CN111846119A - Lifting and attitude control device and control method for shipborne underwater detection equipment - Google Patents
Lifting and attitude control device and control method for shipborne underwater detection equipment Download PDFInfo
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- CN111846119A CN111846119A CN202010656844.7A CN202010656844A CN111846119A CN 111846119 A CN111846119 A CN 111846119A CN 202010656844 A CN202010656844 A CN 202010656844A CN 111846119 A CN111846119 A CN 111846119A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
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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
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
Abstract
A lifting and attitude control device and a control method for shipborne underwater detection equipment belong to the technical field of underwater detection auxiliary equipment. The outer flange of the upper table top is fixedly connected with a ship body flange, the middle upper flange of the upper table top is connected with a hydraulic cylinder hoisting flange, the middle lower flange of the upper table top is connected with the upper flange of the upper supporting cylinder, and the outer side end of the upper table top is connected with the outer flange; the lower flange of the upper supporting cylinder is connected with the flange of the diagonal draw bar fixing cylinder, the lug seat of the diagonal draw bar fixing cylinder is connected with the lower end lifting lug of the diagonal draw bar, and the upper end of the diagonal draw bar is connected with the upper table top through the diagonal draw bar bearing seat and the adjusting nut. The invention realizes the vertical lifting of underwater detection equipment, normal work under the action of lateral load and rapid and safe transfer of two mediums on water and underwater.
Description
Technical Field
The invention relates to a lifting and attitude control device and a control method for shipborne underwater detection equipment, and belongs to the technical field of underwater detection auxiliary equipment.
Background
A scientific investigation ship is a ship for investigating and researching special tasks of marine hydrology, geology, meteorology, biology and the like. And the underwater detection equipment is one of the core components on the scientific research ship. The underwater detection equipment can carry out various operations only in an underwater operation mode. The underwater detection equipment is directly arranged on the water inlet part of the ship body, and after the underwater detection equipment is completely operated, the underwater detection equipment is detached to ensure the safety of the detection equipment. This approach has significant drawbacks and requires an auxiliary device that automatically lowers the detection device into the water when the detection device is in operation and then semi-automatically retrieves the detection device into the safe area of the hull after the operation is completed.
Disclosure of Invention
In order to overcome the defects of the prior art, the lifting and attitude control device and the control method for the shipborne underwater detection equipment are provided, and the underwater and overwater rapid transfer of the underwater detection equipment can be realized, so that the working efficiency and the safety are improved.
A lift, posture control device for ship-borne underwater detection equipment, an outer flange of an upper table top is fixedly connected with a ship body flange, an upper flange in the middle of the upper table top is connected with a hydraulic cylinder hoisting flange, and a lower flange in the middle of the upper table top is connected with an upper flange of an upper support cylinder; the lower flange of the upper supporting cylinder is connected with the flange of the diagonal draw bar fixing cylinder, the lug seat of the diagonal draw bar fixing cylinder is connected with the lower end lifting lug of the diagonal draw bar, the upper end of the diagonal draw bar is connected with the upper table top through a diagonal draw bar bearing seat and an adjusting nut, the lifting supporting cylinder is arranged inside the upper supporting cylinder and the diagonal draw bar fixing cylinder, the lower end flange of the lifting supporting cylinder is connected with the middle flange of the lower table top, the lower table top is connected with an underwater detection device, the upper end of a hydraulic cylinder assembly is connected with the lifting lug of the hydraulic cylinder lifting flange through a fixing shaft and a hydraulic cylinder joint bearing, and the lower end of the hydraulic cylinder assembly is connected with the lower table top.
The lifting support cylinder and the upper support cylinder are in a spline fit connection structure; the inner diameter of the diagonal draw bar fixing cylinder is of a step structure, and the outer diameter of the lifting support cylinder is of a step structure. The hydraulic cylinder assembly is connected with the hydraulic cylinder hoisting flange through a hydraulic cylinder assembly joint bearing and a fixed shaft. And a position sensor is arranged in the hydraulic cylinder assembly. Multiple sealing devices are arranged inside the hydraulic cylinder assembly.
A plug-in overflow valve of a hydraulic cylinder assembly is connected with an electromagnetic directional valve, the electromagnetic directional valve is respectively connected with a first throttle valve and a second throttle valve, the first throttle valve is connected with a first high-pressure stop valve, the first high-pressure stop valve is connected with a hydraulic cylinder assembly through a first rubber tube, the second throttle valve is connected with a second high-pressure stop valve, the second high-pressure stop valve is connected with the hydraulic cylinder assembly through a second rubber tube, a pressure sensor is connected with the plug-in overflow valve, an MP pressure measuring joint is arranged between the pressure sensor and the plug-in overflow valve, an MA pressure measuring joint is arranged between the first throttle valve and the first high-pressure stop valve, an MB pressure measuring joint is arranged between the second throttle valve and the second high-pressure stop valve, and a third rubber tube and a fourth rubber.
A lifting and attitude control method for ship-borne underwater detection equipment comprises the following steps; the control panel receives an instruction sent by an upper computer or a control panel in real time, controls the on-off of the hydraulic control valve group, drives the lifting platform to ascend, descend and stop, and feeds back the current actual position of the platform in real time through a displacement sensor arranged on the hydraulic cylinder assembly to form position closed-loop control.
The invention has the following beneficial effects: the invention realizes the vertical lifting of underwater detection equipment, normal work under the action of lateral load and rapid and safe transfer of two mediums on water and underwater.
The auxiliary lifting and attitude control device provided by the invention can realize the rapid transfer of underwater and overwater detection equipment in water, thereby improving the working efficiency and safety of the detection equipment, is particularly suitable for underwater scientific detection, and is one of important underwater scientific detection equipment.
Drawings
A more complete and thorough understanding of the present invention, and the many attendant advantages thereof, will be readily obtained by reference to the following detailed description when considered in connection with the accompanying drawings, which form a part hereof, and the accompanying drawings, wherein:
FIG. 1 is a mechanical block diagram of the present invention;
FIG. 2 is a top view of the mechanical structure of the present invention;
FIG. 3 is a top deck structure of the present invention;
FIG. 4 is a hydraulic control schematic of the present invention;
FIG. 5 is a schematic diagram of servo control of the present invention.
The invention is further illustrated with reference to the following figures and examples.
Detailed Description
It will be apparent that those skilled in the art can make many modifications and variations based on the spirit of the present invention.
The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description, "plurality" means two or more unless specifically limited otherwise.
Unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. To those of ordinary skill in the art, the specific meaning of terms in the present invention can be understood according to specific circumstances.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art.
The following further explanation is provided in order to facilitate understanding of the embodiments, and the embodiments are not to be construed as limiting the embodiments.
Example 1: as shown in fig. 1, 2, 3, 4 and 5, in the lifting and attitude control device for the shipborne underwater detection device, an outer flange 31 of an upper table top 7 is fixedly connected with a ship body flange, a middle upper flange 33 of the upper table top 7 is connected with a hydraulic cylinder hoisting flange 8, and a middle lower flange 32 of the upper table top 7 is connected with an upper flange of an upper support cylinder 5.
The lower flange of the upper supporting cylinder 5 is connected with the flange of the diagonal draw bar fixing cylinder 4, the lug seat of the diagonal draw bar fixing cylinder 4 is connected with the lower end lifting lug of the diagonal draw bar 11, the upper end of the diagonal draw bar 11 is connected with the upper table top 7 through the diagonal draw bar bearing seat 10 and the adjusting nut 12, the lifting supporting cylinder 3 is arranged inside the upper supporting cylinder 5 and the diagonal draw bar fixing cylinder 4, the lower end flange of the lifting supporting cylinder 3 is connected with the middle flange of the lower table top 1, the lower table top 1 is connected with the underwater detection equipment, the upper end of the hydraulic cylinder assembly 6 is connected with the lifting lug of the hydraulic cylinder lifting flange 8 through the fixed shaft 9 and the joint bearing of the hydraulic cylinder assembly, the lower end of the hydraulic cylinder assembly 6 is connected with the lower table top 1 through the transition connecting flange 2, the telescopic movement of the hydraulic cylinder assembly.
Inside the lift support drum 3 was arranged in upper support drum 5, lift support drum 3 was the spline fit structure with upper support drum 5, can prevent lift support drum 3's rotation, finally realized that elevating gear only is linear movement.
The upper end of the diagonal draw bar 11 is connected with the upper table top 7 through a diagonal draw bar bearing seat 10 and an adjusting nut 12, and whether the axis of the diagonal draw bar fixing cylinder 4 is vertical to the reference plane of the upper table top outer flange can be roughly judged by adjusting the extension length of the diagonal draw bar 11.
The diagonal draw bars 11 are distributed along the outer circumference of the diagonal draw bar fixing cylinder 4 and can share a part of the lateral load (damping force of water) borne by the lifting device.
The internal diameter of the diagonal draw bar fixing cylinder 4 is of a step structure, the external diameter of the lifting support cylinder 3 is of a step structure, the diagonal draw bar fixing cylinder 4 plays an auxiliary guiding role in the lifting support cylinder 3 lifting process, and meanwhile, the step structure of the internal diameter is a mechanical protection limiting device and can prevent the lifting support cylinder 3 from being separated integrally.
The hydraulic cylinder assembly 6 and the hydraulic cylinder hoisting flange 8 are connected with the fixed shaft 9 through the hydraulic cylinder assembly 6 knuckle bearing, and the knuckle bearing plays a role in adjusting and can avoid oil leakage caused by deformation when the hydraulic cylinder assembly is subjected to lateral load.
A position sensor is arranged in the hydraulic cylinder assembly 6, and the depth of detection equipment rigidly connected with the lower table surface of the lifting device can be measured in real time through a hydraulic and electric control system.
The hydraulic cylinder assembly 6 is internally provided with multiple sealing devices, and can be vertically installed several meters under seawater without quality problems and performance reduction caused by the environment.
Example 2: other structures are the same as the embodiment 1, and a lifting and attitude control device for a shipborne underwater detection device, such as a hydraulic schematic diagram of a hydraulic cylinder assembly 6 shown in fig. 4, realizes a series of actions of controlling the hydraulic cylinder assembly to start and stop, reverse, lock and the like, and comprises: the system comprises a plug-in overflow valve 13, an electromagnetic directional valve 14, a superposed pilot-controlled check valve 15, a first throttle valve 16, a second throttle valve 17, a hydraulic cylinder assembly (seawater) 18, a cotton pipe 19, a first rubber pipe 20, a first high-pressure stop valve 21, an MA pressure measuring joint 22, a pressure sensor 23, an MP pressure measuring joint 24, a second rubber pipe 25, a valve block 26, an MB pressure measuring joint 27, a second high-pressure stop valve 28, a third rubber pipe 29 and a fourth rubber pipe 30.
The valve block 26 includes a plug-in type overflow valve 13, a solenoid directional valve 14, a superimposed pilot operated check valve 15, a first throttle valve 16, and a second throttle valve 17.
The plug-in overflow valve 13 is connected with the electromagnetic directional valve 14, the electromagnetic directional valve 14 is respectively connected with a first throttle valve 17 and a second throttle valve 16, the first throttle valve 17 is connected with a first high-pressure stop valve 21, the first high-pressure stop valve 21 is connected with a hydraulic cylinder component (seawater) 18 through a first rubber pipe 20, the second throttle valve 16 is connected with a second high-pressure stop valve 28, the second high-pressure stop valve 28 is connected with the hydraulic cylinder component (seawater) 18 through a second rubber pipe 25, a pressure sensor 23 is connected with the plug-in overflow valve 13, an MP pressure measuring joint 24 is arranged between the pressure sensor 23 and the plug-in overflow valve 13, an MA pressure measuring joint 22 is arranged between the first throttle valve 17 and the first high-pressure stop valve 21, an MB pressure measuring joint 27 and a third rubber pipe 29 are arranged between the second throttle valve 16 and the, the fourth rubber pipe 30 is respectively connected with the MP pressure measuring joint 24 and the plug-in overflow valve 13.
Plug-in overflow valve 13: the safety valve of the hydraulic cylinder assembly limits the maximum working pressure of the hydraulic cylinder assembly, and overpressure automatically overflows.
Electromagnetic directional valve 14: the reversing and starting and stopping of the hydraulic cylinder assembly are controlled, and the hydraulic cylinder assembly can be controlled electrically and manually.
The superposition type hydraulic control one-way valve 15: the locking device of the hydraulic cylinder assembly keeps the hydraulic cylinder assembly at the current position after stopping or powering off.
The MP pressure measuring joint 24, the MA pressure measuring joint 22, and the MB pressure measuring joint 27 are a P pressure measuring point, an a pressure measuring point, and a B pressure measuring point, respectively.
First and second high-pressure cutoff valves 21 and 28: the oil circuit of the hydraulic cylinder assembly is manually cut off, and the valve can be manually closed when long-time shutdown is needed, so that the hydraulic cylinder assembly can be kept at the current position for a long time.
Hydraulic cylinder assembly 18: the hydraulic cylinder assembly is an actuating mechanism and a supporting device of the lifting device.
The pressure relay 23: the pressure relay is a conversion element of pressure and signals and can transmit signals to the electric control system in real time.
The first rubber pipe 20, the second rubber pipe 25, the third rubber pipe 29 and the fourth rubber pipe 30: the working medium conveying hose is high-pressure resistant and convenient to connect.
Cotton tube 19: the protection tube of hydraulic cylinder subassembly sensor cable.
Example 3: the other structures are the same as those of the above embodiment 1 and embodiment 2, as shown in fig. 5, the control panel is provided with an uplink control button, a downlink control button and a stop control button, the control panel is provided with a displacement fault indicator lamp and a pressure fault indicator lamp, the single chip microcomputer control panel comprises a digital quantity input module, a network port, a serial port, a digital quantity output module and an analog quantity input module, the network port is connected with the computer through a UDP protocol, the network port is connected with the hydraulic pump station through 485 communication, the digital quantity input module is connected with the uplink control button, the downlink control button and the stop control button, the digital quantity output module is connected with the displacement fault indicator lamp, the pressure fault indicator lamp, the oil cylinder uplink control relay and the oil cylinder downlink control relay, and the analog quantity input module is.
A lifting and attitude control method for ship-borne underwater detection equipment comprises the following steps;
the single chip microcomputer control board receives an instruction sent by a superior computer or a control panel in real time, controls the on-off of the hydraulic control valve bank, drives the lifting platform to ascend, descend and stop, and feeds back the current actual position of the platform in real time through a displacement sensor arranged on the hydraulic cylinder assembly to form position closed-loop control.
When the upper computer sends an uplink instruction, the single chip microcomputer control board is connected with the oil cylinder uplink control relay, the platform moves upwards, and the platform stops automatically after moving to the limit position.
When the upper computer sends a downlink instruction, the singlechip control board is connected with the oil cylinder downlink control relay, the platform moves downwards, and the platform automatically stops after moving to the limit position.
In the moving process of the platform, the upper computer can send a stop command at any time, and the single chip microcomputer control board simultaneously cuts off the oil cylinder uplink control relay and the oil cylinder downlink control relay, so that the platform can be stopped at any position.
The computer can also send that the platform moves to any position in the effective range, and the platform automatically stops after moving to the designated position.
When an uplink button or a downlink button of the control panel is pressed respectively, the platform moves up or down correspondingly and stops automatically after moving to the limit position. In the moving process of the platform, the stop button can be pressed at any time to realize the emergency stop of the platform.
In order to ensure the safe operation of the hydraulic system, the singlechip control board collects the numerical value of the pressure sensor in real time, once the hydraulic pressure exceeds the upper limit value, the pressure alarm lamp flickers, the platform suddenly stops, and meanwhile, an alarm signal is sent to the hydraulic pump station through the serial port, and the hydraulic pump station is automatically closed.
When displacement sensor or pressure sensor produced the trouble, then the fault indicator lamp that corresponds is bright often, and the platform scram simultaneously, at this moment, need cut off the power supply to singlechip control panel, the trouble is got rid of the back, and singlechip control panel is circular telegram again, and the system just can normally work.
Example 4: the other structures are the same as the above embodiment, the lifting and attitude control device for the shipborne underwater detection device comprises a hydraulic cylinder assembly, a lower table-board, a transition connecting flange, a lifting support cylinder, a diagonal draw bar fixing cylinder, an upper support cylinder, an upper table-board, a diagonal draw bar bearing seat, an adjusting nut, a fixed shaft, a hydraulic cylinder hoisting flange and the like, wherein the underwater detection device is connected with the lower table-board, the lower table-board is connected with the lifting support cylinder, the lower table-board is connected with the lower end of the hydraulic cylinder assembly through the transition connecting flange and extends out of the cylinder rod, the hydraulic cylinder assembly is connected with the lifting support cylinder indirectly, the hydraulic cylinder assembly is arranged in the lifting support cylinder, the upper end of the hydraulic cylinder assembly is connected with the hydraulic cylinder hoisting flange through a joint bearing and the fixed shaft, the hydraulic cylinder hoisting flange is connected with the upper flange in the middle of the upper table-board, the outer flange of the upper table, go up support cylinder lower flange and oblique pull rod solid fixed cylinder flange joint, the lift support cylinder is arranged in and is supported the cylinder and the inside formation of oblique pull rod solid fixed cylinder is vice, is provided with guide structure between lift support cylinder and the last support cylinder, and the ear seat of oblique pull rod lower extreme and oblique pull rod solid fixed cylinder passes through the hub connection, and oblique pull rod upper end is connected with last mesa through oblique pull rod load seat and adjusting nut.
A spline guide limiting structure is arranged between the lifting support cylinder and the upper support cylinder, so that the lifting device is prevented from rotating, a guide effect is achieved in the lifting process, and finally the device only moves linearly.
The length of the inclined pull rod extending out of the upper table top can be adjusted through the adjusting nut, and whether the axis of the inclined pull rod fixing cylinder is in a vertical state with the reference surface of the outer flange of the upper table top can be roughly judged by measuring the extending length of each inclined pull rod.
The diagonal draw bars are distributed along the outer circumference of the diagonal draw bar fixing cylinder and can share part of the lateral load (damping force of water) borne by the lifting device.
The inner cylinder of the diagonal draw bar fixing cylinder is of a step structure, the outer cylinder of the lifting support cylinder is of a step structure, the lifting support cylinder is arranged inside the diagonal draw bar fixing cylinder, the diagonal draw bar fixing cylinder plays an auxiliary guiding role in the lifting support cylinder lifting process, and meanwhile, the step structures of the inner cylinder and the outer cylinder are mechanical protection limiting devices and can prevent the lifting support cylinder from being separated integrally.
The hydraulic cylinder component is connected with the hydraulic cylinder hoisting flange lifting lug through the knuckle bearing and the fixed shaft, the knuckle bearing plays a role in adjusting, and oil leakage caused by deformation when the hydraulic cylinder component is subjected to lateral load can be avoided.
The hydraulic cylinder assembly is internally provided with a position sensor, the depth of detection equipment rigidly connected with the lower table surface of the lifting device can be measured in real time through servo control and a hydraulic system, the hydraulic control system is provided with an electromagnetic directional valve, the servo control system controls the reversing and starting and stopping of the hydraulic cylinder assembly, and the hydraulic cylinder assembly can be matched with the servo control system to realize two forms of electric control and manual control.
The hydraulic control system is provided with a superposed hydraulic control one-way valve which is a locking device of the hydraulic cylinder assembly, the hydraulic cylinder assembly is kept at the current position after shutdown or sudden power failure, and meanwhile, the hydraulic control system is provided with a high-pressure stop valve which can manually cut off an oil way of the hydraulic cylinder assembly, and the valve can be manually closed when the hydraulic control system needs to be shut down for a long time, so that the hydraulic cylinder assembly can be kept at the current position for a long time.
The hydraulic control system is provided with a throttle valve, and the lifting speed of the hydraulic cylinder assembly can be manually set.
The hydraulic cylinder assembly is internally provided with multiple sealing devices, and can be vertically installed several meters under seawater without quality problems and performance reduction caused by the environment.
Example 5: the other structures are the same as the above embodiment, the lifting and attitude control device for the shipborne underwater detection device, the underwater detection device is connected with the lower table surface, the lower table surface is connected with the lifting support cylinder, meanwhile, the lower table surface is connected with the cylinder rod extending out of the lower end of the hydraulic cylinder component through the transition connection flange, which is equivalent to the indirect connection of the hydraulic cylinder component with the lifting support cylinder, the hydraulic cylinder component is arranged in the lifting support cylinder, the upper end of the hydraulic cylinder component is connected with the lifting lug connected with the hydraulic cylinder lifting flange through the joint bearing and the fixed shaft, the hydraulic cylinder lifting flange is connected with the upper flange in the middle of the upper table surface, the outer flange of the upper table surface is fixedly connected with the ship body, the upper end flange of the upper support cylinder is connected with the lower flange in the middle of the upper table surface, the lower end flange of the upper support cylinder is connected with the inclined pull rod fixing cylinder, the lifting support cylinder and the upper support cylinder are provided with a guide structure, the lifting support cylinder and the diagonal draw bar fixing cylinder are provided with a limiting protection structure, the lower end of the diagonal draw bar is connected with an ear seat of the diagonal draw bar fixing cylinder through a shaft, the upper end of the diagonal draw bar is connected with the upper table top through a diagonal draw bar bearing seat and an adjusting nut, and linear movement of lifting of the detection equipment rigidly connected with the lower table top of the lifting device is realized through the stretching of a hydraulic cylinder assembly.
The quality problem and the performance decline that can not appear leading to because of the environment in the perpendicular installation of several meters under the sea water of hydraulic cylinder subassembly, the inside displacement sensor that is provided with of hydraulic cylinder subassembly, accessible hydraulic pressure and electrical system, the depth of real-time measurement and elevating gear lower stage rigid connection's detection device, hydraulic control system is provided with the electromagnetic directional valve, stack formula liquid accuse check valve, high pressure stop valve, choke valve etc., cooperate with electrical system, can control hydraulic cylinder subassembly and open and stop, operating pressure, speed and moving direction, the raising and lowering functions of whole device is realized to removal through hydraulic cylinder subassembly, realize that aquatic detection device is under water, quick transfer in two kinds of media on water.
The inside linear displacement sensor that is provided with of hydraulic cylinder subassembly, accessible hydraulic pressure and electrical system, the depth of real-time measurement and elevating gear lower stage rigid connection's detection equipment, hydraulic control system is provided with the electromagnetic directional valve, the switching-over of hydraulic cylinder subassembly is controlled by servo control system and is opened and shut, be provided with stack formula liquid accuse check valve, can realize making the pneumatic cylinder subassembly keep at the current position after the outage or outage, be provided with the high pressure stop valve, can manually cut off the oil circuit of hydraulic cylinder subassembly, be provided with the choke valve, can manually set for the lifting speed of hydraulic cylinder subassembly, with servo control system cooperation, can realize underwater detection equipment underwater, the quick transfer in two kinds of media on water, thereby improve detection equipment's work efficiency and security, the specially adapted auxiliary assembly attitude control and the dynamic transfer of surveying under water.
Be provided with guide structure between lift support drum and the last support drum, guide structure is spline fit structure, prevents elevating gear's rotation, and plays the guide effect at the lift in-process, finally realizes that the device only is rectilinear movement.
The upper end of the diagonal draw bar is connected with the upper table top through a diagonal draw bar bearing seat and an adjusting nut.
The lift supports the drum and is provided with spacing protection architecture with the fixed section of thick bamboo of oblique pull rod, and the fixed section of thick bamboo internal diameter of oblique pull rod is stair structure, and the lift supports the drum external diameter and is stair structure, and inside the lift supports the drum and arranges the fixed section of thick bamboo of oblique pull rod in, the fixed section of thick bamboo of oblique pull rod played supplementary guide effect at lift support drum lift in-process, and the stair structure of internal diameter is mechanical protection stop device simultaneously, can prevent to lift to support the whole of drum and deviate from.
The upper end of the hydraulic cylinder component is connected with the hydraulic cylinder hoisting flange through the joint bearing, the fixed shaft and the hydraulic cylinder hoisting flange, and the joint bearing plays a role in adjusting and can avoid oil leakage caused by deformation when the hydraulic cylinder component is subjected to lateral load.
The hydraulic control system is provided with a superposed hydraulic control one-way valve which is a locking device of the hydraulic cylinder assembly, the hydraulic cylinder assembly is kept at the current position after shutdown or sudden power failure, and meanwhile, the hydraulic control system is provided with a high-pressure stop valve which can manually cut off an oil way of the hydraulic cylinder assembly, and the valve can be manually closed when the hydraulic control system needs to be shut down for a long time, so that the hydraulic cylinder assembly can be kept at the current position for a long time.
The hydraulic control system is provided with a throttle valve, and the lifting speed of the hydraulic cylinder assembly can be manually set.
The start and stop of the hydraulic cylinder assembly, the working pressure, the speed and the moving direction of the hydraulic cylinder rod can be controlled through the servo control system and the hydraulic valve group, and the lifting and attitude control functions of the shipborne underwater detection equipment are realized through the movement of the hydraulic cylinder assembly.
The lifting and attitude control device for the shipborne underwater detection device provided by the invention is described in detail, a specific embodiment is applied in the description to explain the principle and the implementation mode of the invention, and the description of the embodiment is only suitable for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (9)
1. A lifting device for a ship-borne underwater detection device, the attitude control device is characterized in that an outer flange of an upper table top is fixedly connected with a ship body flange, an upper flange in the middle of the upper table top is connected with a hydraulic cylinder hoisting flange, a lower flange in the middle of the upper table top is connected with an upper flange of an upper supporting cylinder, a lower flange of the upper supporting cylinder is connected with a flange of a diagonal draw bar fixing cylinder, an ear seat of the diagonal draw bar fixing cylinder is connected with a lower end lifting lug of the diagonal draw bar, the upper end of the diagonal draw bar is connected with the upper table top through a diagonal draw bar bearing seat and an adjusting nut, a lifting supporting cylinder is arranged inside the upper supporting cylinder and the diagonal draw bar fixing cylinder, a lower end flange of the lifting supporting cylinder is connected with a middle flange of a lower table top, the lower table top is connected with underwater detection equipment, the upper end of a hydraulic cylinder component is connected with the lifting lug of the hydraulic cylinder hoisting flange through a fixing shaft and a.
2. The lifting and attitude control device for the shipborne underwater detection equipment according to claim 1, wherein the lifting support cylinder and the upper support cylinder are in a spline fit connection structure; the inner diameter of the diagonal draw bar fixing cylinder is of a step structure, and the outer diameter of the lifting support cylinder is of a step structure.
3. The lift and attitude control device according to claim 1, wherein the cylinder assembly is connected to the cylinder mounting flange via a cylinder assembly joint bearing and a fixed shaft.
4. The lift and attitude control device according to claim 1, wherein the hydraulic cylinder assembly includes a position sensor mounted therein.
5. The lift and attitude control system according to claim 1, wherein the hydraulic cylinder assembly includes a plurality of sealing means.
6. The elevation and attitude control device for a ship-borne underwater detecting apparatus according to claim 1, the hydraulic cylinder assembly is characterized in that a plug-in overflow valve of the hydraulic cylinder assembly is connected with an electromagnetic directional valve, the electromagnetic directional valve is respectively connected with a first throttle valve and a second throttle valve, the first throttle valve is connected with a first high-pressure stop valve, the first high-pressure stop valve is connected with the hydraulic cylinder assembly through a first rubber tube, the second throttle valve is connected with a second high-pressure stop valve, the second high-pressure stop valve is connected with the hydraulic cylinder assembly through a second rubber tube, a pressure sensor is connected with the plug-in overflow valve, an MP pressure measuring joint is arranged between the pressure sensor and the plug-in overflow valve, an MA pressure measuring joint is arranged between the first throttle valve and the first high-pressure stop valve, an MB pressure measuring joint is arranged between the second throttle valve and the second high-pressure stop valve, and a third.
7. A lifting and attitude control method for ship-borne underwater detection equipment is characterized by comprising the following steps; the control panel receives an instruction sent by an upper computer or a control panel in real time, controls the on-off of the hydraulic control valve group, drives the lifting platform to ascend, descend and stop, and feeds back the current actual position of the platform in real time through a displacement sensor arranged on the hydraulic cylinder assembly to form position closed-loop control.
8. The lifting and attitude control method for the shipborne underwater detection equipment as claimed in claim 7, wherein when the upper computer sends an uplink instruction, the singlechip control board is connected with an uplink relay of a hydraulic valve, the platform moves upwards, and the platform stops automatically after moving to a limit position;
when the upper computer sends a downlink instruction, the singlechip control board is connected with a hydraulic valve downlink relay, the platform moves downwards and stops automatically after moving to a limit position;
in the moving process of the platform, the upper computer can send a stop command at any time, and the single chip microcomputer control board simultaneously cuts off the uplink and downlink relays to enable the platform to stop at any position;
the computer sends that the platform moves to any position in the effective range, and the platform automatically stops after moving to the specified position;
When an uplink button or a downlink button of the control panel is pressed respectively, the platform moves up or down correspondingly, and stops automatically after moving to the limit position; and in the moving process of the platform, the stop button is pressed at any time to realize the emergency stop of the platform.
9. The lifting and attitude control method for the shipborne underwater detection equipment according to claim 8, characterized in that a control board collects the numerical value of a pressure sensor in real time, once the hydraulic pressure exceeds an upper limit value, a pressure alarm lamp flashes, a platform stops suddenly, and simultaneously an alarm signal is sent to a hydraulic pump station through a serial port to automatically close the hydraulic pump station;
when the displacement sensor or the pressure sensor breaks down, the corresponding fault indicator lamp is normally on, and the platform is suddenly stopped, so that the control panel needs to be powered off, and after the fault is eliminated, the control panel is powered on again, and the system can normally work.
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| CN202010656844.7A CN111846119B (en) | 2020-07-09 | 2020-07-09 | Lifting and attitude control device and control method for shipborne underwater detection equipment |
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| CN202010656844.7A CN111846119B (en) | 2020-07-09 | 2020-07-09 | Lifting and attitude control device and control method for shipborne underwater detection equipment |
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| CN111846119B (en) | 2022-11-08 |
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