CN106094579A - A kind of large-scale stern work platform electric-control system - Google Patents
A kind of large-scale stern work platform electric-control system Download PDFInfo
- Publication number
- CN106094579A CN106094579A CN201610392558.8A CN201610392558A CN106094579A CN 106094579 A CN106094579 A CN 106094579A CN 201610392558 A CN201610392558 A CN 201610392558A CN 106094579 A CN106094579 A CN 106094579A
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- China
- Prior art keywords
- transverse shifting
- work platform
- encoder
- control unit
- position servo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
Abstract
The invention belongs to the one large-scale stern work platform electric-control system in shipbuilding field, including man-machine operation interface, system control unit, Position Servo, encoder and actuator；Lateral or longitudinal movement signal is sent to system control unit by man-machine operation interface, the signal of reception is passed to Position Servo by system control unit, Position Servo is by the actuator respectively of horizontal and vertical movable signal, actuator performs transverse shifting respectively and vertically moves, and moving distance information is passed sequentially through encoder, Position Servo passes to system control unit, system control unit is finely adjusted correction automatically according to feedack, electric-control system of the present invention is complete closed-loop structure, the error that can cause with compensating element Parameters variation and external disturbance, control accuracy is high；After the change of combined machine ingredient, it is not necessary to change control system, can be along using the control system of an operating mode, the synchronicity of control combination machinery is higher.
Description
Technical field
The invention belongs to shipbuilding research field, be specifically related to a kind of large-scale stern work platform electric-control system, be suitable for
Install and dismounting in large-scale marine propeller and the automatic of rudder blade.
Background technology
Stern work platform is the special frock equipment that argosy rudder for ship leaf and propeller lift-launch are accurately positioned installation, and it is
The control method of system belongs to the control category of combined console electric-control system, can be used for the control of large-scale combined machinery.At present, ship
If oceangoing ship corporate boss carries out propeller and the installation of rudder blade and dismounting by mode manually, work difficulty is big and expends
Manpower and materials.The such issues that one large-scale stern work platform system of the present invention and control method thereof can effectively solve.
Up to the present, also the most not relevant to ship stern job platform control system and control method this respect thereof special
Profit, but other industry has similar, and the Chinese patent of Publication No. CN24133222U proposes the open loop in a kind of coffee machine water route
Control system, by comparison, feedback regulation that patent of the present invention is many, control system is more accurate；Publication No. CN53760825A
Chinese patent proposes the control method of a kind of large-scale precise suspension device composite follow-up platform electronic control system, patent of the present invention with
It is compared advantage and is that the synchronicity of control combination machinery is higher, after the change of combined machine ingredient, it is not necessary to change controls
System, can be continuing with the control system used by an operating mode；The Chinese patent of Publication No. CN1506243A proposes one
Vehicle braking control system, patent of the present invention advantage in contrast is that control method is simple, easy to operate, and CN1506243A is controlled
System complex processed, it is difficult to the requirement wanting reach is fully achieved.The electric-control system of existing assembling mechanism mostly control accuracy
Low, control efficiency is low, and control method is loaded down with trivial details, and expensive, it is difficult to realize accurately controlling and combination of assembling mechanism
The Synchronization Control of mechanism.
Summary of the invention
It is an object of the invention to provide a kind of large-scale stern work platform system for the problems referred to above, it is achieved assembling mechanism
Accurately control and the Synchronization Control of combined mechanism, control method is simple, easy to operate, is greatly improved the control essence of system
Degree, has more preferable stability and economy.
The technical scheme is that a kind of large-scale stern work platform electric-control system, it is characterised in that include man-machine behaviour
Make interface, system control unit, Position Servo, the first encoder, the second encoder, the 3rd encoder and execution machine
Structure；
Actuator input with the first encoder, the second encoder and the 3rd encoder respectively electrically connects, and first compiles
The outfan of code device, the second encoder and the 3rd encoder is connected with Position Servo respectively；Described actuator includes
First transverse shifting drives motor, the second transverse shifting to drive motor, vertical lifting mechanism；
Described man-machine operation interface electrically connects with system control unit, for being sent to by lateral or longitudinal movement signal is
System control unit, described system control unit electrically connects with Position Servo, and the signal received is passed by system control unit
Passing Position Servo, Position Servo electrically connects with actuator, and transverse shifting is believed by Position Servo
Number being delivered separately to the first transverse shifting drives motor and the second transverse shifting to drive motor, will vertically move signal and pass to hang down
Go straight up to descending mechanism；
First transverse shifting drives motor to drive large-scale stern work platform transverse shifting and by lateral distance information
Pass sequentially through the first encoder, Position Servo passes to system control unit, and system control unit is according to the letter of feedback
First transverse shifting is driven motor to be finely adjusted correction automatically by Position Servo by breath again；
Second transverse shifting drives motor drive operational platform transverse shifting and laterally moving on large-scale stern work platform
Dynamic range information passes sequentially through the second encoder, Position Servo passes to system control unit, system control unit root
Motor is driven to be finely adjusted correction automatically the second transverse shifting by Position Servo again according to feedack；
Vertical lifting mechanism controls the lifting of large-scale stern work platform upper table and by work according to vertically moving signal
The range information of station lifting passes sequentially through the 3rd encoder, Position Servo passes to system control unit, system control
Unit processed is finely adjusted correction automatically by Position Servo again according to feedack to vertical lifting mechanism.
In such scheme, described vertical lifting mechanism include the first oil cylinder, the second oil cylinder, the first oil pump, electromagnetic valve, second
Oil pump, fuel tank and vertically move driving motor；
The cylinder body of described first oil cylinder and the second oil cylinder base with large-scale stern work platform respectively is connected, and cylinder rod is respectively
Hinged with workbench, the input of the first oil pump and the second oil pump is connected with fuel tank by pipeline respectively, and outfan passes through respectively
Pipeline and the first oil cylinder and the second oil cylinder connect, and the first oil cylinder and the second oil cylinder connect respectively and vertically move driving motor, described
Vertically move driving motor to electrically connect with the outfan of Position Servo and the input of the 3rd encoder respectively.
In such scheme, also include that expanding element, described expanding element electrically connect with system control unit, be used for increasing system
The input of system is counted.
In such scheme, the base of described large-scale stern work platform is provided with base pulley；Described first transverse shifting drives
Galvanic electricity machine is connected with base pulley by gear-box；First transverse shifting drives motor to control base pulley and laterally moves on guide rail
Dynamic.
In such scheme, it is characterised in that described workbench is connected with large-scale stern work platform sliding pair.
Further, described workbench is connected by sliding panel with large-scale stern work platform；
Being fixed with U-lag above described large-scale stern work platform, the above and workbench of described sliding panel passes through spiral shell
Tether and connect, sliding panel sliding panel pulley is arranged below, sliding panel pulley is arranged in U-lag；
Second transverse shifting drives motor to be connected with sliding panel pulley by gear-box；Second transverse shifting drives motor control
Sliding panel pulley transverse shifting on U-lag processed.
In such scheme, described workbench is rudder blade workbench.
In such scheme, described workbench is propeller works platform.
The invention has the beneficial effects as follows: compared with prior art, the present invention is closed-loop control system, has correction automatically controlled
Amount processed occurs the ability of skew, the error that can cause with compensating element Parameters variation and external disturbance, and control accuracy is high；The present invention
Patent improves the Synchronization Control performance of combined mechanical, thus improves combined mechanical total tune, meanwhile, in conversion
When rudder blade workbench and propeller works platform, can be along the control system using an operating mode, it is not necessary to spend a large amount of manpower and materials to go
Change control system, substantially increase work efficiency, reduce job costs；The control method of the present invention is easy, easy to operate,
Practical.
Accompanying drawing explanation
Fig. 1 is an embodiment of the present invention large-scale stern work platform electric-control system schematic diagram；
Fig. 2 is the large-scale stern work platform of an embodiment of the present invention and workbench schematic diagram.
In figure: 1, man-machine operation interface；2, expanding element；3, system controls；4, Position Servo；5 first is horizontal
Mobile driving motor；6, the second transverse shifting drives motor；7, driving motor is vertically moved；8, the first encoder；9, guide rail；
10, the first oil pump；11, vertical lifting mechanism；12, workbench；13, the second encoder；14, stern work platform；15, the second oil
Pump；16, fuel tank；17, base pulley；18, the 3rd encoder.
Detailed description of the invention
In order to technical characteristic, purpose and the effect of invention are more clearly understood from, the now comparison accompanying drawing explanation present invention
Detailed description of the invention, the most identical label represents same or analogous part.Accompanying drawing is merely to illustrate the present invention, no
Represent practical structures and the actual proportions of the present invention.
The electric-control system of the present invention by Position Servo to stern work platform and rudder blade work platforms or spiral
The control of oar table drive motor, passes to encoder by displacement, and encoder passes information to position servo control again
Device, forms closed-loop control system, is greatly improved the synchronous control accuracy of single control accuracy and combined mechanical.
Fig. 1 show a kind of embodiment of large-scale stern work platform electric-control system of the present invention, described large-scale stern
Portion's job platform electric-control system, including man-machine operation interface 1, described expanding element 2, system control unit 3, position servo control
Device the 4, first encoder the 8, second encoder the 13, the 3rd encoder 18 and actuator；
Described actuator includes that the first transverse shifting drives motor the 5, second transverse shifting to drive motor 6, vertical lift
Mechanism 11；First transverse shifting drives motor 5 to electrically connect with the input of the first encoder 8；Second transverse shifting drives motor 6
Electrically connect with the input of the second encoder 13；Vertical lifting mechanism 11 electrically connects with the input of the 3rd encoder 18, and first
The outfan of encoder the 8, second encoder 13 and the 3rd encoder 18 is connected with Position Servo 4 respectively.
Described man-machine operation interface 1 electrically connects with system control unit 3, for being sent to by lateral or longitudinal movement signal
System control unit 3, described expanding element 2 electrically connects with system control unit 3, counts for increasing the input of system, described
System control unit 3 electrically connects with Position Servo 4, and the signal of reception is passed to position servo by system control unit 3
Controller 4, Position Servo 4 electrically connects with actuator, and transverse shifting signal is transmitted by Position Servo 4 respectively
Motor 5 and the second transverse shifting is driven to drive motor 6, signal will be vertically moved pass to vertical conveyor to the first transverse shifting
Structure 11；
First transverse shifting drives motor 5 to drive large-scale stern work platform 14 transverse shifting and by lateral distance
Information passes sequentially through the first encoder 8, Position Servo 4 passes to system control unit 3, system control unit 3 basis
First transverse shifting is driven motor 5 to be finely adjusted correction automatically by Position Servo 4 by feedack again；
Second transverse shifting drives motor 6 to drive workbench 12 transverse shifting and general on large-scale stern work platform 14
Lateral distance information passes sequentially through the second encoder 13, Position Servo 4 passes to system control unit 3, system
Second transverse shifting is driven motor 6 to be finely adjusted certainly by Position Servo 4 according to feedack by control unit 3 again
Dynamic correction.
Vertical lifting mechanism 11 according to vertically move signal control large-scale stern work platform 14 upper table 12 lifting,
And the range information of worktable lifting is passed sequentially through the 3rd encoder 18, Position Servo 4 passes to system and controls single
Unit 3, vertical lifting mechanism 11 is finely adjusted by Position Servo 4 by system control unit 3 according to feedack again
Automatically revise.
As in figure 2 it is shown, the base of large-scale stern work platform 14 is provided with base pulley 17；First transverse shifting drives motor
5 are connected with the base pulley 17 of large-scale stern work platform 14 by gear-box, the first transverse shifting drive motor 5 to control the end
The rotating speed of seat pulley 17, has quickly and two kinds of operating modes at a slow speed.
Large-scale stern work platform 14 is installed above workbench 12, and workbench 12 is rudder blade workbench or propeller works
Platform.Large-scale stern work platform 14 is connected by sliding panel with workbench 12；Described large-scale stern work platform 14 is the most fixing
Being provided with U-lag, the above and workbench 12 of described sliding panel is bolted, sliding panel sliding panel pulley is arranged below,
Sliding panel pulley is arranged in U-lag.Second transverse shifting drives motor 6 by gear-box and large-scale stern work platform 14
Sliding panel pulley connect, second transverse shifting drive motor 6 drive sliding panel pulley to move in U-lag, make workbench 12
Transverse shifting on large-scale stern work platform 14, have quickly mobile, move slowly at and rapid fine adjustment, finely tune four at a slow speed
Plant operating mode.
Described vertical lifting mechanism 11 is used for controlling the device of worktable lifting, including the first oil cylinder, the second oil cylinder, first
Oil pump 10, electromagnetic valve, the second oil pump 15, fuel tank 16 and vertically move driving motor 7；First oil pump 10 and the second oil pump 15 pass through
Bolt is connected with fuel tank 16, and the first oil pump 10 and the second oil pump 15 and fuel tank 16 are all secured by bolts in stern work platform 14
On.The cylinder body of described first oil cylinder and the second oil cylinder base with large-scale stern work platform 14 respectively is connected, cylinder rod respectively with
Workbench 12 is hinged, and the input of the first oil pump 10 and the second oil pump 15 is connected with fuel tank 16 by pipeline respectively, and outfan divides
Not connected by pipeline and the first oil cylinder and the second oil cylinder, the first oil cylinder and the second oil cylinder connect respectively and vertically move driving motor
7.Described vertically moving drives motor 7 electric with the input of the outfan of Position Servo 4 and the 3rd encoder 18 respectively
Connect.
Lateral or longitudinal movement signal is sent to system control unit 3 by man-machine operation interface 1, and system control unit 3 will
The signal received passes to Position Servo 4, and horizontal and vertical movable signal is performed machine by Position Servo 4 respectively
Structure, actuator performs transverse shifting respectively and vertically moves, and moving distance information passes sequentially through encoder, position servo
Controller 4 passes to system control unit 3, and system control unit 3 is finely adjusted correction, automatically controlled system automatically according to feedack
System is complete closed-loop structure, and system stability is simple to operate, the mistake that can cause with compensating element Parameters variation and external disturbance
Difference, control accuracy is high；When above the and workbench 12 of described sliding panel is bolted replacing workbench 12, only need to turn on spiral shell
Mother, the replacing of the most operable 12, after the change of combined machine ingredient, it is not necessary to change control system, can be along using
The control system of one operating mode, the synchronicity of control combination machinery is higher.
It is to be understood that, although this specification describes according to each embodiment, but the most each embodiment only comprises one
Individual independent technical scheme, this narrating mode of description is only that for clarity sake those skilled in the art should will say
Bright book can also form those skilled in the art permissible through appropriately combined as an entirety, the technical scheme in each embodiment
Other embodiments understood.
The a series of detailed description of those listed above is only for illustrating of the possible embodiments of the present invention,
They also are not used to limit the scope of the invention, all Equivalent embodiments made without departing from skill of the present invention spirit or change
Should be included within the scope of the present invention.
Claims (8)
1. one kind large-scale stern work platform electric-control system, it is characterised in that include that man-machine operation interface (1), system control single
Unit (3), Position Servo (4), the first encoder (8), the second encoder (13), the 3rd encoder (18) and the machine of execution
Structure；
Actuator input with the first encoder (8), the second encoder (13) and the 3rd encoder (18) respectively electrically connects,
The outfan of the first encoder (8), the second encoder (13) and the 3rd encoder (18) is respectively with Position Servo (4) even
Connect；Described actuator includes that the first transverse shifting drives motor (5), the second transverse shifting to drive motor (6), vertical conveyor
Structure (11)；
Described man-machine operation interface (1) electrically connects with system control unit (3), for being sent to by lateral or longitudinal movement signal
System control unit (3), described system control unit (3) electrically connects with Position Servo (4), system control unit (3)
The signal of reception passes to Position Servo (4), and Position Servo (4) electrically connects with actuator, and position is watched
Take controller (4) and transverse shifting signal is delivered separately to the first transverse shifting driving motor (5) and the driving of the second transverse shifting
Motor (6), signal will be vertically moved pass to vertical lifting mechanism (11)；
First transverse shifting drives motor (5) to drive large-scale stern work platform (14) transverse shifting and by lateral distance
Information passes sequentially through the first encoder (8), Position Servo (4) passes to system control unit (3), system control unit
(3) motor (5) is driven to be finely adjusted automatically the first transverse shifting by Position Servo (4) again according to feedack
Revise；
Second transverse shifting drive motor (6) to drive workbench (12) at the upper transverse shifting of large-scale stern work platform (14) and
Lateral distance information passes sequentially through the second encoder (13), Position Servo (4) passes to system control unit
(3), system control unit (3) drives electricity by Position Servo (4) to the second transverse shifting again according to feedack
Machine (6) is finely adjusted correction automatically；
Vertical lifting mechanism (11) controls the liter of large-scale stern work platform (14) upper table (12) according to vertically moving signal
Drop and the range information of worktable lifting is passed sequentially through the 3rd encoder (18), Position Servo (4) passes to system
Control unit (3), system control unit (3) passes through Position Servo (4) again to vertical conveyor according to feedack
Structure (11) is finely adjusted correction automatically.
Large-scale stern work platform electric-control system the most according to claim 1, it is characterised in that described vertical lifting mechanism
(11) include the first oil cylinder, the second oil cylinder, the first oil pump (10), electromagnetic valve, the second oil pump (15), fuel tank (16) and vertically move
Drive motor (7)；
The cylinder body of described first oil cylinder and the second oil cylinder base with large-scale stern work platform (14) respectively is connected, and cylinder rod is respectively
Hinged with workbench (12), the input of the first oil pump (10) and the second oil pump (15) is respectively by pipeline with fuel tank (16) even
Connecing, outfan is connected by pipeline and the first oil cylinder and the second oil cylinder respectively, and the first oil cylinder and the second oil cylinder connect longitudinal direction respectively
Mobile drive motor (7), described in vertically move drive motor (7) respectively with the outfan and the 3rd of Position Servo (4)
The input electrical connection of encoder (18).
Large-scale stern work platform electric-control system the most according to claim 1, it is characterised in that also include expanding element
(2), described expanding element (2) electrically connects with system control unit (3), counts for increasing the input of system.
Large-scale stern work platform electric-control system the most according to claim 1, it is characterised in that described large-scale stern operation
The base of platform (14) is provided with base pulley (17)；Described first transverse shifting drives motor (5) sliding with base by gear-box
Wheel (17) connects；First transverse shifting drives motor (5) to control base pulley (17) transverse shifting on guide rail.
Large-scale stern work platform electric-control system the most according to claim 1, it is characterised in that described workbench (12) with
Large-scale stern work platform (14) sliding pair connects.
Large-scale stern work platform electric-control system the most according to claim 5, it is characterised in that described workbench (12) with
Large-scale stern work platform (14) is connected by sliding panel；
Being fixed with U-lag above described large-scale stern work platform (14), the above and workbench (12) of described sliding panel leads to
Cross bolt connect, sliding panel sliding panel pulley is arranged below, sliding panel pulley is arranged in U-lag；
Second transverse shifting drives motor (6) to be connected with sliding panel pulley by gear-box；Second transverse shifting drives motor (6)
Control sliding panel pulley transverse shifting on U-lag.
Large-scale stern work platform electric-control system the most according to claim 1, it is characterised in that described workbench (12) is
Rudder blade workbench.
Large-scale stern work platform electric-control system the most according to claim 1, it is characterised in that described workbench (12) is
Propeller works platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610392558.8A CN106094579B (en) | 2016-06-02 | 2016-06-02 | A kind of large size stern work platform electric-control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610392558.8A CN106094579B (en) | 2016-06-02 | 2016-06-02 | A kind of large size stern work platform electric-control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106094579A true CN106094579A (en) | 2016-11-09 |
| CN106094579B CN106094579B (en) | 2019-08-02 |
Family
ID=57448652
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610392558.8A Expired - Fee Related CN106094579B (en) | 2016-06-02 | 2016-06-02 | A kind of large size stern work platform electric-control system |
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| Country | Link |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06144783A (en) * | 1992-10-30 | 1994-05-24 | Mitsubishi Heavy Ind Ltd | Handling device for heavy article |
| CN102173367A (en) * | 2011-03-04 | 2011-09-07 | 上海交通大学 | Stern hydraulic rudder installing walking trolley |
| CN202201128U (en) * | 2011-09-01 | 2012-04-25 | 上海船舶工艺研究所 | Stern work platform |
| CN103760825A (en) * | 2014-01-03 | 2014-04-30 | 渤海大学 | Method for controlling large-scale precise suspension device composite follow-up platform electronic control system |
| CN203754357U (en) * | 2013-12-13 | 2014-08-06 | 泰州海陵液压机械有限公司 | High-precision self-scissor-type hydraulic lifting platform traveling mechanism |
-
2016
- 2016-06-02 CN CN201610392558.8A patent/CN106094579B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06144783A (en) * | 1992-10-30 | 1994-05-24 | Mitsubishi Heavy Ind Ltd | Handling device for heavy article |
| CN102173367A (en) * | 2011-03-04 | 2011-09-07 | 上海交通大学 | Stern hydraulic rudder installing walking trolley |
| CN202201128U (en) * | 2011-09-01 | 2012-04-25 | 上海船舶工艺研究所 | Stern work platform |
| CN203754357U (en) * | 2013-12-13 | 2014-08-06 | 泰州海陵液压机械有限公司 | High-precision self-scissor-type hydraulic lifting platform traveling mechanism |
| CN103760825A (en) * | 2014-01-03 | 2014-04-30 | 渤海大学 | Method for controlling large-scale precise suspension device composite follow-up platform electronic control system |
Non-Patent Citations (1)
| Title |
|---|
| 方立国 等: "Modbus及Canopen总线在步行式艉部作业平台上的应用", 《造船技术》 * |
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