CN112026992A - Positioning device of ship cable skimming gun and operation method thereof - Google Patents
Positioning device of ship cable skimming gun and operation method thereof Download PDFInfo
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- CN112026992A CN112026992A CN202011006629.9A CN202011006629A CN112026992A CN 112026992 A CN112026992 A CN 112026992A CN 202011006629 A CN202011006629 A CN 202011006629A CN 112026992 A CN112026992 A CN 112026992A
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 59
- 238000010521 absorption reaction Methods 0.000 claims description 7
- 238000013016 damping Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 4
- 238000004458 analytical method Methods 0.000 claims description 3
- 238000013528 artificial neural network Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000012790 confirmation Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 description 3
- 238000004146 energy storage Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 210000005056 cell body Anatomy 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000010687 lubricating oil Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- 239000011345 viscous material Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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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
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41F—APPARATUS FOR LAUNCHING PROJECTILES OR MISSILES FROM BARRELS, e.g. CANNONS; LAUNCHERS FOR ROCKETS OR TORPEDOES; HARPOON GUNS
- F41F7/00—Launching-apparatus for projecting missiles or projectiles otherwise than from barrels, e.g. using spigots
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Abstract
The invention provides a positioning device of a ship cable skimming gun and an operation method thereof, and the positioning device comprises a base, wherein a positioning assembly is arranged in the base, the base is connected with the cable skimming gun through the positioning assembly, the positioning assembly comprises a horizontal positioning mechanism and a vertical positioning mechanism, the horizontal positioning mechanism comprises a turbine disc, a lug is fixed on the surface of the top end of the turbine disc, one side of the turbine disc is connected with a first worm in a meshing manner, the cable skimming gun comprises an air cannon, a cable skimming head is inserted in a cannon tube of the air cannon, a camera sighting telescope is fixed on the surface of the top end of the air cannon, a first rotating shaft and a second rotating shaft are fixed on the surfaces of two sides of the air cannon, two sides of the air cannon are connected with supporting seats, the vertical positioning mechanism comprises a turbine, the bottom end of the turbine is. According to the invention, the locked target is calculated through the cloud, and the horizontal positioning mechanism and the vertical positioning mechanism are automatically adjusted, so that the accuracy of the cable-throwing gun is improved.
Description
Technical Field
The invention mainly relates to the technical field of cable skimming guns, in particular to a positioning device of a ship cable skimming gun and an operation method thereof.
Background
At present, when a water surface ship is in danger, a high-pressure pneumatic cable skimming gun is used as a main rescue cable leading mode for a ship cable in danger.
According to the ship cable skimming gun provided by patent document with application number CN201420803336.7, the ship cable skimming gun comprises a vertical support erected on a ship deck, wherein a rotating cylinder is sleeved on the vertical support, the tail end of the rotating cylinder is hinged with a 'B' -shaped block, the 'B' -shaped block is of a hollow structure, an air valve is arranged on the 'B' -shaped block and is controlled by a hand-pressing lever hinged on the rotating cylinder, a guy cable is connected to a bullet head, an iron cable is bound on one end of the guy cable, a plurality of rings of sealing rings are arranged on the bullet head, and lubricating oil is coated on the inner wall of a hollow gun. This boats and ships strander rifle can long distance jettison light messenger line, draws the heavy indisputable hawser line to the harbour bank through the messenger line of jettison the bank, has solved artifical jettison indisputable hawser line and can't be with the long distance jettison problem of indisputable hawser line, if boats and ships touch the sea and freeze the proruption situation, can also regard as the instrument that opens ice, multi-functional application.
The above-described cable-skimming guns, however, still have drawbacks, such as the fact that although they have the disadvantage of being thrown remotely, they rely primarily on manual adjustment of the body, making it difficult to accurately position and aim the cable-skimming gun at the target.
Disclosure of Invention
The invention mainly provides a positioning device of a ship cable skimming gun and an operation method thereof, which are used for solving the technical problems in the background technology.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a positioning device of a ship cable skimming gun comprises a base, wherein a positioning assembly is arranged in the base, the base is connected with the cable skimming gun through the positioning assembly, the positioning assembly comprises a horizontal positioning mechanism and a vertical positioning mechanism, the horizontal positioning mechanism comprises a turbine disc, the turbine disc is rotatably connected with the inner wall of the base through a rotating shaft, protruding pieces which are symmetrically arranged are fixed on the surface of the top end of the turbine disc, a first worm is meshed and connected to one side of the turbine disc, one side of the first worm is connected with a first motor through a coupler, the bottom end of the first motor is fixed on the surface of the inner wall of the base, the cable skimming gun comprises an air cannon, a cable skimming head is inserted and connected into a cannon tube, a camera sighting mirror is fixed on the surface of the top end of the air cannon, and a first rotating shaft and a second rotating shaft which are mutually symmetrical are fixed on the surfaces of two sides of the air, the two sides of the air cannon are connected with supporting seats through a first rotating shaft and a second rotating shaft, each supporting seat is fixed on the top end surface of the turbine disc, the vertical positioning mechanism comprises a turbine, the turbine is fixed on the outer peripheral surface of one end of the first rotating shaft, the bottom end of the turbine is connected with a second worm in a meshed mode, one side of the second worm is connected with a second motor through a coupler, and the second motor is connected with the top end surface of the lug;
the sighting telescope with the camera, the positioning component, the first motor and the second motor are electrically connected through a PLC automatic control system, the PLC automatic control system is connected with the cloud end in a wireless communication mode,
the sighting telescope with the camera acquires a picture of a target in real time, reports the picture of the target to a cloud end to analyze the distance of the target, acquires data information of weather forecast including but not limited to wind speed and wind direction, and adjusts the air cannon to shoot a head at the target after calculation;
and a program which is embedded into an openCV algorithm by a neural network architecture is arranged in the cloud for carrying out target analysis and locking a target.
Further, vertical positioning mechanism is connected with damper, damper is including the energy-absorbing box, the energy-absorbing box embedding is close to in the one end convex plate of second motor, the T-slot has been seted up on energy-absorbing box casing top, the inside sliding connection in cell body in T-slot has the slider, the top of slider is run through the T-slot extends to the outside bottom that is connected with the second motor.
Furthermore, a spring is fixed on one side of the sliding block, and the sliding block is connected with the inner wall of the groove body of the T-shaped groove through the spring.
Furthermore, first balls are embedded into four top corners of the surface of the bottom end of the sliding block.
Furthermore, one end, far away from the vertical positioning mechanism, of the cable skimming gun is connected with a guide assembly, the guide assembly comprises two guide seats, the two guide seats are symmetrically arranged by taking the air cannon as a central shaft, each guide seat is fixed on the top end surface of the turbine disc, an arc-shaped guide hole is formed in each guide seat shell, each guide seat is connected with a sliding column through the arc-shaped guide hole in a sliding mode, and the two sliding columns are fixed on two sides of the air cannon respectively.
Further, a terminating cap is attached to a side surface of each of the sliding columns remote from the air cannon by threaded engagement.
Furthermore, every the both sides of arc guiding hole are equallyd divide and are equipped with digital scale and scale, every digital scale and scale all spray in with one side the shell surface of guide holder.
Further, a leveling tube is embedded in the housing of each of the end caps.
Further, the bottom surface embedding of turbine dish has a plurality of second balls, and is a plurality of the second ball encircles turbine dish radial plane's axis sets up equidistance one by one.
According to the technical scheme of the positioning device of the ship cable skimming gun, the operation method of the positioning device of the ship cable skimming gun is further provided, and the method comprises the following steps:
the method comprises the steps of firstly, preparing, starting a horizontal positioning mechanism to adjust the horizontal overturning of the cable skimming gun, starting a vertical positioning mechanism to control the cable skimming gun to overturn vertically, and aiming by using an aiming lens until the cable skimming gun is adjusted to a proper angle.
The second step, the working process, when opening horizontal positioning mechanism, the first worm of first motor output shaft drives the turbine dish of being connected rather than the meshing and is rotatory, and during turbine dish horizontal rotation, the cable skimming rifle of being connected through the supporting seat on the turbine dish is followed it and is rotated, and when opening vertical positioning mechanism, the second worm on the second motor output shaft drives the turbine of being connected rather than the meshing and rotates, and when the turbine was rotatory, the cable skimming rifle can follow it through fixing the first rotation axis on the turbine and carry out vertical upset.
And thirdly, completing positioning, closing the horizontal positioning mechanism and the vertical positioning mechanism to stop adjusting the position of the cable skimming gun, starting the air cannon, launching the cable skimming head in the air cannon, drawing the cable skimming head to enable the cable skimming head to keep the direction through a limiting ring arranged on the outer wall of the cannon barrel, wherein the cable skimming head is multi-headed, and the multi-headed cable skimming head covers the periphery of the target when scattered.
Compared with the prior art, the invention has the beneficial effects that:
firstly, the invention can accurately control the cable skimming gun to overturn vertically and horizontally, thereby accurately positioning and aiming and improving the use effect of the cable skimming gun, and specifically comprises the following steps: through horizontal positioning mechanism and vertical positioning mechanism's cooperation for when opening horizontal positioning mechanism, the first worm of first motor output shaft drives the turbine dish of being connected rather than the meshing and rotates, during turbine dish horizontal rotation, the cable skimming rifle of being connected through the supporting seat on the turbine dish is followed it and is rotated, when opening vertical positioning mechanism, the second worm on the second motor output shaft drives the turbine of being connected rather than the meshing and rotates, when the turbine is rotatory, the cable skimming rifle can follow it through fixing the first rotation axis on the turbine and carry out vertical upset.
Secondly, the invention can absorb the vibration generated when the cable skimming gun is launched, thereby reducing the error generated by shaking and simultaneously prolonging the service life of the cable skimming gun, because the cable skimming gun transmits the vibration force to the worm on the motor through the turbine on the cable skimming gun, the sliding block at the bottom end of the motor slides in the energy absorption box, because one side of the sliding block is connected with the inner wall of the energy absorption box through the spring, the vibration generated by the sliding block is further absorbed by utilizing the energy storage of the spring, thereby the precision of the cable skimming gun is improved by absorbing the vibration force generated by the air cannon, and the same sliding block is arranged at the bottom end of the air cannon, and the same energy absorption box and the same spring are arranged on the turbine disc, thereby achieving the same effect.
The present invention will be explained in detail below with reference to the drawings and specific embodiments.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of the horizontal positioning mechanism of the present invention;
FIG. 3 is a schematic structural view of a guide assembly of the present invention;
FIG. 4 is a schematic structural view of the shock absorbing mechanism of the present invention;
FIG. 5 is a side view of the guide assembly of the present invention;
FIG. 6 is a schematic view of a second ball of the present invention;
fig. 7 is a flow chart of the operation of the present invention.
In the figure: 1. a base; 2. a positioning assembly; 21. a horizontal positioning mechanism; 211. a turbine disk; 2111. a second ball bearing; 212. a tab; 213. a first worm; 214. a first motor; 22. a vertical positioning mechanism; 221. a turbine; 222. a second worm; 223. a second motor; 23. a damping mechanism; 231. an energy absorption box; 232. a slider; 2321. a first ball bearing; 233. a spring; 234. a T-shaped slot; 3. a cable skimming gun; 31. an air cannon; 32. a cable skimming head; 33. a first rotating shaft; 34. a second rotation shaft; 35. a supporting seat; 36. a sighting telescope; 4. a guide assembly; 41. a guide seat; 42. an arc-shaped guide hole; 43. a sliding post; 44. a termination cap; 45. a leveling tube; 46. a graduated scale; 47. a digital scale; 48. a limit ring.
Detailed Description
In order to facilitate an understanding of the invention, the invention will now be described more fully hereinafter with reference to the accompanying drawings, in which several embodiments of the invention are shown, but which may be embodied in different forms and not limited to the embodiments described herein, but which are provided so as to provide a more thorough and complete disclosure of the invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may be present, and when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present, as the terms "vertical", "horizontal", "left", "right" and the like are used herein for descriptive purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, and the knowledge of the terms used herein in the specification of the present invention is for the purpose of describing particular embodiments and is not intended to limit the present invention, and the term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
In an embodiment, referring to fig. 1-4, a positioning device for a ship cable skimming gun includes a base 1, a positioning assembly 2 is disposed inside the base 1, the base 1 is connected to a cable skimming gun 3 through the positioning assembly 2, the positioning assembly 2 includes a horizontal positioning mechanism 21 and a vertical positioning mechanism 22, the horizontal positioning mechanism 21 includes a turbine disk 211, the turbine disk 211 is rotatably connected to an inner wall of the base 1 through a rotating shaft, symmetrically disposed protruding pieces 212 are fixed to a top end surface of the turbine disk 211, a first worm 213 is engaged and connected to one side of the turbine disk 211, one side of the first worm 213 is connected to a first motor 214 through a coupling, a bottom end of the first motor 214 is fixed to an inner wall surface of the base 1, the cable skimming gun 3 includes an air cannon 31, and a cable skimming head 32 is inserted into a cannon tube of the air cannon 31, a camera sighting telescope 36 is fixed on the top end surface of the air cannon 31, a first rotating shaft 33 and a second rotating shaft 34 which are symmetrical to each other are fixed on the two side surfaces of the air cannon 31, two sides of the air cannon 31 are connected with supporting seats 35 through the first rotating shaft 33 and the second rotating shaft 34, each supporting seat 35 is fixed on the top end surface of the turbine disc 211, the vertical positioning mechanism 22 comprises a turbine 221, the turbine 221 is fixed on the outer peripheral surface of one end of the first rotating shaft 33, the bottom end of the turbine 221 is connected with a second worm 222 in a meshing mode, one side of the second worm 222 is connected with a second motor 223 through a coupling, and the second motor 223 is connected with the top end surface of the lug 212.
The sighting telescope 36 with the camera, the positioning component 2, the first motor 214 and the second motor 223 are electrically connected through a PLC automatic control system, the PLC automatic control system is connected with the cloud end in a wireless communication mode,
the sighting telescope 36 with the camera acquires a picture of a target in real time, reports the picture of the target to a cloud end for analyzing the distance of the target, acquires data information of weather forecast including but not limited to wind speed and wind direction, and adjusts the air cannon 31 to shoot a head at the target after calculation; the cable skimming head is multi-head, and the multi-head cable skimming head covers around the target when scattered.
It is worth mentioning that a program which is embedded into the openCV algorithm by the neural network architecture is arranged in the cloud end for carrying out target analysis and target locking. The PLC automatic control system comprises a wind direction collecting chip, an environment sensor and a chip for performing instruction control between each power assembly, wherein the cloud end is used for initializing the model to adjust the specific casting direction and the strength energy storage strength of the air cannon.
Specifically, referring to fig. 1 and 3, one end of the cable skimming gun 3 away from the vertical positioning mechanism 22 is connected to a guide assembly 4, the guide assembly 4 includes two guide bases 41, the two guide bases 41 are symmetrically arranged with the air cannon 31 as a central axis, each guide base 41 is fixed to the top end surface of the turbine disc 211, each guide base 41 is provided with an arc-shaped guide hole 42 on a casing, each guide base 41 is slidably connected to a sliding column 43 through the arc-shaped guide hole 42, the two sliding columns 43 are respectively fixed to two sides of the air cannon 31, so that when the cable skimming gun 3 rotates with the first rotating shaft 33 and the second rotating shaft 34 collinearly arranged thereon as a rotating axis, the sliding column 43 fixed on the cable skimming gun 3 can slide through the hole body of the arc-shaped guide hole 42 arranged on the guide base 41, so that the cable skimming gun 3 always performs angular displacement along the track of the hole body of the arc-shaped guide hole 42, the vertical rotation precision of the cable skimming gun 3 is improved,
specifically, please refer to fig. 1 and 5 again, a digital staff 47 and a graduated staff 46 are respectively disposed on two sides of each arc-shaped guide hole 42, each digital staff 47 and the graduated staff 46 are both sprayed on the surface of the housing of the guide base 41 on the same side, and a leveling tube 45 is embedded in the housing of each terminating cover 44, so that when the terminating cover 44 angularly displaces along with the sliding column 43, a user can preliminarily determine the rotation angle of the air cannon 31 by forming a three-point line by using the air bubbles inside the leveling tube 45 embedded in the housing of the terminating cover 44 and the numerical values and dimensions of the digital staff 47 and the graduated staff 46 sprayed on the guide base 41, thereby facilitating the comparison between the user and the rotation angle of the air cannon 31 controlled by the computer.
Specifically, referring again to fig. 1, 3 and 5, a terminating cap 44 is attached to a side surface of each of the sliding posts 43 remote from the air cannon 31 by threaded engagement, so that the sliding posts 43 are caught by the terminating caps 44 on the arc-shaped guide holes 42, and the sliding posts 43 are prevented from being separated from the arc-shaped guide holes 42.
Specifically, referring to fig. 4, the vertical positioning mechanism 22 is connected to the damping mechanism 23, the damping mechanism 23 includes an energy-absorbing box 231, the energy-absorbing box 231 is embedded into a protruding piece 212 near one end of the second motor 223, a T-shaped groove 234 is formed at the top end of a housing of the energy-absorbing box 231, a slider 232 is slidably connected to the inside of a groove body of the T-shaped groove 234, the top end of the slider 232 penetrates through the T-shaped groove 234 and extends to the outside to be connected to the bottom end of the second motor 223, so that when the air cannon 31 generates recoil when launching the cable head 32, vibration generated by the recoil to the housing of the air cannon 31 is transmitted to a turbine 221 fixed on the housing through a first rotating shaft 33, since the turbine 221 is engaged with the second worm 222, the vibration is transmitted to the second worm 222 and the second motor 223 on an output shaft of the second motor 223, since the slider 232 at the bottom end of the second motor 223 slides in the T-shaped groove 234 of the protruding piece 231 at the top end, thereby primarily extending the time during which the reaction force is transmitted to the second motor 223.
Specifically, referring to fig. 4 again, a spring 233 is fixed to one side of the slider 232, the slider 232 is connected with the inner wall of the T-shaped groove 234 through a spring 233, since one side of the slider 232 is connected to the inner wall of the T-shaped groove 234 by the spring 233, thereby, the energy storage of the spring 233 is utilized to further absorb the vibration generated by the sliding block 232, further, the accuracy of the line-throwing gun is improved by absorbing the vibration force generated by the air cannon 31, and the same slide block 232 is arranged at the bottom end of the air cannon 31, the same crash box 231 and spring 233 are provided on the turbine disk 211, achieving the same effect, the first balls 2321 are embedded at four top corners of the bottom end surface of the slider 232, so that the slider 232 rolls in the groove body of the T-shaped groove 234 through the first balls 2321 embedded at the bottom end of the slider 232, and dry friction between the slider 232 and the groove body surface of the T-shaped groove 234 is prevented.
Specifically, referring to fig. 6, a plurality of second balls 2111 are embedded in the bottom end surface of the turbine disc 211, and the second balls 2111 are arranged one by one at equal intervals around the central axis of the radial plane of the turbine disc 211, so that the turbine disc 211 rolls on the inner wall surface of the base 1 through the second balls 2111 embedded in the bottom end of the turbine disc 211, thereby preventing dry friction between the turbine disc 211 and the inner wall surface of the base 1.
As shown in fig. 7, the present embodiment further provides an operation method of a positioning device of a ship line skimming gun, including the following steps:
firstly, preparation work is carried out, the horizontal positioning mechanism 21 is started to adjust the horizontal overturning of the cable skimming gun 3, then the vertical positioning mechanism 22 is started to control the vertical overturning of the cable skimming gun 3, and the sighting telescope 36 is used for sighting confirmation until the cable skimming gun 3 is adjusted to a proper angle.
And secondly, in the working process, when the horizontal positioning mechanism 21 is started, the first worm 213 of the output shaft of the first motor 214 drives the turbine disc 211 meshed with the first worm to rotate, when the turbine disc 211 rotates horizontally, the cable skimming gun 3 connected with the turbine disc 211 through the supporting seat 35 rotates along with the turbine disc, when the vertical positioning mechanism 22 is started, the second worm 222 on the output shaft of the second motor 223 drives the turbine 35 meshed with the turbine disc to rotate, and when the turbine 35 rotates, the first rotating shaft 33 fixed on the turbine 35 can drive the cable skimming gun 3 to vertically turn over by taking the first rotating shaft 33 and the second rotating shaft 34 which are collinear as rotating axes.
And thirdly, after the positioning is finished, closing the horizontal positioning mechanism 21 and the vertical positioning mechanism 22 to stop adjusting the position of the cable skimming gun 3, starting the air cannon 31, launching the cable skimming head 32 in the air cannon, and drawing the cable skimming head 32 to enable the cable skimming head 32 to keep the direction through a limiting ring 48 arranged on the outer wall of the cannon barrel.
The specific operation mode of the invention is as follows:
when the cable-throwing gun is used, a user firstly starts the horizontal positioning mechanism 21, the first worm 213 connected with the output shaft of the first motor 214 in the horizontal positioning mechanism 21 drives the turbine disc 211 engaged with the first worm 213 to rotate, the air cannon 31 in the cable-throwing gun 3 is fixed on the turbine disc 211 through the supporting seat 35, so that the air cannon 31 is driven to rotate horizontally by the turbine disc 211 rotating inside the base 1, then the vertical positioning mechanism 22 is started, when the output shaft of the second motor 223 in the vertical positioning mechanism 22 drives the second worm 222 connected with the second worm to rotate, the second worm 222 is engaged with the turbine 221 fixed on the air cannon 31 through the first rotating shaft 33, so that the air cannon 31 is driven to turn vertically by taking the first rotating shaft 33 and the second rotating shaft 34 which are collinear as rotating axes, and in the process, the air cannon 31 is driven by the first worm 213 and the second worm 222, thereby form self-locking structure, prevent that air bubble 31 from carrying out autogiration with the help of the promotion at external force down, and because all be provided with the encoder that is connected with the model STM32F103C8T 6's singlechip on first motor 214 and two motors 223, thereby the rotation of first motor 214 and two motors 223 output shafts of accurate control, precision when improving air bubble 31 location, after the location, utilize camera gun sight 36 to aim at and confirm, open air bubble 31, make air bubble 31 launch out with the cable skimming head 32 that has viscous material in its barrel.
The invention is described above with reference to the accompanying drawings, it is obvious that the invention is not limited to the above-described embodiments, and it is within the scope of the invention to adopt such insubstantial modifications of the inventive method concept and solution, or to apply the inventive concept and solution directly to other applications without modification.
Claims (10)
1. A positioning device of a ship cable skimming gun is characterized by comprising a base (1), a positioning component (2) is arranged in the base (1), the base (1) is connected with a cable skimming gun (3) through the positioning component (2), the positioning component (2) comprises a horizontal positioning mechanism (21) and a vertical positioning mechanism (22), the horizontal positioning mechanism (21) comprises a turbine disc (211), the turbine disc (211) is rotatably connected with the inner wall of the base (1) through a rotating shaft, symmetrically arranged lugs (212) are fixed on the top end surface of the turbine disc (211), one side of the turbine disc (211) is connected with a first worm (213) in a meshing way, one side of the first worm (213) is connected with a first motor (214) through a coupler, the bottom end of the first motor (214) is fixed on the inner wall surface of the base (1);
the cable skimming gun (3) comprises an air cannon (31), a cable skimming head (32) is inserted into a cannon tube of the air cannon (31), a camera sighting telescope (36) is fixed on the surface of the top end of the air cannon (31), a first rotating shaft (33) and a second rotating shaft (34) which are symmetrical to each other are fixed on the surfaces of two sides of the air cannon (31), supporting seats (35) are connected to the two sides of the air cannon (31) through the first rotating shaft (33) and the second rotating shaft (34), and each supporting seat (35) is fixed on the surface of the top end of the turbine disc (211);
the vertical positioning mechanism (22) comprises a turbine (221), the turbine (221) is fixed on the outer peripheral surface of one end of the first rotating shaft (33), the bottom end of the turbine (221) is connected with a second worm (222) in a meshed mode, one side of the second worm (222) is connected with a second motor (223) through a coupler, and the second motor (223) is connected with the top end surface of the protruding piece (212);
the sighting telescope (36) with the camera, the positioning component (2), the first motor (214) and the second motor (223) are electrically connected through a PLC automatic control system, the PLC automatic control system is connected with the cloud end in a wireless communication mode,
the sighting telescope (36) with the camera acquires a picture of a target in real time, reports the picture of the target to a cloud end to analyze the distance of the target, acquires data information of weather forecast including but not limited to wind speed and wind direction, and adjusts the air cannon (31) to shoot a head at the target after calculation;
and a program which is embedded into an openCV algorithm by a neural network architecture is arranged in the cloud for carrying out target analysis and locking a target.
2. The positioning device of a ship cable skimming gun as claimed in claim 1, wherein the vertical positioning mechanism (22) is connected with a damping mechanism (23), the damping mechanism (23) comprises an energy absorption box (231), the energy absorption box (231) is embedded into an end protruding piece (212) close to the second motor (223), a T-shaped groove (234) is formed in the top end of a shell of the energy absorption box (231), a sliding block (232) is connected inside a groove body of the T-shaped groove (234) in a sliding manner, and the top end of the sliding block (232) penetrates through the T-shaped groove (234) and extends to the outside to be connected with the bottom end of the second motor (223).
3. The positioning device of the ship cable skimming gun as claimed in claim 2, wherein a spring (233) is fixed on one side of the sliding block (232), and the sliding block (232) is connected with the inner wall of the T-shaped groove (234) through the spring (233).
4. The positioning device of a ship cable skimming gun as claimed in claim 3, wherein the first ball (2321) is embedded at each of four corners of the bottom surface of the sliding block (232).
5. The positioning device of the ship cable skimming gun according to claim 1, wherein one end of the cable skimming gun (3) far away from the vertical positioning mechanism (22) is connected with a guide assembly (4), the guide assembly (4) comprises two guide bases (41), the two guide bases (41) are symmetrically arranged by taking the air cannon (31) as a central axis, each guide base (41) is fixed on the top end surface of the turbine disc (211), each guide base (41) is provided with an arc-shaped guide hole (42), each guide base (41) is slidably connected with a sliding column (43) through the arc-shaped guide hole (42), and the two sliding columns (43) are respectively fixed on two sides of the air cannon (31).
6. A positioning device for a marine line skimming gun as claimed in claim 5, wherein a terminal cover (44) is attached to a side surface of each sliding column (43) remote from the air cannon (31) by threaded engagement.
7. The positioning device of a ship cable skimming gun according to claim 5, wherein each of said arc-shaped guide holes (42) is provided with a number scale (47) and a graduated scale (46) on both sides, and each of said number scale (47) and graduated scale (46) is coated on the same surface of the housing of said guide base (41).
8. The positioning device of a marine line skimming gun as claimed in claim 6, wherein a leveling tube (45) is embedded in the housing of each of said terminating caps (44).
9. The positioning device of a ship line skimming gun according to claim 7, wherein a plurality of second balls (2111) are embedded in the bottom end surface of said turbine disk (211), and a plurality of said second balls (2111) are arranged equidistantly one by one around the central axis of the radial plane of said turbine disk (211).
10. Method of operating a positioning device for a vessel skimmer gun according to claims 1-9, comprising the steps of:
firstly, preparing, starting a horizontal positioning mechanism (21) to adjust the horizontal overturn of the cable skimming gun (3), then starting a vertical positioning mechanism (22) to control the vertical overturn of the cable skimming gun (3), and utilizing a sighting telescope (36) to perform sighting confirmation until the cable skimming gun (3) is adjusted to a proper angle;
secondly, in the working process, when the horizontal positioning mechanism (21) is started, the first worm (213) of the output shaft of the first motor (214) drives the turbine disc (211) connected with the turbine disc in a meshed mode to rotate, when the turbine disc (211) rotates horizontally, the cable skimming gun (3) connected with the turbine disc (211) through the supporting seat (35) rotates along with the turbine disc, when the vertical positioning mechanism (22) is started, the second worm (222) of the output shaft of the second motor (223) drives the turbine (35) connected with the turbine disc in a meshed mode to rotate, and when the turbine (35) rotates, the cable skimming gun (3) can turn vertically along with the turbine disc through the first rotating shaft (33) fixed on the turbine (35);
and thirdly, after the positioning is finished, closing the horizontal positioning mechanism (21) and the vertical positioning mechanism (22) to stop adjusting the position of the cable skimming gun (3), starting the air cannon (31), launching the cable skimming head (32) in the air cannon, and drawing the cable skimming head (32) to enable the cable skimming head (32) to keep the direction through a limiting ring (48) arranged on the outer wall of the cannon barrel, wherein the cable skimming head (32) is multi-head, and the multi-head cable skimming head covers the periphery of the target when scattered.
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| CN202011006629.9A CN112026992A (en) | 2020-09-23 | 2020-09-23 | Positioning device of ship cable skimming gun and operation method thereof |
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| CN202011006629.9A CN112026992A (en) | 2020-09-23 | 2020-09-23 | Positioning device of ship cable skimming gun and operation method thereof |
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