driven wheel engages with a mast lifter wheel, the sidewall of sliding sleeve side corresponding to tooth bar is provided with breach, the side of mast lifter wheel is engaged with the tooth bar on mast by the breach on sliding sleeve sidewall, mast pedestal is provided with the fixed gear wheel coaxial with horizontal rotating shaft, the opposite side of mast lifter wheel is engaged with fixed gear wheel by train of reduction gears, during mast electric machine rotation, mast driven wheel is by mast lifter wheel and the oscilaltion in sliding sleeve of rack drives mast, mast driven wheel is by mast lifter wheel, train of reduction gears makes sliding sleeve rotate relative to fixed gear wheel, the wheel shaft of mast lifter wheel is also provided with handwheel, mast pedestal is provided with for detecting the obstacle detector of ship's navigation preceding object thing and the obstacle sensor for detecting obstacle above boats and ships, obstacle detector comprises detection module and adjustable speed swinging gear, described swinging gear comprises point the horizontal hunting mechanism being located at pedestal both sides and a vertical oscillation mechanism, described detection module is two, is separately positioned in horizontal hunting mechanism and vertical oscillation mechanism, the bottom of mast is provided with the lock hole parallel with described horizontal rotating shaft, mast pedestal is provided with mast latching device, mast latching device comprises a latch, the middle part of latch is arranged in magnet coil, head and the lock hole of latch think adaptation, the tail end of latch is provided with draw ring, and latch is also arranged with reset tension spring, cylindricality mast automatic crash-proof device also comprises control setup and warning device, and control setup connects and controls mast motor, obstacle detector, mast latching device and warning device.
Cylindricality mast of the present invention is arranged on mast pedestal, mast pedestal is provided with a horizontal rotating shaft vertical with direction of ship travel, the middle part of horizontal rotating shaft is fixed with one for locating the sliding sleeve of mast, mast is located in sliding sleeve, driven by mast motor, mast can moving axially at sliding sleeve, simultaneously sliding sleeve synchronous axial system, drives mast to fall backward.The mode of this mast that fell was fallen because mast limit trailing edge rotates, therefore mast center of gravity can be made to be reduced relative to the moment of horizontal rotating shaft, when mast fell to level attitude, horizontal rotating shaft is positioned at the middle part of mast close to center-of-gravity position, and mast center of gravity is minimum relative to the moment of horizontal rotating shaft.And mast is when holding up, horizontal rotating shaft is also one with the mast of upper part and holds up while the process of extending, so both solve the problem that mast shaft should have enough height immediately, also make mast lifting process less relative to the moment of horizontal rotating shaft, avoid monolateral rotation to be elevated needs and overcome very high-torque, need the problem of larger power, adopt less motor can meet mast lifting needs.And by being arranged on the handwheel on mast lifter wheel wheel shaft, hand lifting/lowering mast can also be realized, and simultaneously also lighter during hand lifting/lowering mast, compare the problem of effort when solving the mast hand lifting/lowering of prior art.
Obstacle detector is for automatically detecting the obstacle that direction of ship travel may collide with boats and ships mast, swinging gear realizes obstacle detector and detects obstacle in certain scope interscan, horizontal hunting mechanism is used for horizontal direction and detects, vertical oscillation mechanism is used for vertical direction and detects, guarantee that the obstacle that may collide with mast within the scope of a criss-cross on ship running direction is all detected, ensure navigation safety.Obstacle sensor can detect boats and ships and whether have passed the obstacles such as bridge; Control setup can control mast elevating system according to the different situations of obstacle and put down mast or give a warning, and mast was fallen automation, avoids because manually-operated carelessness or erroneous judgement cause collision case, and then cause the problem of the heavy losses of property.
The latch be arranged on mast pedestal coordinates for being locked by the mast being in raised configuration with the lock hole be arranged on mast, when mast fell by needs, latch is pulled out by the electromagnetic force produced by magnet coil from lock hole, mast is unlocked and is in the rotatable state of liftable; The arranging of draw ring can make the unlocking motion of mast that artificial or other mechanical pulling modes can be adopted to be achieved, and when retracing spring can ensure that mast rises fixing, the head of latch is in lock hole all the time, guarantees that mast is locked.In addition, also bolt device can be arranged on mast, and corresponding lock hole is set on pedestal.
As preferably, the laser pickoff that detection module comprises laser generator, be set up in parallel with laser generator and timing system, obstacle detector emits beam according to laser generator and the laser pickoff time difference received between reflected light rays calculates the distance of detecting device and obstacle, the front end of laser generator and laser pickoff is equipped with to be in the light and manages, the length of tube that is in the light of laser generator front end is greater than the length of tube that is in the light of laser pickoff front end, and effective detecting distance of detection module is not less than 800 meters.Detection module of the present invention and laser ranging system similar, can emission pulse laser bundle, reflected light rays is utilized to judge whether to there is obstacle, and utilize and to emit beam and time difference between reflected light rays calculates distance, to be in the light the arranging to reduce and emit beam to the interference of laser pickoff and the light interference reducing other of pipe, to only have the light consistent with the direction height that emits beam could be received by laser pickoff.
As preferably, swinging gear comprises an oscillating motor, described oscillating motor is buncher, the dynamical axis of oscillating motor is folded and is provided with forward drive gear and reverse drive gear, forward drive gear and reverse drive gear are the number of teeth, the quadrant gear that modulus is identical and dislocation arrange, swinging gear also comprises wobble gear, forward drive gear engages with wobble gear discountinuity, reverse drive gear engages with reversing gear discountinuity, reversing gear engages with wobble gear, wobble gear is engaged with swing output gear by a under drive gear, when forward drive gear engages with wobble gear, reverse drive gear departs from reversing gear and engages, when reverse drive gear engages with reversing gear, forward drive gear departs from wobble gear and engages, the angle that wobble gear described in described forward drive gear drive swings is equal with the angle that described reverse drive gear drives described wobble gear to swing by reversing gear, detection of obstacles module is fixed on the wheel shaft of swing output gear.
Oscillating motor drives forward drive gear and the equidirectional rotation of reverse drive gear by axle drive shaft, when forward drive gear engages with wobble gear, wobble gear rotates backward and drives swing output gear to rotate forward by a under drive gear, forward drive gear is rotated further to depart from wobble gear and engages, wobble gear stops operating, now reverse drive gear engages with reversing gear, reverse drive gear drives wobble gear to rotate forward by reversing gear, after reverse drive gear is rotated further and departs from reversing gear and engage, forward drive gear starts again to engage with wobble gear, repeat said process, realize the continuous rotating band movable pendulum of motor and move swinging back and forth by a small margin of output gear, thus realize obstacle detector further at certain scope interscan detection obstacle, guarantee that the obstacle in the certain limit on ship running direction is all detected, ensure navigation safety.Horizontal hunting mechanism of the present invention is consistent with the inner structure of vertical oscillation mechanism, and the direction of just installing is different, and one swings in the horizontal direction, and one swings in the vertical direction.The mechanism that swings back and forth of prior art adopts motor positive and inverse to realize usually, but the shortcoming one of motor positive and inverse needs complicated control system, and two is that the frequent rotating of motor can affect its service life, is not suitable for working long hours; And rotating of the present invention is realized by physical construction completely, solve the problems referred to above satisfactorily, can work long hours.
As preferably, the pendulum angle of horizontal hunting mechanism is 4 to 5 degree, and the pendulum angle of vertical oscillation mechanism is 2 to 3 degree, and the initial swing frequency of vertical oscillation mechanism is identical with the initial swing frequency of horizontal hunting mechanism.The pendulum angle of horizontal hunting mechanism and the pendulum angle size of vertical oscillation mechanism determine the scanning range size of obstacle detector on certain detecting distance; Pendulum angle is larger, and corresponding detection range is larger, but to collide the possibility that irrelevant obstacle occurs also larger with mast, easily affects accuracy of detection; Pendulum angle is less, and corresponding detection range is less, although to collide the possibility that irrelevant obstacle occurs also less with mast, may miss some obstacle, the latticed obstacle such as special bridge.In addition, because detection of obstacles of the present invention is as just the crashproof consideration of mast, and lower than the technical matters that the obstacle of mast pedestal can solve owing to not belonging to the present invention, not in limit of consideration of the present invention.Therefore the pendulum angle of vertical oscillation mechanism can be determined in conjunction with suitable detecting distance according to the mast height on mast pedestal, here suitable detecting distance considers to determine afterwards fell required time, safety allowance etc. of the maximum speed that may occur, mast, and those skilled in the art easily accomplish.And the pendulum angle of horizontal hunting mechanism is except considering that obstacle may be a kind of downward opening gap structure, this structure perhaps boats and ships can from middle safety, if but certain direction skew may be there is in the boats and ships that look to the future, and may collide after skew, therefore also should consider to fall mast in advance to avoid colliding.
As preferably, the mast at tooth bar two ends is provided with mast lifting limited device, mast pedestal is provided with mast rotating limit device, mast lifting limited device and mast rotating limit device include limit switch and spacing elastic buffer block, when the point of engagement of mast lifting tooth wheel and rack move to the other end of tooth bar from one end of tooth bar, sliding sleeve rotates 90 degree.The rotation proportionate relationship determined is had between mast lifter wheel of the present invention and sliding sleeve, when the mast of erectility fell, mast electric machine rotation is declined in sliding sleeve by mast driven wheel, mast lifter wheel band carry-over bar and mast, mast driven wheel makes sliding sleeve rotate relative to fixed gear wheel by mast lifter wheel, train of reduction gears, when mast drops to extreme lower position in sliding sleeve, sliding sleeve rotates 90 degree, and mast is the level of state.Like this, when mast is in horizontality, horizontal rotating shaft is positioned at the middle part of mast and the immediate vicinity of mast, and mast is when holding up, horizontal rotating shaft is also one with the mast of upper part and holds up while the process of extending, mast lifting process can be made like this to have less moment relative to horizontal rotating shaft, avoid monolateral rotation to be elevated needs and overcome very high-torque, need the problem of larger power, adopt less motor can meet mast lifting needs, adopt hand lifting/lowering mast also very light in addition, the problem of effort is compared when solving the mast hand lifting/lowering of prior art.The end position that mast rotating limit device rotates for limiting mast, when mast turns to level attitude, limit switch is closed to be sent mast and to rotate in place signal, mast motor stalls; Spacing elastic buffer block can play buffer action.
As preferably, mast top is provided with emergent anticollision mechanism, described emergent anticollision mechanism comprises a straight-bar and Compress Spring, the length direction of straight-bar is parallel with the length direction of ship, straight-bar is arranged on mast slidably, the leading section of straight-bar is provided with impact head, described Compress Spring is set on straight-bar, one end of Compress Spring abuts with impact head, the other end abuts with mast, the rear end of straight-bar is provided with the positioning plate preventing straight-bar from deviating from, and the straight-bar end of the rear side of positioning plate is fixed with stay cord, and stay cord is connected with draw ring by pulley mechanism.When mast automatically fell system malfunctions, mast and obstacle collide inevitable time, latch pulls out by the present invention's anticollision mechanism of meeting an urgent need from the lock hole of mast, mast is unlocked and is in the rotatable state of liftable, such mast can be pushed over backward, thus play buffer action, alleviate the infringement of colliding and may cause; On the other hand, after latch pulls out from the lock hole of mast, mast has owing to conducting oneself with dignity the power moved down, this power makes mast downslide height reduction and drives sliding sleeve to rotate, mast is turned over, the infringement of colliding and may cause can be alleviated further, especially when ship's speed is slower.When arranging emergent anticollision mechanism, obstacle detector can be arranged on the side of mast, should notice that emergent anticollision mechanism can not disturb the normal work of obstacle detector simultaneously.
As preferably, be provided with power-transfer clutch between mast motor and mast driven wheel, described power-transfer clutch is the dual-purpose power-transfer clutch of manual/electric, and power-transfer clutch is provided with hand driving lever, and hand driving lever is connected with stay cord.The present invention's power-transfer clutch when normal work engages, and when needs manually rise mast, manually driving lever is by disengaging of clutch, can alleviate load, plays labour-saving effect; On the other hand, when mast top is provided with emergent anticollision mechanism action, by stay cord, hand driving lever by disengaging of clutch, also can alleviate resistance when mast fell, mast was more easily fallen, alleviate the infringement of colliding and may cause further.
A mast avoiding collision for cylindricality mast automatic crash-proof device, comprises the following steps:
A. obstacle detector is opened, swinging gear is with the initial swing wobbulation preset, horizontal hunting mechanism swings and drives detection module to swing in the horizontal direction, the pendulum angle of horizontal hunting mechanism is ± 2 to ± 2.5 degree, vertical oscillation mechanism swings and drives detection module to swing up and down, and the pendulum angle of vertical oscillation mechanism is 0 degree and spends to+2 ~+3; Two detection modules all detect boats and ships front with scan mode and whether there is obstacle, and record the distance with nearest obstacle in the scanning period.
The pendulum angle of horizontal hunting mechanism here to refer to the boat length direction line crossing mast as benchmark, all deflects 2 degree to 2.5 degree (total pendulum angle is 4 degree to 5 degree) to from left to right; The pendulum angle of vertical oscillation mechanism is then start with horizon (namely 0 degree), upward deflects 2 degree to 3 degree (total pendulum angle is 2 degree to 3 degree); In addition, the present invention's any one position probing within two detection modules respective scanning period, to when having an obstacle, just judges that front exists obstacle, and the distance between record with obstacle; Because obstacle may be continuous structure or multiple distribution structure, therefore when two or more obstacle being detected in the scanning period, record the distance of nearest obstacle, and in this, as the distance of mast and obstacle.Here a scanning period refers to the complete swing of horizontal hunting mechanism or vertical oscillation mechanism one back and forth.
B. when to detect with the distance of obstacle be 450-600 rice to obstacle detector, control setup controls swinging gear and accelerates to swing, its hunting frequency is 3 times of swinging gear initial swing frequency, when obstacle not detected in continuous 12 seconds, control setup controls swinging gear and recovers initial swing frequency.When detecting that there is obstacle in front but obstacle distance is far away, adopting and accelerating detection speed and carry out obstacle detecting the mode process confirmed further; Due to moving ahead along with boats and ships, line between obstacle and detection module and the angle between direction of ship travel line may increase, therefore the obstacle detected above may leave the surveyed area of obstacle detector, therefore, when obstacle not detected in continuous 12 seconds, control setup controls swinging gear and restPoses.Because boats and ships encounter the obstacles such as bridge in navigation process, the possibility of being fallen by mast is needed not to be very large, therefore initial detecting state of the present invention is the relatively slow state of a swinging gear swing speed, to be foundly just adopt the mode accelerating detection speed when remotely there is obstacle, the wearing and tearing of associated mechanisms can be reduced like this, the service life of extension device.
C. when obstacle detector detect be less than or equal to 450 meters with the distance of obstacle and be greater than 220 meters time, control setup controls swinging gear and accelerates to swing, its hunting frequency is 5 times of swinging gear initial swing frequency, send alerting signal with timed unit by warning device, remind deck officer to note preceding object thing; When obstacle not detected in continuous 12 seconds, control setup controls swinging gear and recovers initial swing frequency, warning device stop alarm.
D. when obstacle detector detect be less than or equal to 220 meters with the distance of obstacle time, control setup controls mast latching device makes mast and mast pedestal thread off, control mast electric machine rotation with timed unit, mast declines and rotates and makes mast be in horizontality, warning device stop alarm.When the obstacle of close together being detected in the scanning range of obstacle detector, judge that the possibility that this obstacle and mast collide is larger, consider and need certain safety allowance and boats and ships may occur certain driftage, add that the mast that fell needs the regular hour, therefore adopt the carrying out of the mast that fell in advance to dodge.The route speed that the mast that fell carries out opportunity and the boats and ships of dodging and the time of falling needed for mast relevant, its mast of structure of the present invention time of falling approximately needed for 12 seconds, and ship speed is thought of as 10 meter per seconds, in such 12 seconds, boats and ships can advance 120 meters, therefore have enough safety allowances at the mast that starts to fall in the distance of 220 meters, obstacle.In addition, this distance is relevant with the Partial Height that pendulum angle and the mast of main and vertical oscillation mechanism can fall, i.e. L(distance)=h(mast height)/tan α (pendulum angle tangent), such as the mast of 7 meters, when pendulum angle be twice time, corresponding distance is about 200 meters, certainly also should add certain safety allowance, this distance can be first determined, then according to mast height and safety allowance determination pendulum angle according to fell time and ship speed of mast on practical.
E. obstacle sensor is opened, when sensor detects obstacle, writing time also continues to detect, when obstacle not detected in continuous 30 seconds, control setup controls mast motor and rotates backward, and mast is risen and rotates into upright state, and control setup controls swinging gear and recovers initial swing frequency, close obstacle sensor simultaneously and mast latching device dead electricity is resetted, making to be in the lock state between mast and mast pedestal; When obstacle not detected in continuous 100 seconds, control setup controls mast motor and rotates backward, mast is risen and rotates into upright state, control setup controls swinging gear and recovers initial swing frequency, close obstacle sensor simultaneously and mast latching device dead electricity is resetted, making to be in the lock state between mast and mast pedestal.Two states may be there is after mast falls, one is above mast, occur obstacle (such as bridge), and the detection module now pointed into the sky can detect obstacle, is detecting that last obstacle is after 30 seconds, judge that boats and ships clear the jumps, therefore mast is risen again.Another kind is that the detection module pointed into the sky after mast fell does not detect obstacle, the obstacle detected that now can judge above is positioned at the side (such as similar ship lock structure) of boats and ships, therefore, when the long period does not detect obstacle, also mast is risen again.Obstacle sensor also can adopt laser ranging system, but without the need to swinging gear.
As preferably, control setup connects ship's navigation controller, when obstacle detector detect be less than or equal to 190 meters with the distance of obstacle and be greater than 120 meters time, control setup is slowed down by ship's navigation controller boats and ships and is reported to the police; When obstacle detector detect be less than or equal to 120 meters with the distance of obstacle time, control setup by ship's navigation controller to boats and ships implement braking.When failure mechanisms for the mast that fell, although control setup starts mast lift, but in fact declining and rotating does not appear in mast, this timed unit controls boats and ships by ship's navigation controller and slows down or stop, need to be fallen mast by manual type, to avoid colliding.
As preferably, mast top is provided with emergent anticollision mechanism, described emergent anticollision mechanism comprises a straight-bar and Compress Spring, the length direction of straight-bar is parallel with the length direction of ship, straight-bar is arranged on mast slidably, the leading section of straight-bar is provided with impact head, described Compress Spring is set on straight-bar, one end of Compress Spring abuts with impact head, the other end abuts with mast, the rear end of straight-bar is provided with the positioning plate preventing straight-bar from deviating from, and the straight-bar end of the rear side of positioning plate is fixed with stay cord, and stay cord is connected with draw ring by pulley mechanism; Be provided with power-transfer clutch between mast motor and mast driven wheel, described power-transfer clutch is the dual-purpose power-transfer clutch of manual/electric, and power-transfer clutch is provided with hand driving lever, and hand driving lever is connected with stay cord; When impact head and obstacle collide, Compress Spring forced compression, straight-bar rear end is moved backward, stay cord pulls draw ring by pulley mechanism, latch in mast latching device is pulled out in the lock hole of mast, mast and mast pedestal are threaded off, and stay cord pulls hand driving lever by pulley mechanism, the disengaging of clutch between mast motor and mast driven wheel simultaneously.When mast automatically fell system malfunctions, mast and obstacle collide inevitable time, latch pulls out by the present invention's anticollision mechanism of meeting an urgent need from the lock hole of mast, mast is unlocked and is in the rotatable state of liftable, such mast can be pushed over backward, thus play buffer action, alleviate the infringement of colliding and may cause; On the other hand, after latch pulls out from the lock hole of mast, mast has owing to conducting oneself with dignity the power moved down, and this power makes mast downslide height reduction and drives sliding sleeve to rotate, and mast is turned over, can alleviate the infringement of colliding and may cause further; And by stay cord, hand driving lever by disengaging of clutch, can alleviate resistance when mast is pushed over by external force (as power-transfer clutch engages when mast falls down, needs drive motor to rotate, therefore mast is fallen down to have larger resistance, when especially adopting reducing motor), mast was more easily fallen, alleviates the infringement of colliding and may cause further.
The invention has the beneficial effects as follows, it efficiently solves the mast lift of prior art easily because carelessness or erroneous judgement cause collision case, thus there is the problem of the heavy losses of property, mast lift of the present invention can detect obstacle and the mast that automatically fell automatically, avoid colliding and cause the heavy losses of property, guarantee safety of navigation, there is very high practical value.
Accompanying drawing explanation
Fig. 1 is a kind of structural representation of cylindricality mast automatic crash-proof device 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 local structure schematic diagram of cylindricality mast automatic crash-proof device of the present invention;
Fig. 4 is a kind of plan structure schematic diagram of cylindricality mast automatic crash-proof device of the present invention;
Fig. 5 is a kind of structural representation of vertical oscillation mechanism of the present invention;
Fig. 6 is that the present invention meets an urgent need a kind of structural representation of anticollision mechanism.
In figure: 1. horizontal rotating shaft, 2. sliding sleeve, 3. tooth bar, 4. mast motor, 5. mast driven wheel, 6. mast lifter wheel, 7. breach, 8. fixed gear wheel, 9. train of reduction gears, 10. handwheel, 11. obstacle sensors, 12. detection modules, 13. horizontal hunting mechanisms, 14. vertical oscillation mechanisms, 15. lock holes, 16. latches, 17. magnet coils, 18. draw rings, 19. reset tension springs, 20. are in the light pipe, 21. dynamical axiss, 22. forward drive gears, 23. reverse drive gears, 24. wobble gears, 25. reversing gears, 26. under drive gears, 27. swing output gear, 28. straight-bars, 29. Compress Springs, 30. impact heads, 31. positioning plates, 32. stay cords, 33. pulley mechanisms, 34. masts, 35. mast pedestals, 36. supports.
Detailed description of the invention
Below by embodiment, and by reference to the accompanying drawings, technical scheme of the present invention is described in further detail.
Embodiment 1
In embodiment 1 as shown in Figure 1, a kind of cylindricality mast automatic crash-proof device, described cylindricality mast 34 is arranged on the mast pedestal 35 of boats and ships rotationally, mast pedestal is opening up U-shaped structure, described mast pedestal is provided with a horizontal rotating shaft 1 vertical with direction of ship travel, the middle part of horizontal rotating shaft is fixed with one for locating the sliding sleeve 2 of mast, mast is located in sliding sleeve, the lower part outer wall of mast is axially arranged with tooth bar 3, the outer wall of sliding sleeve is provided with mast motor 4 and sees Fig. 4 for the support 36(of fixed gear wheel driving system), the output shaft of mast motor is provided with mast driven wheel 5, mast driven wheel engages with a mast lifter wheel 6, the sidewall of sliding sleeve side corresponding to tooth bar is provided with breach 7(and sees Fig. 3), the side of mast lifter wheel is engaged with the tooth bar on mast by the breach on sliding sleeve sidewall, mast pedestal is provided with the fixed gear wheel 8 coaxial with horizontal rotating shaft, the opposite side of mast lifter wheel is engaged with the fixed gear wheel be arranged on the pedestal of sliding sleeve both sides by train of reduction gears 9, train of reduction gears and fixed gear wheel are symmetrical structure.During mast electric machine rotation, mast driven wheel is by mast lifter wheel and the oscilaltion in sliding sleeve of rack drives mast, mast driven wheel makes sliding sleeve rotate relative to fixed gear wheel by mast lifter wheel, train of reduction gears, and the wheel shaft of mast lifter wheel is also provided with handwheel 10; Mast pedestal is provided with the obstacle detector for detecting ship's navigation preceding object thing and the obstacle sensor 11 for detecting obstacle above boats and ships, obstacle detector comprises detection module 12 and adjustable speed swinging gear, described swinging gear comprises point horizontal hunting mechanism being located at pedestal both sides 13 and vertical oscillation mechanism 14, described detection module is two, is separately positioned in horizontal hunting mechanism and vertical oscillation mechanism; The pendulum angle of the present embodiment horizontal hunting mechanism is 4 degree, and the pendulum angle of vertical oscillation mechanism is 2 degree, and the initial swing frequency of vertical oscillation mechanism is identical with the initial swing frequency of horizontal hunting mechanism.The laser pickoff that detection module comprises laser generator, be set up in parallel with laser generator and timing system, obstacle detector emits beam according to laser generator and the laser pickoff time difference received between reflected light rays calculates the distance with obstacle, the front end of laser generator and laser pickoff is equipped with the pipe 20 that is in the light, the length of tube that is in the light of laser generator front end is greater than the length of tube that is in the light of laser pickoff front end, and effective detecting distance of detection module is not less than 800 meters.
The bottom of mast is provided with the lock hole 15 parallel with described horizontal rotating shaft, mast pedestal is provided with mast latching device (see figure 2), mast latching device comprises a latch 16, the middle part of latch is arranged in magnet coil 17, head and the lock hole of latch think adaptation, the tail end of latch is provided with draw ring 18, and latch is also arranged with reset tension spring 19; Cylindricality mast automatic crash-proof device also comprises control setup and warning device, and control setup connects and controls mast motor, obstacle detector, mast latching device and warning device.
The mast avoiding collision of the cylindricality mast automatic crash-proof device of embodiment 1, comprises the following steps:
A. obstacle detector is opened, swinging gear is with the initial swing wobbulation preset, horizontal hunting mechanism swings and drives detection module to swing in the horizontal direction, the pendulum angle of horizontal hunting mechanism is ± 2 degree, vertical oscillation mechanism swings and drives detection module to swing up and down, and the pendulum angle of vertical oscillation mechanism is 0 degree and spends to+2; Two detection modules all detect boats and ships front with scan mode and whether there is obstacle, and record the distance with nearest obstacle in the scanning period.
B. when to detect with the distance of obstacle be 450-600 rice to obstacle detector, control setup controls swinging gear and accelerates to swing, its hunting frequency is 3 times of swinging gear initial swing frequency, when obstacle not detected in continuous 12 seconds, control setup controls swinging gear and recovers initial swing frequency.
C. when obstacle detector detect be less than or equal to 450 meters with the distance of obstacle and be greater than 220 meters time, control setup controls swinging gear and accelerates to swing, its hunting frequency is 5 times of swinging gear initial swing frequency, send alerting signal with timed unit by warning device, remind deck officer to note preceding object thing; When obstacle not detected in continuous 12 seconds, control setup controls swinging gear and recovers initial swing frequency, warning device stop alarm.
D. when obstacle detector detect be less than or equal to 220 meters with the distance of obstacle time, control setup controls mast latching device makes mast and mast pedestal thread off, control mast electric machine rotation with timed unit, mast declines and rotates and makes mast be in horizontality, warning device stop alarm.
E. obstacle sensor is opened, when sensor detects obstacle, writing time also continues to detect, when obstacle not detected in continuous 30 seconds, control setup controls mast motor and rotates backward, and mast is risen and rotates into upright state, and control setup controls swinging gear and recovers initial swing frequency, close obstacle sensor simultaneously and mast latching device dead electricity is resetted, making to be in the lock state between mast and mast pedestal; When obstacle not detected in continuous 100 seconds, control setup controls mast motor and rotates backward, mast is risen and rotates into upright state, control setup controls swinging gear and recovers initial swing frequency, close obstacle sensor simultaneously and mast latching device dead electricity is resetted, making to be in the lock state between mast and mast pedestal.
Embodiment 2
The swinging gear (see figure 5) of embodiment 2 comprises an oscillating motor (not shown in FIG.), described oscillating motor is buncher, the dynamical axis 21 of oscillating motor is folded and is provided with forward drive gear 22 and reverse drive gear 23, forward drive gear and reverse drive gear are the number of teeth, the quadrant gear that modulus is identical and dislocation arrange, swinging gear also comprises wobble gear 24, forward drive gear engages with wobble gear discountinuity, reverse drive gear engages with reversing gear 25 discountinuity, reversing gear engages with wobble gear, wobble gear is engaged with swing output gear 27 by a under drive gear 26, when forward drive gear engages with wobble gear, reverse drive gear departs from reversing gear and engages, when reverse drive gear engages with reversing gear, forward drive gear departs from wobble gear and engages, the angle that wobble gear described in described forward drive gear drive swings is equal with the angle that described reverse drive gear drives described wobble gear to swing by reversing gear, detection of obstacles module is fixed on the wheel shaft of swing output gear.The control setup of embodiment 2 connects ship's navigation controller, the mast at mast upper rack two ends is provided with mast lifting limited device, mast pedestal is provided with mast rotating limit device, mast lifting limited device and mast rotating limit device include limit switch and spacing elastic buffer block (not shown in FIG.), when the point of engagement of mast lifting tooth wheel and rack move to the other end of tooth bar from one end of tooth bar, sliding sleeve rotates 90 degree, and all the other are identical with embodiment 1.
The mast avoiding collision of the cylindricality mast automatic crash-proof device of embodiment 2, except the method for embodiment 1, when obstacle detector detect be less than or equal to 190 meters with the distance of obstacle and be greater than 120 meters time, control setup is slowed down by ship's navigation controller boats and ships and is reported to the police; When obstacle detector detect be less than or equal to 120 meters with the distance of obstacle time, control setup by ship's navigation controller to boats and ships implement braking.
Embodiment 3
The mast top of embodiment 3 is provided with emergent anticollision mechanism (see figure 6), described emergent anticollision mechanism comprises a straight-bar 28 and Compress Spring 29, the length direction of straight-bar is parallel with the length direction of ship, straight-bar is arranged on mast slidably, the leading section of straight-bar is provided with impact head 30, described Compress Spring is set on straight-bar, one end of Compress Spring abuts with impact head, the other end abuts with mast, the rear end of straight-bar is provided with the positioning plate 31 preventing straight-bar from deviating from, the straight-bar end of the rear side of positioning plate is fixed with stay cord 32, stay cord is connected with draw ring by pulley mechanism 33.The obstacle detector of the present embodiment is arranged on the below of straight-bar; Be provided with power-transfer clutch between mast motor and mast driven wheel, described power-transfer clutch is the dual-purpose power-transfer clutch of manual/electric, and power-transfer clutch is provided with hand driving lever, and hand driving lever is connected with stay cord, and all the other are identical with embodiment 1 or embodiment 2.
The mast avoiding collision of the cylindricality mast automatic crash-proof device of embodiment 3, except the method for embodiment 1 or embodiment 2, when impact head and obstacle collide, Compress Spring forced compression, straight-bar rear end is moved backward, and stay cord pulls draw ring by pulley mechanism, latch in mast latching device is pulled out in the lock hole of mast, mast and mast pedestal are threaded off, and stay cord pulls hand driving lever by pulley mechanism, the disengaging of clutch between mast motor and mast driven wheel simultaneously.
In addition to the implementation; in the scope disclosed in claims of the present invention and specification sheets; technical characteristic of the present invention or technical data can carry out reselecting and combining; thus form new embodiment; the embodiment that these the present invention do not describe in detail is that those skilled in the art just can realize easily without the need to creative work, and therefore these embodiments do not described in detail also should be considered as specific embodiments of the invention and within protection scope of the present invention.
Claims (10)
1. a cylindricality mast automatic crash-proof device, described cylindricality mast is arranged on the mast pedestal of boats and ships rotationally, mast pedestal is opening up U-shaped structure, it is characterized in that, described pedestal is provided with a horizontal rotating shaft vertical with direction of ship travel (1), the middle part of horizontal rotating shaft is fixed with one for locating the sliding sleeve (2) of mast, mast is located in sliding sleeve, the lower part outer wall of mast is axially arranged with tooth bar (3), the outer wall of sliding sleeve is provided with mast motor (4), the output shaft of mast motor is provided with mast driven wheel (5), mast driven wheel engages with a mast lifter wheel (6), the sidewall of sliding sleeve side corresponding to tooth bar is provided with breach (7), the side of mast lifter wheel is engaged with the tooth bar on mast by the breach on sliding sleeve sidewall, mast pedestal is provided with the fixed gear wheel (8) coaxial with horizontal rotating shaft, the opposite side of mast lifter wheel is engaged with fixed gear wheel by train of reduction gears (9), during mast electric machine rotation, mast driven wheel is by mast lifter wheel and the oscilaltion in sliding sleeve of rack drives mast, mast driven wheel is by mast lifter wheel, train of reduction gears makes sliding sleeve rotate relative to fixed gear wheel, the wheel shaft of mast lifter wheel is also provided with handwheel (10), mast pedestal is provided with the obstacle detector for detecting ship's navigation preceding object thing and the obstacle sensor (11) for detecting obstacle above boats and ships, obstacle detector comprises detection module (12) and adjustable speed swinging gear, described swinging gear comprises point horizontal hunting mechanism (13) being located at pedestal both sides and vertical oscillation mechanism (14), described detection module is two, is separately positioned in horizontal hunting mechanism and vertical oscillation mechanism, the bottom of mast is provided with the lock hole (15) parallel with described horizontal rotating shaft, mast pedestal is provided with mast latching device, mast latching device comprises a latch (16), the middle part of latch is arranged in magnet coil (17), head and the lock hole of latch think adaptation, the tail end of latch is provided with draw ring (18), latch is also arranged with reset tension spring (19), cylindricality mast automatic crash-proof device also comprises control setup and warning device, and control setup connects and controls mast motor, obstacle detector, mast latching device and warning device.
2. cylindricality mast automatic crash-proof device according to claim 1, it is characterized in that, detection module comprises laser generator, the laser pickoff be set up in parallel with laser generator and timing system, obstacle detector emits beam according to laser generator and the laser pickoff time difference received between reflected light rays calculates the distance with obstacle, the front end of laser generator and laser pickoff is equipped with to be in the light and manages (20), the length of tube that is in the light of laser generator front end is greater than the length of tube that is in the light of laser pickoff front end, effective detecting distance of detection module is not less than 800 meters.
3. cylindricality mast automatic crash-proof device according to claim 1, it is characterized in that, described swinging gear comprises an oscillating motor, described oscillating motor is buncher, upper the folding of the dynamical axis (21) of oscillating motor is provided with forward drive gear (22) and reverse drive gear (23), forward drive gear and reverse drive gear are the number of teeth, the quadrant gear that modulus is identical and dislocation arrange, swinging gear also comprises wobble gear (24), forward drive gear engages with wobble gear discountinuity, reverse drive gear engages with reversing gear (25) discountinuity, reversing gear engages with wobble gear, wobble gear is engaged with swing output gear (27) by a under drive gear (26), when forward drive gear engages with wobble gear, reverse drive gear departs from reversing gear and engages, when reverse drive gear engages with reversing gear, forward drive gear departs from wobble gear and engages, the angle that wobble gear described in described forward drive gear drive swings is equal with the angle that described reverse drive gear drives described wobble gear to swing by reversing gear, detection of obstacles module is fixed on the wheel shaft of swing output gear.
4. cylindricality mast automatic crash-proof device according to claim 1, it is characterized in that, the pendulum angle of horizontal hunting mechanism is 4 to 5 degree, and the pendulum angle of vertical oscillation mechanism is 2 to 3 degree, and the initial swing frequency of vertical oscillation mechanism is identical with the initial swing frequency of horizontal hunting mechanism.
5. cylindricality mast automatic crash-proof device according to claim 1, it is characterized in that, the mast at tooth bar two ends is provided with mast lifting limited device, mast pedestal is provided with mast rotating limit device, mast lifting limited device and mast rotating limit device include limit switch and spacing elastic buffer block, when the point of engagement of mast lifting tooth wheel and rack move to the other end of tooth bar from one end of tooth bar, sliding sleeve rotates 90 degree.
6. the cylindricality mast automatic crash-proof device according to any one of claim 1-5, it is characterized in that, mast top is provided with emergent anticollision mechanism, described emergent anticollision mechanism comprises a straight-bar (28) and Compress Spring (29), the length direction of straight-bar is parallel with the length direction of ship, straight-bar is arranged on mast slidably, the leading section of straight-bar is provided with impact head (30), described Compress Spring is set on straight-bar, one end of Compress Spring abuts with impact head, the other end abuts with mast, the rear end of straight-bar is provided with the positioning plate (31) preventing straight-bar from deviating from, the straight-bar end of the rear side of positioning plate is fixed with stay cord (32), stay cord is connected with draw ring by pulley mechanism (33).
7. cylindricality mast automatic crash-proof device according to claim 6, it is characterized in that, be provided with power-transfer clutch between described mast motor and mast driven wheel, described power-transfer clutch is the dual-purpose power-transfer clutch of manual/electric, power-transfer clutch is provided with hand driving lever, and hand driving lever is connected with stay cord.
8. a mast avoiding collision for cylindricality mast automatic crash-proof device as claimed in claim 1, is characterized in that, comprise the following steps:
A. obstacle detector is opened, swinging gear is with the initial swing wobbulation preset, horizontal hunting mechanism swings and drives detection module to swing in the horizontal direction, the pendulum angle of horizontal hunting mechanism is ± 2 to ± 2.5 degree, vertical oscillation mechanism swings and drives detection module to swing up and down, and the pendulum angle of vertical oscillation mechanism is 0 degree of+2 ~+3 degree; Two detection modules all detect boats and ships front with scan mode and whether there is obstacle, and record the distance with nearest obstacle in the scanning period;
B. when to detect with the distance of obstacle be 450-600 rice to obstacle detector, control setup controls swinging gear and accelerates to swing, its hunting frequency is 3 times of swinging gear initial swing frequency, when obstacle not detected in continuous 12 seconds, control setup controls swinging gear and recovers initial swing frequency;
C. when obstacle detector detect be less than or equal to 450 meters with the distance of obstacle and be greater than 220 meters time, control setup controls swinging gear and accelerates to swing, its hunting frequency is 5 times of swinging gear initial swing frequency, send alerting signal with timed unit by warning device, remind deck officer to note preceding object thing; When obstacle not detected in continuous 12 seconds, control setup controls swinging gear and recovers initial swing frequency, warning device stop alarm;
D. when obstacle detector detect be less than or equal to 220 meters with the distance of obstacle time, control setup controls mast latching device makes mast and mast pedestal thread off, control mast electric machine rotation with timed unit, mast declines and rotates and makes mast be in horizontality, warning device stop alarm;
E. obstacle sensor is opened, when sensor detects obstacle, writing time also continues to detect, when obstacle not detected in continuous 30 seconds, control setup controls mast motor and rotates backward, and mast is risen and rotates into upright state, and control setup controls swinging gear and recovers initial swing frequency, close obstacle sensor simultaneously and mast latching device dead electricity is resetted, making to be in the lock state between mast and mast pedestal; When obstacle not detected in continuous 100 seconds, control setup controls mast motor and rotates backward, mast is risen and rotates into upright state, control setup controls swinging gear and recovers initial swing frequency, close obstacle sensor simultaneously and mast latching device dead electricity is resetted, making to be in the lock state between mast and mast pedestal.
9. mast avoiding collision according to claim 8, described control setup connects ship's navigation controller, it is characterized in that, when obstacle detector detect be less than or equal to 190 meters with the distance of obstacle and be greater than 120 meters time, control setup is slowed down by ship's navigation controller boats and ships and is reported to the police; When obstacle detector detect be less than or equal to 150 meters with the distance of obstacle time, control setup by ship's navigation controller to boats and ships implement braking.
10. mast avoiding collision according to claim 8 or claim 9, mast top is provided with emergent anticollision mechanism, described emergent anticollision mechanism comprises a straight-bar and Compress Spring, the length direction of straight-bar is parallel with the length direction of ship, straight-bar is arranged on mast slidably, the leading section of straight-bar is provided with impact head, described Compress Spring is set on straight-bar, one end of Compress Spring abuts with impact head, the other end abuts with mast, the rear end of straight-bar is provided with the positioning plate preventing straight-bar from deviating from, the straight-bar end of the rear side of positioning plate is fixed with stay cord, stay cord is connected with draw ring by pulley mechanism, power-transfer clutch is provided with between mast motor and mast driven wheel, described power-transfer clutch is the dual-purpose power-transfer clutch of manual/electric, power-transfer clutch is provided with hand driving lever, hand driving lever is connected with stay cord, it is characterized in that, when impact head and obstacle collide, Compress Spring forced compression, straight-bar rear end is moved backward, stay cord pulls draw ring by pulley mechanism, latch in mast latching device is pulled out in the lock hole of mast, mast and mast pedestal are threaded off, stay cord pulls hand driving lever by pulley mechanism simultaneously, disengaging of clutch between mast motor and mast driven wheel.
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| CN201510243272.9A CN105083468B (en) | 2015-05-13 | 2015-05-13 | Cylindricality mast automatic crash-proof device and its method |
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| CN201510243272.9A CN105083468B (en) | 2015-05-13 | 2015-05-13 | Cylindricality mast automatic crash-proof device and its method |
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| CN105083468B CN105083468B (en) | 2018-04-13 |
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