CN109693773A - A kind of mobile base bottom device and its implementation - Google Patents
A kind of mobile base bottom device and its implementation Download PDFInfo
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- CN109693773A CN109693773A CN201910062803.2A CN201910062803A CN109693773A CN 109693773 A CN109693773 A CN 109693773A CN 201910062803 A CN201910062803 A CN 201910062803A CN 109693773 A CN109693773 A CN 109693773A
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- supporting leg
- way valve
- plate
- proportional multi
- mouth
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
Abstract
The invention discloses a kind of mobile base bottom device and its implementation, device includes upper plate, support plate and lower plate, and three walking supporting legs are installed in the top surface of the upper plate and lower plate respectively；Upper plate is installed on the supporting plate by pivoting support, and rotary motion mechanism is equipped between upper plate and support plate；Support plate bottom wheel mounting base, wheel mounting base bottom is equipped with wheel, and by wheel supporting on the leading truck on lower plate, hoofing part mechanism is equipped between wheel mounting base and lower plate；Rotary motion mechanism, hoofing part mechanism are connect with control unit respectively；Control unit is connect with the walking supporting leg of upper plate and lower plate respectively；Level inclination sensor is installed on upper bed-plate, position tracing sensor is installed on lower plate, level inclination sensor and position tracing sensor are connect with control unit respectively.The present invention uses three point parallel connection shorings, can fast implement the balance control and leveling of system.Supporting leg up and down of the invention can meet the requirement that lash ship limits seat bottom device space with folding and unfolding, spaces compact, adaptable.
Description
Technical field
The present invention relates to the offshore drilling with walking Mobile base bottom device and utilization the walking Mobile base bottom device
System, in more detail, be related to it is different from the existing seafloor robot for obtaining thrust in a manner of propeller, using by multiple joints
The leg of formation is close to sea bottom surface, and the offshore drilling's system carried with walking Mobile base bottom device.
Background technique
Walking Mobile base bottom device is for carrying out submarine observation, and marine resources detect, seabed engineering geologic survey
Technical equipment, walking Mobile base bottom device are to carry offshore drilling's sampling apparatus to realize the important with being arranged of its underwater operation
It is standby.Reliable walking Mobile base bottom device can break through limited cabin space limitation, while can carry heavy device again not
The seabed smooth operations of rule, for the equipment of offshore drilling's operation, the Mobile base bottom device of reliable design is filled
Setting can not ignore.
Seabed operation device obtains mobility approximately through two kinds of forms.
First, although propeller mode is effective to the cruise type submarine of self-discipline unmanned submarines etc, for wanting
For the offshore drilling's device for seeking precise operation, it is not easy to obtain control stability.This is because acting on seabed brill in water
Visit device fluid force be it is non-linear, thrust is also inherent the strong non-linear of inert zone, answering delay, saturation etc..In particular,
In the case where being exposed to ocean current as strong such as seabed, it is difficult to ensure thus postural stability and mobility are difficult to obtain position precision
The ultrasonograph of degree, operation precision and distinctness, thus there are many case where not can be carried out seabed operation.In Qiang Hailiu
Under environment, using the existing mobile base bottom device of propeller necessarily there is unstable maneuverability to ask with high energy consumption etc.
Topic.
Second, the propulsion mode of unlimited track form, which has, to be difficult in irregular sea-floor relief or barrier region row
It sails, the shortcomings that confusing seabed in driving mode characteristic.Because there is shipwreck, fishing ground, rope and discarded fishing net etc. always in seabed
The restriction condition of the sea-floor reliefs such as various barriers and submerged reef, soft foundation, therefore deposited in terms of the traveling of unlimited orbital fashion
In difficulty.Also, in the case where submarine exploration, there are many will to confuse the side of minimum in the environment of not being disturbed
The inspection of the scene of a crime of formula composition, but there are problems that being difficult to use in this purposes.
Summary of the invention
To solve the above-mentioned problems, the present invention provides that a kind of structure is simple, occupies little space, is highly-safe, for not advising
The walking that then sea-floor relief is adaptable, high reliablity and bearing capacity are strong mobile seat bottom device and its implementation.
The technical solution adopted by the present invention is that: a kind of mobile base bottom device, upper plate, support plate and lower plate, institute
The top surface for stating upper plate and lower plate is installed by three walking supporting legs respectively；Upper plate is mounted on support plate by pivoting support
On, rotary motion mechanism is equipped between upper plate and support plate；Support plate bottom wheel mounting base, wheel mounting base bottom are equipped with
Wheel by wheel supporting on the leading truck on lower plate, is equipped with hoofing part mechanism between wheel mounting base and lower plate；
Rotary motion mechanism, hoofing part mechanism are connect with control unit respectively；
Control unit is connect with the walking supporting leg of upper plate and lower plate respectively, can drive the walking of upper plate and lower plate
Supporting leg is hanging or lands；Level inclination sensor is installed, the posture for detection body on upper bed-plate；It is installed on lower plate
There is position tracing sensor, for tracking and detecting position in the water for executing mobile base bottom device in real time；Level inclination
Sensor and position tracing sensor are connect with control unit respectively.
In above-mentioned mobile base bottom device, the walking supporting leg includes support oil cylinder, supporting plate, bracket ear, branch
Legs and feet plate universal joint and strut；Strut one end and bracket ear are hinged, the supporting leg seat otic placode on the other end and upper plate or lower plate
Hingedly；Bracket ear is connect by pin shaft with support oil cylinder and supporting leg sole universal joint, and supporting leg sole universal joint passes through pin shaft and branch
Plate 11 connects, and the upper end of the other end and the supporting leg seat on upper plate or lower plate of support oil cylinder is hinged；Support oil cylinder is equipped with
Pressure sensor and displacement sensor, pressure sensor, displacement sensor and support oil cylinder are connect with control unit respectively.
In above-mentioned mobile base bottom device, the hoofing part mechanism include walking oil cylinder, the two of oil cylinder of walking
It holds hinged respectively at wheel mounting base and lower plate；The walking oil cylinder is equipped with displacement sensor and travel switch, walking
Oil cylinder, displacement sensor and travel switch are connect with control unit respectively.
In above-mentioned mobile base bottom device, the rotary motion mechanism includes steering cylinder, slide rail, sliding block
And push rod；The steering cylinder, slide rail are mounted on upper plate bottom, and steering cylinder is hinged with sliding block, and sliding block is mounted on
It on slide rail, can be moved along slide rail, one end connection of sliding block and push rod, the other end and support plate of push rod connects
It connects；Steering cylinder is connect with control unit.
In above-mentioned mobile base bottom device, the control unit includes hydraulic control device and PLC control device；
The hydraulic control device includes hydraulic pump, main oil inlet pipe and main oil return pipe, and the import of hydraulic pump is connected by pipeline and fuel tank
Logical, the outlet of hydraulic pump is connected to main oil inlet pipe, and main oil return pipe connects fuel tank；The P mouth of ratio of turning multi-way valve, translation ratio are more
The P mouth of road valve, the P mouth of lower supporting leg proportional multi-way valve I, the P mouth of lower supporting leg proportional multi-way valve II, upper supporting leg proportional multi-way valve I P
The P mouth of mouth, upper supporting leg proportional multi-way valve II, the P mouth of uniform-pressure-drop valve are connect with main oil inlet pipe respectively；Ratio of turning multi-way valve
T mouthfuls, translation the T mouth of proportional multi-way valve, the T mouth of lower supporting leg proportional multi-way valve I, lower supporting leg proportional multi-way valve II T mouth, upper supporting leg
The T mouth of proportional multi-way valve I, the T mouth of upper supporting leg proportional multi-way valve II are connect with main oil return pipe respectively；The ratio of turning multichannel
Valve, translation proportional multi-way valve, lower supporting leg proportional multi-way valve I, lower supporting leg proportional multi-way valve II, upper supporting leg proportional multi-way valve I, upper branch
Leg proportional multi-way valve II is connect with the output end of PLC control device；PLC control device input terminal and displacement transducer signal export
End, displacement transducer signal output end, pressure sensor signal output end, displacement transducer signal output end, pressure sensor
Signal output end, displacement transducer signal output end, level inclination sensor signal output end, position tracing sensor signal are defeated
Outlet is connected with travel switch；
The rodless cavity of steering cylinder is connect with the B of hydraulic control one-way valve I mouth, A mouth and the steering solenoid directional control valve of hydraulic control one-way valve I
A mouthfuls of connections, the B mouth of ratio of turning multi-way valve are connect with steering cylinder rod chamber；
The rodless cavity of translation oil cylinder is connect with the B of hydraulic control one-way valve II mouth, the A mouth and translation proportional multi-way valve of hydraulic control one-way valve II
The connection of A mouth, the B mouth for translating proportional multi-way valve connect with steering cylinder rod chamber；
On the upper plate three walking supporting leg the rodless cavity of support oil cylinder and the B mouth of upper supporting leg proportional multi-way valve I and on
The A mouth of supporting leg proportional multi-way valve II connects；The rod chamber and upper supporting leg ratio of the support oil cylinder of three walking supporting legs on upper plate
The B mouth connection of the A mouth and upper supporting leg proportional multi-way valve II of multi-way valve I；
On the lower plate three walking supporting leg the rodless cavity of support oil cylinder and the B mouth of lower supporting leg proportional multi-way valve I and under
The A mouth of supporting leg proportional multi-way valve II connects；The rod chamber of the support oil cylinder of three walking supporting legs and lower supporting leg ratio on lower plate
The B mouth connection of the A mouth and lower supporting leg proportional multi-way valve II of multi-way valve I.
In above-mentioned mobile base bottom device, the hydraulic control device further includes pressure compensator, pressure compensation
The import of device and the outlet of hydraulic pump connect, and the outlet of pressure compensator connects fuel tank by pipeline.
In above-mentioned mobile base bottom device, the hydraulic control device further includes balanced valve and pressure reducing valve, balance
The P of valve and pressure reducing valve mouth is connect with main oil inlet pipe respectively, and the T mouth of balanced valve and pressure reducing valve is connect with main oil return pipe respectively.
The implementation method of above-mentioned mobile base bottom device, including steering operation, moving operation and automatic leveling operation
Specific step is as follows for steering operation:
1) PLC control device control hydraulic pump is opened, and the commutation of upper supporting leg proportional multi-way valve I to bottom works, three on upper plate
The support oil cylinder of a walking supporting leg is flexible, and pressure sensor detection pressure reaches design value stopping；Position tracing sensor is opened
The relative angle of beginning detection target point and leading truck；
2) when the relative angle of position tracing sensor detection target point and leading truck is in [0 ° 90 °] and [180 ° 270 °],
Ratio of turning multi-way valve commutates to upper work, and steering cylinder drives lower plate rotation, when position tracing sensor detects target
When point is conllinear with leading truck, lower supporting leg proportional multi-way valve commutates to bottom and works, and the walking supporting leg on lower plate lands, pressure
Sensor detection pressure reaches design value stopping, and upper supporting leg proportional multi-way valve I commutates to upper work, so that three on upper plate
A walking supporting leg is hanging；When the support oil cylinder displacement of walking supporting leg on displacement sensor detection lower plate reaches design value
Stop；Ratio of turning multi-way valve commutates to bottom and works, and steering cylinder drives upper plate rotation to reset；
When position tracing sensor detection target point and leading truck be not conllinear, when lower plate turns to extreme position, lower supporting leg ratio
Example multi-way valve, which commutates to bottom, to work, so that the walking supporting leg on lower plate lands, pressure sensor detection pressure, which reaches, to be set
Evaluation stops, the commutation of upper supporting leg proportional multi-way valve I to upper work, so that three walking supporting legs on upper plate are hanging, position
Displacement sensor detects stopping when lower support oil cylinder displacement reaches design value；Ratio of turning multi-way valve commutates to bottom and works, and turns to
Oil cylinder driving upper plate turns to extreme position, and the commutation of upper supporting leg proportional multi-way valve I to bottom works, so that three on upper plate
A walking supporting leg lands, and pressure sensor detection pressure reaches design value stopping, and lower supporting leg proportional multi-way valve I commutates to upper
Work, so that three walking supporting legs on lower plate are hanging, displacement sensor detects lower support oil cylinder displacement and reaches design value
When stop；Steering cylinder drives lower plate rotation, when position tracing sensor detection target point is conllinear with leading truck, lower supporting leg
The commutation of proportional multi-way valve I to bottom works, so that three walking supporting legs on lower plate land, pressure sensor detects pressure
Reach design value stopping, the commutation of upper supporting leg proportional multi-way valve I to upper work, so that three walking supporting legs on upper plate are outstanding
Sky, stopping when the support oil cylinder displacement that displacement sensor detects the walking supporting leg on lower plate reaches design value；Ratio of turning
Multi-way valve commutates to bottom and works, and steering cylinder drives upper plate rotation to reset；
When the relative angle of position tracing sensor detection target point and leading truck is not at [0 ° 90 °] and [180 ° 270 °],
The lower commutation of supporting leg proportional multi-way valve I to bottom works, so that three walking supporting legs on lower plate land, pressure sensor inspection
Measuring pressure reaches design value stopping, the commutation of upper supporting leg proportional multi-way valve I to upper work, so that three walkings branch on upper plate
Support leg is hanging, stopping when the support oil cylinder displacement of the walking supporting leg on displacement sensor detection lower plate reaches design value；Turn
It commutates to proportional multi-way valve to bottom and works, steering cylinder driving upper plate turns to extreme position, upper supporting leg proportional multi-way valve I
Commutation to bottom works, so that three walking supporting legs on upper plate land, pressure sensor detection pressure reaches design value
Stop, the lower commutation of supporting leg proportional multi-way valve I to upper work, so that three walking supporting legs on lower plate are hanging, displacement is passed
Stopping when the support oil cylinder displacement of walking supporting leg on sensor detection lower plate reaches design value；The commutation of ratio of turning multi-way valve
To upper work, steering cylinder drives lower plate rotation；
Specific step is as follows for moving operation:
Translation proportional multi-way valve commutates to upper work, drives upper plate mobile to target point, position tracing sensor detection with
The relative shift of target point, PLC control device calculate mobile step according to the maximum displacement that relative shift subtracts translation oil cylinder
Long number；When relative shift is 0, the lower commutation of supporting leg proportional multi-way valve I to bottom works, so that three on lower plate
Walking supporting leg lands, and pressure sensor detection pressure reaches design value stopping, the commutation of upper supporting leg proportional multi-way valve I to upper work
Make, so that three walking supporting legs on upper plate are hanging, displacement sensor detects the supporting leg of the walking supporting leg on lower plate
Stopping when oil cylinder displacement reaches design value；Ratio of turning multi-way valve commutates to bottom and works, and steering cylinder drives upper plate rotation
It resetting, the commutation of upper supporting leg proportional multi-way valve I to bottom works, so that the walking supporting leg on upper plate lands, pressure sensor
Detection pressure reaches design value stopping, and the lower commutation of supporting leg proportional multi-way valve I is to upper work, so that the walking on lower plate supports
Leg is hanging, stopping when the support oil cylinder displacement of the walking supporting leg on displacement sensor detection lower plate reaches design value；
Specific step is as follows for Levelling operation:
When the walking supporting leg on lower plate lands, and the walking supporting leg on upper plate is hanging, lower supporting leg proportional multi-way valve I is closed
It closes, the lower commutation of supporting leg proportional multi-way valve II accurately levels standard of fuselage degree to upper work；
When the walking supporting leg on upper plate lands, and the walking supporting leg on lower plate is hanging, upper supporting leg proportional multi-way valve I 50
It closes, upper supporting leg proportional multi-way valve II commutates to upper work, is accurately leveled to standard of fuselage degree.
In the implementation method of above-mentioned mobile base bottom device, in the step 2) of steering operation, the elongation of steering cylinder
It measures as follows with the calculation formula of bottom plate steering angle:
(1)
In formula: X is the elongation of steering cylinder, unit mm；α is bottom plate steering angle.
In the implementation method of above-mentioned mobile base bottom device, mobile base bottom device must not be blown away by ocean current,
The condition that mobile base bottom device is not blown away by ocean current is: the self weight of mobile base bottom device generate grab ground with Yang Li
The frictional force of toe is greater than fluid resistance: i.e.:
(2)
(3)
In formula: m is the quality of mobile seat bottom device, and g is acceleration of gravity, and B is the buoyancy of mobile seat bottom device, and fF is to move
The sea bottom surface of dynamic formula seat bottom device grabs ground frictional force, and fD is fluid resistance, and fE is other external force ingredients in addition to this, also, μ
To grab ground coefficient of friction, fL be act on a bottom device raise power.In mathematical expression 2, since fD and fE is to flow velocity and movement
The function of formula seat bottom device posture, therefore posture can be compensated in a manner of meeting the inequality of mathematical expression 2, to overcome sea
Stream.
Compared with prior art, the beneficial effects of the present invention are:
1, the present invention uses step moving mechanism, proposes the new concept entirely different with propeller propulsion and crawler-type traveling
The seabed seat bottom device and its implementation being made of six legs, can preferably be adapted to seabed irregular terrain profiles, seat bottom device
It is mobile in a manner of being tightly attached to seabed, posture is maintained using posture and motion detection sensor and overcomes ocean current, in seabed walking,
Offshore drilling's system is carried, transmits seafloor data to control vessel by wire/wireless communication unit, thus having can be in shallow sea
And deep-sea carries out the effect of habitata.
2, the present invention uses three point parallel connection shorings, can carry offshore drilling's device and the detection system of large-tonnage
System, and the balance control and leveling of system can be fast implemented.
3, hydraulic pump of the invention is mounted in fuel tank, and hydraulic control component is arranged on fuel tank by oil circuit circuit board,
Upper and lower supporting leg can meet the requirement that lash ship limits seat bottom device space with folding and unfolding, spaces compact, adaptable.
Detailed description of the invention
Fig. 1 is overall structure stereoscopic schematic diagram of the present invention.
Fig. 2 is overall structure schematic side view of the present invention.
Fig. 3 is overall structure schematic top plan view of the present invention.
Fig. 4 is folding and unfolding status diagram of the present invention.
Fig. 5 is steering mechanism's schematic diagram of the present invention.
Fig. 6 is control flow schematic diagram of the invention.
Fig. 7 is hydraulic, electric control structure schematic diagram of the invention.
Specific embodiment
The present invention will be further described below with reference to the drawings.
As shown in Figure 1, Figure 2, Figure 3 shows, mobile base bottom of the present invention device, including upper plate 16, support plate 9 and lower plate
1；The upper plate 16 and lower plate 1 is octagon type frame structure, and upper plate 16 and 1 upper edge of lower plate are respectively equipped with
Three supporting leg seats 5 and three supporting leg seat otic placodes 4.Supporting leg seat 5 and supporting leg seat otic placode 4 are for installing walking supporting leg 10.Described
Supporting leg 10 of walking includes support oil cylinder 14, supporting plate 11, bracket ear 13, supporting leg sole universal joint 12 and strut；Strut one end with
Bracket ear 13 is hinged, and the supporting leg seat otic placode 4 on the other end and upper plate or lower plate is hinged.Bracket ear 13 passes through pin shaft and supporting leg
Oil cylinder 14 and supporting leg sole universal joint 12 connect, and supporting leg sole universal joint 12 is connect by pin shaft with supporting plate 11, support oil cylinder 14
The other end and the supporting leg seat 5 on upper plate or lower plate upper end it is hinged.Support oil cylinder is equipped with pressure sensor 43 and position
The rotation of walking supporting leg 10 is realized in displacement sensor 44, the driving of support oil cylinder 14.
As shown in figure 5,16 bottom of upper plate is equipped with upper plate support base 18, upper plate support base 18 passes through revolution
Bearing 8 is mounted in support plate 9, and 18 bottom of upper plate support base is equipped with steering cylinder 25 and slide rail 26, steering cylinder
25 are connect by pin shaft with sliding block 27, and sliding block 27 is placed on slide rail 26, can be slided along slide rail 26.Sliding block 27 with push away
Bar 28 is connected by pin shaft, and push rod 28 is connect by pin shaft with support plate 9, a crank and rocker mechanism is formed, by steering cylinder
The rotation of upper plate 16 is realized in 25 drivings.
9 bottom symmetrical of support plate is set there are four wheel mounting base 7, and each 7 bottom of wheel mounting base is equipped with a pair
Wheel 6 is equipped with push rod attachment base 24 through wheel supporting on the leading truck 3 on lower plate 1 in support plate 9, oil cylinder of walking
2 both ends pass through pin shaft respectively and connect with push rod attachment base 24 and wheel mounting base 7, and support plate 9 drives vehicle by walking oil cylinder 2
Wheel 6 realizes that it is translated in leading truck 3.The walking oil cylinder 2 is equipped with displacement sensor 42 and travel switch 41.
Level inclination sensor 51 is installed on the upper bed-plate 16, the posture for detection body.It is installed on lower plate 1
There is position tracing sensor 46, for tracking and detecting the horizontal position of execution mobile base bottom device in real time.
As shown in fig. 7, the control unit includes hydraulic control device and PLC control device；The hydraulic control
Device includes hydraulic pump 32, pressure compensator 30, main oil inlet pipe and main oil return pipe, and the import of hydraulic pump 32 passes through pipeline and fuel tank
Connection, the pipeline are equipped with filter 31, and pollution signalling generator 54 is equipped on filter 31.The pressure compensator 30 into
Mouth is connect with the outlet of hydraulic pump 32, and the outlet of pressure compensator 30 connects fuel tank by pipeline.
The outlet of hydraulic pump is connected to main oil inlet pipe, and main oil return pipe connects fuel tank；The P mouth of ratio of turning multi-way valve 35 is put down
Weigh the P mouth of valve 34, the P mouth of pressure reducing valve 36, P mouth, the P mouth of lower supporting leg proportional multi-way valve I 45, lower branch for translating proportional multi-way valve 40
The P mouth of leg proportional multi-way valve II 47, the P mouth of upper supporting leg proportional multi-way valve I 50, upper supporting leg proportional multi-way valve II 52 P mouth, it is fixed poor
The P mouth of pressure reducing valve 37 is connect with main oil inlet pipe respectively；T mouth, the pressure reducing valve 36 of the T mouth of ratio of turning multi-way valve 35, balanced valve 34
T mouth, translation the T mouth of proportional multi-way valve 40, the T mouth of lower supporting leg proportional multi-way valve I 45, lower supporting leg proportional multi-way valve II 47 T
Mouth, the T mouth of upper supporting leg proportional multi-way valve I 50, upper supporting leg proportional multi-way valve II 52 T mouth connect respectively with main oil return pipe；It is described
Ratio of turning multi-way valve 35, translation proportional multi-way valve 40, lower supporting leg proportional multi-way valve I 45, lower supporting leg proportional multi-way valve II 47, on
The output end of supporting leg proportional multi-way valve I 50, upper supporting leg proportional multi-way valve II 52 and pressure compensator 30 and PLC control device 53 connects
It connects；53 input terminal of PLC control device and 39 signal output end of displacement sensor, 42 signal output end of displacement sensor, pressure pass
43 signal output end of sensor, 44 signal output end of displacement sensor, 49 signal output end of pressure sensor, displacement sensor 48 are believed
Number output end, 51 signal output end of level inclination sensor, 46 signal output end of position tracing sensor, pollution signalling generator 54 are believed
Number output end and travel switch 41 connect.
The rodless cavity of steering cylinder 25 is connect with the B of hydraulic control one-way valve I 38 mouth, the A mouth and steering electricity of hydraulic control one-way valve I 38
The A mouth of magnetic reversal valve 35 connects, and the B mouth of ratio of turning multi-way valve 35 is connect with 25 rod chamber of steering cylinder.
The rodless cavity of translation oil cylinder 2 is connect with the B of hydraulic control one-way valve II mouth, the A mouth and translation ratio of hydraulic control one-way valve II
The A mouth of multi-way valve 40 connects, and the B mouth of translation proportional multi-way valve 40 is connect with 25 rod chamber of steering cylinder.
The rodless cavity of the support oil cylinder of three walking supporting legs and upper supporting leg proportional multi-way valve I 50 on the upper plate 16
The A mouth connection of B mouthfuls and upper supporting leg proportional multi-way valve II 52；On upper plate 16 three walking supporting leg support oil cylinder rod chamber with
The B mouth connection of the A mouth and upper supporting leg proportional multi-way valve II 52 of upper supporting leg proportional multi-way valve I 50.
The B of the rodless cavity of the support oil cylinder of three walking supporting legs and lower supporting leg proportional multi-way valve I 45 on the lower plate 1
The connection of the A mouth of mouth and lower supporting leg proportional multi-way valve II 47；The rod chamber of the support oil cylinder of three walking supporting legs is under on lower plate 1
The B mouth connection of the A mouth and lower supporting leg proportional multi-way valve II 47 of supporting leg proportional multi-way valve I 45.
As shown in fig. 6, the implementation method of mobile base bottom device includes steering operation, moving operation and Levelling operation.
Specific step is as follows for steering operation:
1, PLC control device 53 controls hydraulic pump 32 and opens, and the commutation of upper supporting leg proportional multi-way valve I 50 to bottom works, upper plate
The support oil cylinder 14 of walking supporting leg 10 on 16 is flexible, and pressure sensor 49 detects pressure and reaches design value stopping；Position with
Track sensor 46 starts to detect the relative angle of target point and leading truck 3.
2, when the relative angle that position tracing sensor 46 detects target point and leading truck 3 is in [0 ° 90 °] and [180 °
270 °] when, the commutation of ratio of turning multi-way valve 35 to upper work, steering cylinder 25 drives lower plate 1 to rotate, when position tracking passes
When the detection target point of sensor 46 is conllinear with leading truck 3, the lower commutation of supporting leg proportional multi-way valve 45 to bottom works, on lower plate 1
Write a Chinese character in simplified form in walking supporting leg 10(figure are as follows: lower supporting leg) it lands, pressure sensor 43 detects pressure and reaches design value stopping, upper branch
Leg proportional multi-way valve I 50 commutates to upper work, so that writing a Chinese character in simplified form in the walking supporting leg 10(figure on upper plate 16 are as follows: upper support
Leg) it is hanging；The support oil cylinder displacement that displacement sensor 48 detects the walking supporting leg 10 on lower plate 1 stops when reaching design value
Only；The commutation of ratio of turning multi-way valve 35 to bottom works, and steering cylinder 25 drives the rotation of upper plate 16 to reset.
When position tracing sensor 46 detects target point and leading truck 3 not collinearly, when lower plate 1 turns to extreme position,
The lower commutation of supporting leg proportional multi-way valve 45 to bottom works, so that three walking supporting legs 10 on lower plate 1 land, pressure sensing
Device 43 detects pressure and reaches design value stopping, and upper supporting leg proportional multi-way valve I 50 commutates to upper work, so that on upper plate 16
Three walking supporting legs 10 are hanging, and displacement sensor 48 detects stopping when lower support oil cylinder displacement reaches design value.Ratio of turning
The commutation of multi-way valve 35 to bottom works, and steering cylinder 25 drives upper plate 16 to turn to extreme position, upper supporting leg proportional multi-way valve I
50 commutations to bottom works, so that three walking supporting legs 10 on upper plate 16 land, pressure sensor 49 detects pressure and reaches
Stop to design value, the lower commutation of supporting leg proportional multi-way valve I 45 is to upper work, so that three walking supporting legs on lower plate 1
10 is hanging, and displacement sensor 44 detects stopping when lower support oil cylinder displacement reaches design value.Steering cylinder 25 drives 1 turn of lower plate
It is dynamic, when the detection target point of position tracing sensor 46 is conllinear with leading truck 3, the lower commutation of supporting leg proportional multi-way valve I 45 to bottom
Work, so that three walking supporting legs 10 on lower plate 1 land, pressure sensor 43 detects pressure and reaches design value stopping,
The commutation of upper supporting leg proportional multi-way valve I 50 is to upper work, so that three walking supporting legs 10 on upper plate 16 are hanging, displacement is passed
Stopping when the support oil cylinder displacement that sensor 48 detects the walking supporting leg 10 on lower plate 1 reaches design value.Ratio of turning multichannel
The commutation of valve 35 to bottom works, and steering cylinder 25 drives the rotation of upper plate 16 to reset.
When the relative angle that position tracing sensor 46 detects target point and leading truck 3 is not at [0 ° 90 °] and [180 °
270 °] when, the lower commutation of supporting leg proportional multi-way valve I 45 to bottom works, so that three walking supporting legs 10 on lower plate 1
Ground, pressure sensor 43 detect pressure and reach design value stopping, and upper supporting leg proportional multi-way valve I 50 commutates to upper work, so that
Three walking supporting legs 10 on upper plate 16 are hanging, and displacement sensor 48 detects the branch of the walking supporting leg 10 on lower plate 1
The stopping when displacement of leg oil cylinder reaches design value.The commutation of ratio of turning multi-way valve 35 to bottom works, and steering cylinder 25 drives upper bottom
Plate 16 turns to extreme position, and the commutation of upper supporting leg proportional multi-way valve I 50 to bottom works, so that three on upper plate 16 are walked
Supporting leg 10 lands, and pressure sensor 49 detects pressure and reaches design value stopping, and lower supporting leg proportional multi-way valve I 45 commutates to upper
Work, so that three walking supporting legs 10 on lower plate 1 are hanging, displacement sensor 44 detects the walking support on lower plate 1
Stopping when the support oil cylinder displacement of leg 10 reaches design value.Ratio of turning multi-way valve 35 commutates to upper work, steering cylinder 25
Lower plate 1 is driven to rotate.
The elongation of steering cylinder and the calculation formula of bottom plate steering angle are as follows:
(1)
In formula, X is the elongation of steering cylinder, unit mm；α is bottom plate steering angle.
Specific step is as follows for moving operation:
The commutation of proportional multi-way valve 40 is translated to upper work, drives upper plate 16 mobile to target point, position tracing sensor 46
The relative shift of detection and target point, PLC control device 53 subtract the maximum displacement meter of translation oil cylinder 2 according to relative shift
Calculate the number of moving step length.When relative shift is 0, the lower commutation of supporting leg proportional multi-way valve I 45 to bottom works, so that bottom
Three walking supporting legs 10 on plate 1 land, and pressure sensor 43 detects pressure and reaches design value stopping, upper supporting leg proportional multi-path
The commutation of valve I 50 is to upper work, so that three walking supporting legs 10 on upper plate 16 are hanging, the detection of displacement sensor 48 is gone to the bottom
Stopping when the support oil cylinder displacement of walking supporting leg 10 on plate 1 reaches design value.Ratio of turning multi-way valve 35 commutates to bottom
Work, steering cylinder 25 drive the rotation of upper plate 16 to reset, and the commutation of upper supporting leg proportional multi-way valve I 50 to bottom works, upper plate
The support oil cylinder 14 of walking supporting leg 10 on 16 drives upper supporting leg 10 to land, and pressure sensor 49 detects pressure and reaches design value
Stop, the lower commutation of supporting leg proportional multi-way valve I 45 to upper work, so that the walking supporting leg 10 on lower plate 1 is hanging, displacement is passed
Stopping when the support oil cylinder displacement that sensor 44 detects the walking supporting leg 10 on lower plate 1 reaches design value.
Specific step is as follows for Levelling operation:
When the walking supporting leg 10 on lower plate 1 lands, and the walking supporting leg 10 on upper plate 16 is hanging, lower supporting leg ratio is more
Road valve I 45 is closed, and the lower commutation of supporting leg proportional multi-way valve II 47 accurately levels standard of fuselage degree to upper work；
When the walking supporting leg 10 on upper plate 16 lands, and the walking supporting leg 10 on lower plate 1 is hanging, upper supporting leg ratio is more
Road valve I 50 is closed, and upper supporting leg proportional multi-way valve II 52 commutates to upper work, is accurately leveled to standard of fuselage degree.
The implementation method of mobile base bottom device of the invention, as there are ocean current it is big it is marine for maintain because of sea
The mean of access of stable posture is flowed and overturns or be not blown away and maintain, mobile base bottom device must not be blown by ocean current
Walk, the condition that mobile base bottom device is not blown away by ocean current is: mobile base bottom device self weight with Yang Li and generate
The frictional force for grabbing ground toe is greater than fluid resistance: i.e.:
(2)
(3)
In formula, m is the quality of mobile seat bottom device, and g is acceleration of gravity, and B is the buoyancy of mobile seat bottom device, and fF is to move
The sea bottom surface of dynamic formula seat bottom device grabs ground frictional force, and fD is fluid resistance, and fE is other external force ingredients in addition to this, also, μ
To grab ground coefficient of friction, fL be act on a bottom device raise power.In mathematical expression 2, since fD and fE is to flow velocity and movement
The function of formula seat bottom device posture, therefore posture can be compensated in a manner of meeting the inequality of mathematical expression 2, to overcome sea
Stream.
Claims (10)
1. a kind of mobile base bottom device, it is characterised in that: upper plate, support plate and lower plate, the upper plate and bottom
The top surface of plate is installed by three walking supporting legs respectively；Upper plate is installed on the supporting plate by pivoting support, upper plate and support
Rotary motion mechanism is equipped between plate；Support plate bottom installs wheel mounting base, and wheel mounting base bottom is equipped with wheel, passes through vehicle
It takes turns on the leading truck being supported on lower plate, hoofing part mechanism is equipped between wheel mounting base and lower plate；Revolution driving machine
Structure, hoofing part mechanism are connect with control unit respectively；
Control unit is connect with the walking supporting leg of upper plate and lower plate respectively, can drive the walking of upper plate and lower plate
Supporting leg is hanging or lands；Level inclination sensor is installed, the posture for detection body on upper bed-plate；It is installed on lower plate
There is position tracing sensor, for tracking and detecting position in the water for executing mobile base bottom device in real time；Level inclination
Sensor and position tracing sensor are connect with control unit respectively.
2. mobile base bottom according to claim 1 device, it is characterised in that: the walking supporting leg includes supporting leg
Oil cylinder, supporting plate, bracket ear, supporting leg sole universal joint and strut；Strut one end and bracket ear are hinged, the other end and upper plate or under
Supporting leg seat otic placode on bottom plate is hinged；Bracket ear is connect by pin shaft with support oil cylinder and supporting leg sole universal joint, supporting leg sole
Universal joint is connect by pin shaft with supporting plate 11, and the other end and upper plate of support oil cylinder or the upper end of the supporting leg seat on lower plate are cut with scissors
It connects；Support oil cylinder be equipped with pressure sensor and displacement sensor, pressure sensor, displacement sensor and support oil cylinder respectively with
Control unit connection.
3. mobile base bottom according to claim 1 device, it is characterised in that: the hoofing part mechanism includes row
Oil cylinder is walked, the both ends for oil cylinder of walking are hinged respectively at wheel mounting base and lower plate；The walking oil cylinder is equipped with displacement and passes
Sensor and travel switch, walking oil cylinder, displacement sensor and travel switch are connect with control unit respectively.
4. mobile base bottom according to claim 1 device, it is characterised in that: the rotary motion mechanism includes turning
To oil cylinder, slide rail, sliding block and push rod；The steering cylinder, slide rail are mounted on upper plate bottom, steering cylinder with
Sliding block is hinged, and sliding block is mounted on slide rail, can move along slide rail, one end connection of sliding block and push rod, push rod
The other end connect with support plate；Steering cylinder is connect with control unit.
5. mobile base bottom according to claim 1 device, it is characterised in that: the control unit includes hydraulic control
Device and PLC control device processed；The hydraulic control device includes hydraulic pump, main oil inlet pipe and main oil return pipe, hydraulic pump
Import is connected to by pipeline with fuel tank, and the outlet of hydraulic pump is connected to main oil inlet pipe, and main oil return pipe connects fuel tank；Ratio of turning is more
The P mouth of road valve, the translation P mouth of proportional multi-way valve, the P mouth of lower supporting leg proportional multi-way valve I, lower supporting leg proportional multi-way valve II P mouth,
The P mouth of the P mouth of upper supporting leg proportional multi-way valve I, upper supporting leg proportional multi-way valve II, the P mouth of uniform-pressure-drop valve respectively with main oil inlet pipe
Connection；T mouth, translation the T mouth of proportional multi-way valve, the T mouth of lower supporting leg proportional multi-way valve I, lower supporting leg ratio of ratio of turning multi-way valve
Example the T mouth of multi-way valve II, the T mouth of upper supporting leg proportional multi-way valve I, upper supporting leg proportional multi-way valve II T mouth respectively with main oil return pipe
Connection；The ratio of turning multi-way valve, translation proportional multi-way valve, lower supporting leg proportional multi-way valve I, lower supporting leg proportional multi-way valve II,
Upper supporting leg proportional multi-way valve I, upper supporting leg proportional multi-way valve II are connect with the output end of PLC control device；The input of PLC control device
End and displacement transducer signal output end, displacement transducer signal output end, pressure sensor signal output end, displacement sensor
Signal output end, pressure sensor signal output end, displacement transducer signal output end, the output of level inclination sensor signal
End, position tracing sensor signal output end are connected with travel switch；
The rodless cavity of steering cylinder is connect with the B of hydraulic control one-way valve I mouth, A mouth and the steering solenoid directional control valve of hydraulic control one-way valve I
A mouthfuls of connections, the B mouth of ratio of turning multi-way valve are connect with steering cylinder rod chamber；
The rodless cavity of translation oil cylinder is connect with the B of hydraulic control one-way valve II mouth, the A mouth and translation proportional multi-way valve of hydraulic control one-way valve II
The connection of A mouth, the B mouth for translating proportional multi-way valve connect with steering cylinder rod chamber；
On the upper plate three walking supporting leg the rodless cavity of support oil cylinder and the B mouth of upper supporting leg proportional multi-way valve I and on
The A mouth of supporting leg proportional multi-way valve II connects；The rod chamber and upper supporting leg ratio of the support oil cylinder of three walking supporting legs on upper plate
The B mouth connection of the A mouth and upper supporting leg proportional multi-way valve II of multi-way valve I；
On the lower plate three walking supporting leg the rodless cavity of support oil cylinder and the B mouth of lower supporting leg proportional multi-way valve I and under
The A mouth of supporting leg proportional multi-way valve II connects；The rod chamber of the support oil cylinder of three walking supporting legs and lower supporting leg ratio on lower plate
The B mouth connection of the A mouth and lower supporting leg proportional multi-way valve II of multi-way valve I.
6. mobile base bottom according to claim 5 device, it is characterised in that: the hydraulic control device further includes
Pressure compensator, the import of pressure compensator and the outlet of hydraulic pump connect, and the outlet of pressure compensator connects oil by pipeline
Case.
7. mobile base bottom according to claim 5 or 6 device, it is characterised in that: the hydraulic control device is also
Including balanced valve and pressure reducing valve, the P mouth of balanced valve and pressure reducing valve is connect with main oil inlet pipe respectively, the T mouth of balanced valve and pressure reducing valve
It is connect respectively with main oil return pipe.
8. the implementation method of mobile base bottom device described in any claim in a kind of claim 1-7, including turn to
Operation, moving operation and Levelling operation,
Specific step is as follows for steering operation:
1) PLC control device control hydraulic pump is opened, and the commutation of upper supporting leg proportional multi-way valve I to bottom works, three on upper plate
The support oil cylinder of a walking supporting leg is flexible, and pressure sensor detection pressure reaches design value stopping；Position tracing sensor is opened
The relative angle of beginning detection target point and leading truck；
2) when the relative angle of position tracing sensor detection target point and leading truck is in [0 ° 90 °] and [180 ° 270 °],
Ratio of turning multi-way valve commutates to upper work, and steering cylinder drives lower plate rotation, when position tracing sensor detects target
When point is conllinear with leading truck, lower supporting leg proportional multi-way valve commutates to bottom and works, and the walking supporting leg on lower plate lands, pressure
Sensor detection pressure reaches design value stopping, and upper supporting leg proportional multi-way valve I commutates to upper work, so that three on upper plate
A walking supporting leg is hanging；When the support oil cylinder displacement of walking supporting leg on displacement sensor detection lower plate reaches design value
Stop；Ratio of turning multi-way valve commutates to bottom and works, and steering cylinder drives upper plate rotation to reset；
When position tracing sensor detection target point and leading truck be not conllinear, when lower plate turns to extreme position, lower supporting leg ratio
Example multi-way valve, which commutates to bottom, to work, so that the walking supporting leg on lower plate lands, pressure sensor detection pressure, which reaches, to be set
Evaluation stops, the commutation of upper supporting leg proportional multi-way valve I to upper work, so that three walking supporting legs on upper plate are hanging, position
Displacement sensor detects stopping when lower support oil cylinder displacement reaches design value；Ratio of turning multi-way valve commutates to bottom and works, and turns to
Oil cylinder driving upper plate turns to extreme position, and the commutation of upper supporting leg proportional multi-way valve I to bottom works, so that three on upper plate
A walking supporting leg lands, and pressure sensor detection pressure reaches design value stopping, and lower supporting leg proportional multi-way valve I commutates to upper
Work, so that three walking supporting legs on lower plate are hanging, displacement sensor detects lower support oil cylinder displacement and reaches design value
When stop；Steering cylinder drives lower plate rotation, when position tracing sensor detection target point is conllinear with leading truck, lower supporting leg
The commutation of proportional multi-way valve I to bottom works, so that three walking supporting legs on lower plate land, pressure sensor detects pressure
Reach design value stopping, the commutation of upper supporting leg proportional multi-way valve I to upper work, so that three walking supporting legs on upper plate are outstanding
Sky, stopping when the support oil cylinder displacement that displacement sensor detects the walking supporting leg on lower plate reaches design value；Ratio of turning
Multi-way valve commutates to bottom and works, and steering cylinder drives upper plate rotation to reset；
When the relative angle of position tracing sensor detection target point and leading truck is not at [0 ° 90 °] and [180 ° 270 °],
The lower commutation of supporting leg proportional multi-way valve I to bottom works, so that three walking supporting legs on lower plate land, pressure sensor inspection
Measuring pressure reaches design value stopping, the commutation of upper supporting leg proportional multi-way valve I to upper work, so that three walkings branch on upper plate
Support leg is hanging, stopping when the support oil cylinder displacement of the walking supporting leg on displacement sensor detection lower plate reaches design value；Turn
It commutates to proportional multi-way valve to bottom and works, steering cylinder driving upper plate turns to extreme position, upper supporting leg proportional multi-way valve I
Commutation to bottom works, so that three walking supporting legs on upper plate land, pressure sensor detection pressure reaches design value
Stop, the lower commutation of supporting leg proportional multi-way valve I to upper work, so that three walking supporting legs on lower plate are hanging, displacement is passed
Stopping when the support oil cylinder displacement of walking supporting leg on sensor detection lower plate reaches design value；The commutation of ratio of turning multi-way valve
To upper work, steering cylinder drives lower plate rotation；
Specific step is as follows for moving operation:
Translation proportional multi-way valve commutates to upper work, drives upper plate mobile to target point, position tracing sensor detection with
The relative shift of target point, PLC control device calculate mobile step according to the maximum displacement that relative shift subtracts translation oil cylinder
Long number；When relative shift is 0, the lower commutation of supporting leg proportional multi-way valve I to bottom works, so that three on lower plate
Walking supporting leg lands, and pressure sensor detection pressure reaches design value stopping, the commutation of upper supporting leg proportional multi-way valve I to upper work
Make, so that three walking supporting legs on upper plate are hanging, displacement sensor detects the supporting leg of the walking supporting leg on lower plate
Stopping when oil cylinder displacement reaches design value；Ratio of turning multi-way valve commutates to bottom and works, and steering cylinder drives upper plate rotation
It resetting, the commutation of upper supporting leg proportional multi-way valve I to bottom works, so that the walking supporting leg on upper plate lands, pressure sensor
Detection pressure reaches design value stopping, and the lower commutation of supporting leg proportional multi-way valve I is to upper work, so that the walking on lower plate supports
Leg is hanging, stopping when the support oil cylinder displacement of the walking supporting leg on displacement sensor detection lower plate reaches design value；
Specific step is as follows for Levelling operation:
When the walking supporting leg on lower plate lands, and the walking supporting leg on upper plate is hanging, lower supporting leg proportional multi-way valve I is closed
It closes, the lower commutation of supporting leg proportional multi-way valve II accurately levels standard of fuselage degree to upper work；
When the walking supporting leg on upper plate lands, and the walking supporting leg on lower plate is hanging, upper supporting leg proportional multi-way valve I 50
It closes, upper supporting leg proportional multi-way valve II commutates to upper work, is accurately leveled to standard of fuselage degree.
9. the implementation method of mobile base bottom according to claim 8 device, in the step 2) of steering operation, steering oil
The elongation of cylinder and the calculation formula of bottom plate steering angle are as follows:
(1)
In formula: X is the elongation of steering cylinder, unit mm；α is bottom plate steering angle.
10. the implementation method of mobile base bottom according to claim 8 device, mobile base bottom device must not be by
Ocean current is blown away, and the condition that mobile base bottom device is not blown away by ocean current is: the self weight of mobile base bottom device and Yang Li and
The frictional force for grabbing ground toe generated is greater than fluid resistance: i.e.:
(2)
(3)
In formula: m is the quality of mobile seat bottom device, and g is acceleration of gravity, and B is the buoyancy of mobile seat bottom device, and fF is to move
The sea bottom surface of dynamic formula seat bottom device grabs ground frictional force, and fD is fluid resistance, and fE is other external force ingredients in addition to this, also, μ
To grab ground coefficient of friction, fL be act on a bottom device raise power；In mathematical expression 2, since fD and fE is to flow velocity and movement
The function of formula seat bottom device posture, therefore posture can be compensated in a manner of meeting the inequality of mathematical expression 2, to overcome sea
Stream.
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