CN115200558A - Automatic detection equipment for ocean thermohaline deep-section ship foundation - Google Patents
Automatic detection equipment for ocean thermohaline deep-section ship foundation Download PDFInfo
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- CN115200558A CN115200558A CN202210589305.5A CN202210589305A CN115200558A CN 115200558 A CN115200558 A CN 115200558A CN 202210589305 A CN202210589305 A CN 202210589305A CN 115200558 A CN115200558 A CN 115200558A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
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Abstract
The invention discloses an automatic detection device for an ocean thermohaline deep profile ship foundation, which comprises a box body, a device chassis, a tray lifting driving mechanism, a launching gun, a detector lifting and transferring mechanism, a plurality of launching tubes and a plurality of thermohaline depth gauges. The automatic detection equipment for the marine thermohaline deep profile ship base utilizes the tray lifting driving mechanism to lift trays filled with the transmitting tubes upwards one by one, so that the trays reach the working position of the detecting instrument lifting transmission mechanism, each transmitting tube is lifted upwards by the detecting instrument lifting transmission mechanism, the transmitting gun grabs the transmitting tube and puts in the thermohaline depth gauge, the automatic putting of the thermohaline depth gauge is realized, the automatic requirements of XCTD and XBT thermohaline deep profile detection are met, and manual detection is replaced; the automatic detection equipment can freely move on the deck by utilizing the equipment chassis, and the height of the box body is adjusted, so that the automatic detection equipment is suitable for different ships, and the universality is enhanced.
Description
Technical Field
The invention relates to automatic detection equipment, in particular to automatic detection equipment for an ocean thermohaline deep-section ship foundation.
Background
The ocean thermal salt depth profile measuring instrument is a measuring instrument capable of quickly and conveniently measuring the conductivity and temperature profile of seawater, and provides a quick acquisition mode of thermal salt profile data for ocean investigation, scientific research and military application. In recent years, with the progress of technology, the technical requirements on instruments are different, so that in order to ensure that the design, production, test and inspection of equipment meet the existing technical requirements and better serve marine scientific investigation and military marine environment technical guarantee, the automatic detection equipment for the marine thermohaline deep section ship base is provided, the automation of the shipborne XCTD and XBT thermohaline deep section detection is realized, and the mode of carrying out XCTD and XBT thermohaline deep section detection by manpower in the world can be replaced
Disclosure of Invention
The purpose of the invention is as follows: the automatic detection equipment for the marine thermohaline deep section ship base can meet the automatic requirements of XCTD and XBT thermohaline deep section detection.
The technical scheme is as follows: the invention relates to an automatic detection device for an ocean thermohaline deep profile ship foundation, which comprises a box body, a device chassis, a tray lifting driving mechanism, a launching gun, a detector lifting and transferring mechanism, a plurality of launching tubes and a plurality of thermohaline depth gauges, wherein the device chassis is arranged on the box body;
the box body cover is arranged on the equipment chassis and is used for docking and fixing ship boards with different heights in a matching way; each thermohaline is respectively arranged in each emission tube; the tray lifting driving mechanism is arranged in the box body, a plurality of trays are stacked on the tray lifting driving mechanism, the launching tubes are placed on the trays, and the trays are driven to lift by the tray lifting driving mechanism; the detection instrument lifting and transferring mechanism and the emission gun are arranged in the box body, the detection instrument lifting and transferring mechanism lifts each emission tube upwards, the emission gun grabs the emission tube and puts in the thermohaline depth gauge, and then the empty emission tube is released in the box body.
Further, the equipment chassis comprises a bearing bottom plate, a chassis lifting rod, a chassis lifting motor, a lifting driving screw rod, a lifting linkage pull rod, a directional caster lifting shaft, two directional casters and two universal casters;
the two universal casters are respectively arranged at two top corners at the same side of the lower side surface of the bearing bottom plate; the other two top corners of the lower side surface of the bearing bottom plate are respectively provided with a rotating seat; two ends of the directional caster lifting shaft are respectively and rotatably arranged on the two rotary seats; the two directional trundles are respectively fixed on two ends of the directional trundle lifting shaft through trundle mounting rods; the chassis lifting rod vertically penetrates through the bearing bottom plate in a sliding manner; the lower end of the lifting driving screw rod is screwed on the upper end of the chassis lifting rod in a coaxial manner; the chassis lifting motor is used for driving the lifting driving screw rod to rotate; one end of the lifting linkage pull rod is hinged with two lifting connecting rods; the end parts of the two lifting connecting rods are respectively hinged on the lower side surface of the bearing bottom plate and the lower end of the chassis lifting rod; a swinging seat is fixed on the directional caster lifting shaft; the other end of the lifting linkage pull rod is hinged on the swinging seat.
Further, the tray lifting driving mechanism comprises a tray lifting motor, a lifting spindle, two lifting gears, two lifting racks and two tray lifting forks;
two rack mounting rods are vertically mounted on the front side edge of the left side of the bearing bottom plate; the two lifting racks are respectively arranged on the two rack mounting rods; the tray lifting fork is L-shaped; the vertical sections of the two tray lifting forks are respectively vertically and slidably arranged on the two rack mounting rods; the left end and the right end of the lifting main shaft are respectively and rotatably arranged on the two tray lifting forks; the two lifting gears are both arranged on the lifting main shaft and are respectively meshed with the two lifting racks; the tray lifting motor is used for driving the lifting main shaft to rotate; each tray is stacked on the horizontal sections of the two tray lifting forks; a tray placing window is arranged on the left side wall of the box body, and a water-tight door of the storage cabin of the thermohaline depth gauge for sealing the tray placing window is hinged on the left side surface of the box body.
Further, the detector lifting and transferring mechanism comprises a tray, a translation driving unit, a detector lifting unit, a tray releasing unit, a Y-shaped bracket plate, two tray limiting guide rails and two tray supporting plates; the translation driving unit comprises a tray conveying motor and a tray conveying hook;
the lower edge of the vertical plate of the Y-shaped support plate is fixed on the upper side surface of the bearing bottom plate; the two tray limiting guide rails are respectively and transversely fixed on the upper ends of the two branch supporting plates of the Y-shaped supporting plate in a parallel mode and are used for being attached to the front side surface and the rear side surface of the tray on the uppermost layer; the two tray supporting plates are respectively arranged on the tray limiting guide rail in a swinging mode and used for supporting the trays;
the edges of the front side and the rear side of the tray are provided with buckle holes at intervals; the tray conveying motor is arranged on one of the tray limiting guide rails; a hook crank is arranged on an output shaft of the tray transmission motor; the end part of the crochet crank is hinged with a crochet rocker; the middle part of the tray conveying hook is hinged on the end part of the hook rocker, and the lower edge of the tray conveying hook is provided with a hook for hooking the buckling hole; the tray releasing unit is arranged on the Y-shaped bracket plate and used for driving the two tray supporting plates to swing so as to enable the trays to fall; the detector lifting unit is arranged on the Y-shaped support plate and is used for lifting the transmitting tube on the tray upwards;
a tray taking-out window is arranged on the rear side wall of the box body, and a tray storage cabin door for closing the tray taking-out window is hinged on the rear side surface of the box body.
Furthermore, an empty transmitting tube push plate is hinged on the upper side surface of the bearing bottom plate; the tray conveying motor drives the empty launching tube push plate to swing left and right through a crank rocker mechanism; the right wall of the box body is provided with a launching tube taking-out window, and the right side surface of the box body is hinged with an empty launching tube storage cabin door for sealing the launching tube taking-out window.
Further, the tray release unit comprises a tray release slide rail, a tray release motor and two supporting plate overturning pull rods;
the tray release slide rail is vertically and slidably arranged on the Y-shaped bracket plate; the tray release motor is arranged on the Y-shaped support plate and drives the tray release slide rail to slide up and down through a crank rocker structure; the lower ends of the two tray overturning pull rods are hinged to the tray releasing slide rail, and the upper ends of the two tray overturning pull rods are hinged to the two tray trays respectively.
Furthermore, the detector lifting unit comprises a detector lifting motor and two lifting transmission forks;
two buckle rib plates are transversely arranged on the tray; a plurality of semicircular clamping grooves are formed in the two buckle rib plates at intervals; each transmitting tube is respectively arranged on the two corresponding semicircular clamping grooves in the front and the back, and the positions of the semicircular clamping grooves correspond to the positions of the clamping holes; two rows of lifting holes are formed in the tray, and the positions of the lifting holes correspond to the positions of the semicircular clamping grooves;
the detector lifting motor is arranged on the Y-shaped support plate and is a motor with double output shafts; two output shafts of the detector lifting motor are respectively provided with a lifting crank; a lifting rocker is hinged on the end part of the lifting crank; two auxiliary plates are arranged on the Y-shaped support plate; the two lifting transmission forks are respectively vertically and slidably arranged on the two auxiliary plates; the upper ends of the two lifting rocking rods are respectively hinged to the lower ends of the two lifting transmission forks and are used for driving the upper ends of the two lifting transmission forks to respectively extend above the tray through two lifting devices Kong Tongbu corresponding to the front position and the rear position.
Furthermore, the shooting gun comprises a shooting gun shell, a clamping unit and a position adjusting unit; the position adjusting unit comprises a swing arm driving motor, a swing arm connecting plate and two parallel swing arms;
a swing arm extending window is arranged on the upper side of the front side surface of the box body; two support rods are vertically arranged on the edge of the right side of the bearing bottom plate; the right ends of the two parallel swing arms are respectively hinged on the two support rods, and the left ends of the two parallel swing arms are respectively hinged on a swing arm connecting plate; the swing arm driving motor is used for driving one parallel swing arm to swing horizontally and extends out of the box body through a swing arm extending window; the shell of the launching gun is arranged on the swing arm connecting plate through a downward turning linkage structure, and when the parallel swing arm extends out of the box body, the downward turning linkage structure drives the shell of the launching gun to swing downwards; the clamping unit is arranged on the shell of the launching gun and is used for clamping the launching tube lifted upwards by the detector lifting unit; the front side surface of the box body is hinged with a launching gun parallel swing arm door used for sealing a swing arm extending window.
Furthermore, the clamping unit comprises a clamping driving motor, two armful slide rails and four transmitting tube armful hands; the two holding slide rails are longitudinally arranged on the shell of the launching gun; the four launching tube armors are respectively arranged on the two armer slide rails in pairs, and the two groups of launching tube armors corresponding to the left and right positions are used for clamping the launching tubes; the upper ends of the two transmitting tube armors on the same armer slide rail are connected through a connecting plate; the clamping driving motor is a motor with double output shafts, and two output shafts of the clamping driving motor are respectively provided with a clamping crank; the end part of each clamping crank is hinged with a clamping rocker; the end parts of the two clamping rockers are respectively hinged on the two connecting plates; a hand clasping tension spring is connected between the two connecting plates; the limiting plate is longitudinally arranged on the shell of the launching gun, and limiting grooves are symmetrically arranged on the edges of the left side and the right side of the limiting plate; the opposite side surfaces of the two connecting plates are respectively rotatably provided with an outer spherical roller which walks along the edge of the limiting plate; a butt joint terminal seat is longitudinally and slidably arranged at the rear side of the shell of the shooting gun; a data transmission butt-joint terminal is arranged on the front side surface of the butt-joint terminal seat; a balance spring is elastically supported between the butt joint terminal seat and the rear side wall of the shell of the shooting gun; and the rear end of each transmitting tube is provided with a data transmission butt joint interface which is used for being in conductive connection with the data transmission butt joint terminal.
Further, the downward turning linkage structure comprises a turning shaft, a turning deflector rod and a linkage rod;
the turnover shaft is fixed on the right side surface of the shell of the launching gun, and the end part of the turnover shaft penetrates through the swing arm connecting plate in a rotating way; one end of the overturning deflector rod is fixed on the penetrating end of the overturning shaft; a turnover driving tension spring is connected between the other end of the turnover deflector rod and the swing arm connecting plate; two ends of the linkage rod are respectively hinged on the two parallel swing arms; the linkage deflector rod for shifting the turnover deflector rod is arranged on the linkage rod, when the linkage deflector rod swings backwards, the extrusion turnover deflector rod swings backwards, the front side of the emission gun shell swings downwards, when the linkage deflector rod swings forwards, the turnover driving tension spring drives the turnover deflector rod to reset, and the emission gun shell resets to a horizontal state.
Compared with the prior art, the invention has the beneficial effects that: the tray lifting driving mechanism is utilized to lift the trays filled with the launching tubes upwards one by one, so that the trays reach the working position of the detector lifting transmission mechanism, the detector lifting transmission mechanism lifts each launching tube upwards, the launching guns grab the launching tubes and throw in the thermohaline depth gauge, the automatic throwing of the thermohaline depth gauge is realized, the automatic requirements of XCTD and XBT thermohaline depth profile detection are met, and manual detection is replaced; the automatic detection equipment can freely move on the deck by utilizing the equipment chassis, and the height of the box body is adjusted, so that the automatic detection equipment is suitable for different ships, and the universality is enhanced.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a perspective view of the present invention;
FIG. 3 is a perspective view of the present invention;
FIG. 4 is a schematic view of the internal structure of the present invention;
FIG. 5 is a schematic view of the internal structure of the present invention;
FIG. 6 is a schematic view of the gun of the present invention;
FIG. 7 is a schematic view of the gun of the present invention;
FIG. 8 is a schematic view of the gun of the present invention;
FIG. 9 is an assembly view of the tray lift drive mechanism of the present invention;
FIG. 10 is a schematic view of the assembly of the probe lift delivery mechanism of the present invention;
FIG. 11 is a schematic view of the equipment chassis of the present invention;
fig. 12 is a drawing of a tray component of the present invention.
Detailed Description
The technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the embodiments.
Example 1:
as shown in fig. 1-12, the automatic detection equipment for ocean thermal salt deep profile ship-based disclosed by the invention comprises: the device comprises a box body 1, an equipment chassis, a tray lifting driving mechanism, a launching gun, a detector lifting and transferring mechanism, a plurality of launching tubes 48 and a plurality of thermohaline depth gauges;
the box body 1 is arranged on the equipment chassis in a covering mode and is stopped and fixed by the equipment chassis matched with the ship boards with different heights; a warm salt depth instrument storage cabin waterproof partition plate 8 is vertically arranged on the equipment chassis to divide the space in the box body 1 into a warm salt depth instrument storage cabin 5 and a right cavity; a hollow launching tube storage cabin and a tray storage cabin partition plate 9 are vertically arranged on the equipment chassis to divide the right cavity into a tray storage cabin 6 and a hollow launching tube storage cabin 7; each thermohaline is respectively placed in each emission tube 48; the tray lifting driving mechanism is arranged in the thermohaline depth gauge storage cabin 5, a plurality of trays 45 are stacked on the tray lifting driving mechanism, the launching tubes 48 are placed on the trays 45, and the trays 45 are driven to lift by the tray lifting driving mechanism; the detector lifting and transferring mechanism and the emission guns are installed in the box body 1, the detector lifting and transferring mechanism lifts each emission tube 48 upwards, the emission guns grab the emission tubes 48 and throw in the thermohaline depth gauge, and then the empty emission tubes 48 are released in the empty emission tube storage cabin 7.
The tray 45 filled with the emission tubes 48 is lifted upwards one by utilizing the tray lifting driving mechanism, so that the tray 45 reaches the working position of the detector lifting transmission mechanism, each emission tube 48 is lifted upwards by the detector lifting transmission mechanism, the emission gun grabs the emission tube 48 and puts in the thermohaline depth gauge, the automatic putting of the thermohaline depth gauge is realized, the automatic requirements of XCTD and XBT thermohaline depth profile detection are met, and manual detection is replaced; the automatic detection equipment can freely move on the deck by utilizing the equipment chassis, and the height of the box body 1 is adjusted, so that the automatic detection equipment is suitable for different ships, and the universality is enhanced.
Further, the equipment chassis comprises a bearing bottom plate 50, a chassis lifting rod 17, a chassis lifting motor 19, a lifting driving screw rod 18, a lifting linkage pull rod 16, a directional caster lifting shaft 131, two directional casters 13 and two universal casters 14;
the two universal casters 14 are respectively arranged at two top corners on the same side of the lower side surface of the bearing bottom plate 50; a rotary seat 136 is arranged at the other two top corners of the lower side surface of the bearing bottom plate 50; two ends of the directional caster lifting shaft 131 are respectively and rotatably installed on the two rotating seats 136; the two directional casters 13 are fixed on both ends of the directional caster lifting shaft 131 through caster mounting rods 135, respectively; the chassis lifting rod 17 vertically penetrates through the bearing bottom plate 50 in a sliding manner; the lower end of the lifting driving screw rod 18 is screwed on the upper end of the chassis lifting rod 17 through coaxial threads; the chassis lifting motor 19 is used for driving the lifting driving screw rod 18 to rotate; two lifting connecting rods 134 are hinged to one end of the lifting linkage pull rod 16; the ends of the two lifting connecting rods 134 are respectively hinged on the lower side surface of the bearing bottom plate 50 and the lower end of the chassis lifting rod 17; a swinging seat 132 is fixed on the directional caster lifting shaft 131; the other end of the lifting linkage pull rod 16 is hinged on the swinging seat 132; a rubber foot pad 15 is provided on the lower end of the chassis lifting rod 17.
The two directional casters 13 and the two universal casters 14 can be used for pushing the bearing bottom plate 50, so that the automatic detection equipment can be moved to different positions on a deck; a chassis lifting motor 19 is used for driving a lifting driving screw rod 18 to rotate, driving a chassis lifting rod 17 to lift, pulling two lifting connecting rods 134 and a lifting linkage pull rod 16, a directional caster lifting shaft 131 rotates to drive a caster mounting rod 135 to swing, and the positions of two directional casters 13 are synchronously adjusted, so that height adjustment is realized, and the lower end of the chassis lifting rod 17 is positioned and supported; the rubber foot pad 15 is used for skid prevention.
Further, the tray lifting driving mechanism comprises a tray lifting motor 40, a lifting spindle 42, two lifting gears 41, two lifting racks 43 and two tray lifting forks 39;
two rack mounting rods 431 are vertically mounted on the front side of the bearing bottom plate 50, and the two rack mounting rods 431 are positioned in the thermohalographic storage cabin 5; the two lifting racks 43 are respectively arranged on the two rack mounting rods 431; the tray lifting fork 39 is L-shaped; the vertical sections of the two tray lifting forks 39 are respectively vertically and slidably mounted on the two rack mounting rods 431, and clamping pulleys 432 for clamping the rack mounting rods 431 are mounted on the tray lifting forks 39; the left end and the right end of the lifting main shaft 42 are respectively and rotatably arranged on the two tray lifting forks 39; the two lifting gears 41 are both arranged on the lifting main shaft 42, and the two lifting gears 41 are respectively meshed with the two lifting racks 43; the tray lifting motor 40 is used for driving the lifting spindle 42 to rotate; each tray 45 is stacked on the horizontal section of the two tray lifting forks 39; a tray placing window is arranged on the left side wall of the box body 1, and a water-tight door 11 of a storage cabin of the thermohaline depth gauge for sealing the tray placing window is hinged on the left side surface of the box body 1.
The lifting spindle 42 is driven to rotate by the tray lifting motor 40, so that the two lifting gears 41 move up and down along the two lifting racks 43, the two tray lifting forks 39 are driven to move up and down along the two rack mounting rods 431, and the lifting and the downward movement of the tray 45 are realized; the rack mounting rod 431 is clamped by the clamping pulley 432, so that the up-and-down movement stability of the tray lifting fork 39 is enhanced; the watertight door 11 of the storage compartment of the thermodepth gauge facilitates the placement of a fully loaded tray 45 on the tray lifting fork 39 and carries out a certain degree of water protection of the structure inside the box 1.
Further, the detector lifting and transferring mechanism comprises a tray 45, a translation driving unit, a detector lifting unit, a tray releasing unit, a Y-shaped support plate 301, two tray limiting guide rails 38 and two tray supporting plates 36; the translation driving unit comprises a tray conveying motor 44 and a tray conveying hook 46;
the lower edge of the vertical plate of the Y-shaped support plate 301 is fixed on the upper side surface of the bearing bottom plate 50; the two tray limiting guide rails 38 are respectively and transversely fixed on the upper ends of the two branch supporting plates of the Y-shaped supporting plate 301 in a parallel mode and are used for being attached to the front side surface and the rear side surface of the tray 45 on the uppermost layer; the two tray supporting plates 36 are respectively arranged on the tray limiting guide rails 38 in a swinging mode and used for supporting the tray 45;
the edges of the front side and the rear side of the tray 45 are provided with fastener holes 451 at intervals; the tray conveying motor 44 is mounted on one of the tray limit rails 38; a hook crank 442 is mounted on the output shaft of the tray conveying motor 44; a crochet rocker 441 is hinged on the end part of the crochet crank 442; the middle part of the tray conveying hook hand 46 is hinged to the end part of the hook hand rocker 441, the lower edge of the tray conveying hook hand 46 is provided with a hook for hooking the buckle hole 451, when the tray conveying hook hand 46 moves leftwards, the hook is separated from the buckle hole 451 and moves to the left buckle hole 451, and when the tray conveying hook hand 46 moves rightwards, the hook is buckled on the buckle hole 451 and drives the tray 45 to move rightwards; the tray releasing unit is arranged on the Y-shaped support plate 301 and used for driving the two tray supporting plates 36 to swing so as to enable the tray 45 to fall into the tray storage cabin 6 below; the detector lifting unit is arranged on the Y-shaped support plate 301 and is used for lifting the transmitting tube 48 on the tray 45 upwards; a tray taking-out window is arranged on the rear side wall of the box body 1, and a tray storage cabin door 3 for closing the tray taking-out window is hinged on the rear side surface of the box body 1.
The tray is guided by the two tray limiting guide rails 38, so that the tray conveying hook 46 is accurately matched with the buckle hole 451; the tray conveying motor 44 is used for driving the hook crank 442 to rotate, the hook rocker 441 drives the tray conveying hook 46 to move left and right, when the tray conveying hook 46 moves left, the hook is separated from the buckling hole 451 and moves to the buckling hole 451 on the left side, when the tray conveying hook 46 moves right, the hook is buckled on the buckling hole 451 and drives the tray 45 to move right, and therefore movement transmission of the tray 45 is achieved; the empty tray 45 is conveniently taken out by using the tray storage compartment door 3, and the structure in the box body 1 is protected to a certain degree.
Further, an empty launching tube push plate 47 is hinged to the upper side surface of the bearing bottom plate 50, and the empty launching tube push plate 47 is positioned on the left side of the empty launching tube storage cabin 7; the tray conveying motor 44 drives the empty launching tube push plate 47 to swing left and right through a crank rocker mechanism; a launching tube taking-out window is arranged on the right wall of the box body 1, and an empty launching tube storage cabin door 4 for sealing the launching tube taking-out window is hinged on the right side surface of the box body 1.
The tray conveying motor 44 is used for driving the empty transmitting tube push plate 47 to swing at the same time, so that the empty transmitting tubes 48 falling into the empty transmitting tube storage cabin 7 are sorted; the empty launch tube storage bay door 4 facilitates removal of the empty launch tube 48 and provides some protection to the structure within the enclosure 1.
Further, the tray releasing unit comprises a tray releasing slide rail 37, a tray releasing motor 34 and two tray turning pull rods 35;
the tray release slide rail 37 is vertically and slidably mounted on the Y-shaped support plate 301; the tray release motor 34 is installed on the Y-shaped support plate 301 and drives the tray release slide rail 37 to slide up and down through a crank rocker structure; the lower ends of the two pallet turning pull rods 35 are hinged on the pallet release slide rails 37, and the upper ends are hinged on the two pallet pallets 36 respectively.
The tray release motor 34 drives the tray release slide rail 37 to slide up and down through a crank rocker structure, and drives the two tray turnover pull rods 35 to respectively drive the two tray support plates 36 to swing downwards, so that the empty tray 45 falls into the tray storage cabin 6 below, and the position of the next tray 45 full of the transmitting tube 48 is vacated.
Further, the detector lifting unit comprises a detector lifting motor 30 and two lifting transmission forks 33;
two buckle rib plates 453 are transversely arranged on the tray 45; a plurality of semicircular clamping grooves 454 are formed in the two buckle rib plates 453 at intervals; each launching tube 48 is respectively arranged on the two semicircular clamping grooves 454 corresponding to the front and the back, and the positions of the semicircular clamping grooves 454 correspond to the positions of the clamping holes 451; two rows of lifting holes 452 are formed in the tray 45, and the positions of the lifting holes 452 correspond to the positions of the semicircular clamping grooves 454;
the detector lifting motor 30 is arranged on the Y-shaped support plate 301, and the detector lifting motor 30 is a motor with double output shafts; two output shafts of the detector lifting motor 30 are respectively provided with a lifting crank 31; a lifting rocker 32 is hinged on the end part of the lifting crank 31; two auxiliary plates 302 are arranged on the Y-shaped support plate 301; the two lifting transfer forks 33 are respectively vertically and slidably mounted on the two auxiliary plates 302, and the upper ends of the two lifting rockers 32 are respectively hinged to the lower ends of the two lifting transfer forks 33; the upper ends of the two lifting rockers 32 are respectively hinged to the lower ends of the two lifting transmission forks 33 and are used for driving the upper ends of the two lifting transmission forks 33 to synchronously extend above the tray 45 through two lifting holes 452 corresponding to the front position and the rear position; arc-shaped notches for fitting the circumferential surface of the launching tube 48 are formed in the upper ends of the two lifting transfer forks 33.
The semicircular clamping groove 454 is utilized to facilitate the stable placement of the launching tube 48; utilize the detection instrument to lift motor 30 drive two and lift crank 31 rotatory, make two lift rocker 32 drive two and lift transfer fork 33 and reciprocate in step, whenever remove once as tray 45, lift transfer fork 33's upper end by two front and back positions corresponding lift hole 452 synchronous extend tray 45 top, upwards lift the firing tube 48 that will correspond and install on the firing gun to the realization is loaded the automation of firing gun.
Further, the gun includes a gun housing 29, a holding unit, and a position adjusting unit; the position adjusting unit comprises a swing arm driving motor 49, a swing arm connecting plate 285 and two parallel swing arms 28;
a swing arm extending window is arranged on the upper side of the front side surface of the box body 1; two support rods are vertically arranged on the right edge of the bearing bottom plate 50; the right ends of the two parallel swing arms 28 are respectively hinged on the two support rods, and the left ends are respectively hinged on a swing arm connecting plate 285; the swing arm driving motor 49 is used for driving one of the parallel swing arms 28 to swing horizontally and extend out of the box body 1 through the swing arm extending window; the launching gun shell 29 is arranged on the swing arm connecting plate 285 through a downward turning linkage structure, and when the parallel swing arm 28 extends out of the box body 1, the downward turning linkage structure drives the launching gun shell 29 to swing downwards; the clamping unit is arranged on the shell 29 of the emission gun and is used for clamping the emission tube 48 lifted upwards by the detector lifting unit; a launching gun parallel swing arm door 2 for sealing a swing arm extending window is hinged on the front side surface of the box body 1.
Utilize two parallel swing arms 28, form parallel structure between swing arm connecting plate 285 and the cradling piece, swing arm driving motor 49 drives one of them parallel swing arm 28 horizontal swing to two parallel swing arm 28 swings of synchronous drive, make swing arm connecting plate 285 drive launch gun shell 29 and stretch out outside the swing arm stretches out the window, drive launch gun shell 29 swing down by turning over linkage structure down simultaneously, make thermohaline depth appearance roll-off launching tube 48 fall into the sea, realize the input to thermohaline depth appearance.
Further, the clamping unit comprises a clamping driving motor 20, an outer spherical surface roller 27, two armful slide rails 24 and four launching tube armors 21; the two armful of hand slide rails 24 are both longitudinally installed on the shooting gun shell 29; the four launching tube clasps 21 are respectively installed on the two clasping slide rails 24 in pairs, and the two groups of launching tube clasps 21 corresponding to the left and right positions are used for clamping the launching tubes 48; the upper ends of the two transmitting tube armrests 21 on the same armrest slide rail 24 are connected through a connecting plate 211; the clamping driving motor 20 is a motor with double output shafts, and two output shafts of the clamping driving motor 20 are respectively provided with a clamping crank 23; a clamping rocker 22 is hinged to the end of each clamping crank 23; the ends of the two clamping rockers 22 are respectively hinged on the two connecting plates 211; a hand holding tension spring is connected between the two connecting plates 211; the limit plate 26 is longitudinally arranged on the shell 29 of the launching gun, and limit grooves are symmetrically arranged on the edges of the left side and the right side of the limit plate 26; the opposite side surfaces of the two connecting plates 211 are respectively and rotatably provided with an outer spherical roller 27 which runs along the edge of the limiting plate 26; a butt terminal holder 251 is longitudinally slidably provided on the rear side of the gun housing 29; a data transmission docking terminal 25 is provided on a front side surface of the docking terminal holder 251; a balance spring is elastically supported between the butt terminal holder 251 and the rear side wall of the gun housing 29; a data transmission docking interface for electrically conductive connection with the data transmission docking terminal 25 is provided on the rear end of each of the emitter tubes 48.
Utilize centre gripping driving motor 20 drive centre gripping crank 23 rotatory, two centre gripping rockers 22 drive two connecting plates 211 back-and-forth movement in step, the launching tube is embraced hand 21 and is followed armful hand slide rail 24 back-and-forth movement, when two spherical outside surface gyro wheels 27 walked to spacing groove department, it is to drawing two connecting plates 211 to embrace the hand power spring, launching tube is embraced hand 21 and is opened, when two spherical outside surface gyro wheels 27 left the spacing groove, the launching tube is embraced hand 21 that two sets of left and right sides positions correspond and is pressed from both sides tight launching tube 48 to the realization is to launching tube 48's stable centre gripping.
Further, the downward-turning linkage structure comprises a turning shaft 286, a turning lever 281 and a linkage rod 282;
a turning shaft 286 is fixed on the right side surface of the gun case 29, and the end part thereof rotatably penetrates through the swing arm connecting plate 285; one end of the turning over deflector 281 is fixed on the penetrating end of the turning over shaft 286; a turnover driving tension spring 284 is connected between the other end of the turnover deflector rod 281 and the swing arm connecting plate 285; two ends of the linkage 282 are respectively hinged on the two parallel swing arms 28; a linkage shifter 283 for pressing the kick shifter 281 is provided on the linkage lever 282, and when the linkage shifter 283 swings backward and the press-and-turn shifter 281 swings backward, the front side of the gun case 29 swings downward, and when the linkage shifter 283 swings forward, the kick drive tension spring 284 drives the kick shifter 281 to reset, and the gun case 29 is reset to a horizontal state.
By utilizing the matching among the turning shaft 286, the turning deflector rod 281, the turning drive tension spring 284 and the linkage rod 282, when the two parallel swing arms 28 swing towards the outside of the box body 1, the linkage rod 282 drives the linkage deflector rod 283 to swing backwards, the extrusion turning deflector rod 281 swings backwards, the turning deflector rod 281 drives the front side of the emission gun shell 29 to swing downwards, at the moment, the thermohalographic falls into the sea due to forward tilting and sliding of the emission tube 48, thereby realizing the throwing of the thermohalographic, when the parallel swing arms 28 return to the inside of the box body 1, the linkage deflector rod 283 swings forwards, the turning drive tension spring 284 drives the turning deflector rod 281 to reset, the emission gun shell 29 resets to a horizontal state, and therefore the downward tilting linkage between the emission gun shell 29 and the parallel swing arms 28 is realized.
In the automatic detection equipment for the ocean warm salt deep section ship foundation provided by the invention, the chassis lifting motor 19, the tray lifting motor 40, the tray conveying motor 44, the tray releasing motor 34, the detector lifting motor 30, the swing arm driving motor 49 and the clamping driving motor 20 all adopt the existing stepping motors.
When the marine warm-salt deep-section ship-based automatic detection device provided by the invention is installed and used, firstly, the automatic detection device is pushed to a required position, then the chassis lifting motor 19 drives the lifting driving screw rod 18 to rotate, the chassis lifting rod 17 is driven to lift, the two lifting connecting rods 134 and the lifting linkage pull rod 16 are pulled, the directional caster lifting shaft 131 rotates to drive the caster installation rod 135 to swing, the positions of the two directional casters 13 are synchronously adjusted until the required height is reached, and the lower end of the chassis lifting rod 17 is positioned and supported;
stacking the trays 45 loaded with the transmitting tubes 48 on the horizontal sections of the two tray lifting forks 39 through the tray placing windows, and covering the water-tight door 11 of the storage cabin of the thermohaline depth gauge;
then the tray lifting motor 40 drives the lifting spindle 42 to rotate, so that the two lifting gears 41 move upwards along the two lifting racks 43, the two tray lifting forks 39 are driven to move upwards along the two rack mounting rods 431, the tray 45 on the uppermost layer is lifted to a position between the two tray limiting guide rails 38, and the lower side surface of the tray 45 is higher than the upper side surface of the tray supporting plate 36;
the tray conveying motor 44 drives the hook crank 442 to rotate, the hook rocker 441 drives the tray conveying hook 46 to move, and the hook is buckled on the buckling hole 451 and drives the tray 45 to move rightwards;
the clamping driving motor 20 drives the clamping crank 23 to rotate, the two clamping rockers 22 synchronously drive the two connecting plates 211 to move back and forth, the launching tube holding hand 21 moves along the holding hand sliding rail 24, the two outer spherical surface rollers 27 walk to the limiting groove, the holding hand springs oppositely pull the two connecting plates 211, and the launching tube holding hand 21 is opened;
after the tray 45 moves each time, the detector lifting motor 30 drives the two lifting cranks 31 to rotate, so that the two lifting rockers 32 drive the two lifting transmission forks 33 to move upwards synchronously, the upper ends of the lifting transmission forks 33 synchronously extend above the tray 45 through two lifting holes 452 corresponding to the front and rear positions, and the corresponding transmitting tubes 48 are lifted upwards;
the clamping driving motor 20 drives the two outer spherical surface rollers 27 to walk away from the limiting groove, the two groups of launching tube holding hands 21 corresponding to the left and right positions clamp the launching tube 48, and at the moment, the data transmission butt joint terminal 25 is butted with a data transmission butt joint interface on the launching tube 48, so that the thermohaline depth gauge is activated;
then the swing arm driving motor 49 rotates to drive the two parallel swing arms 28 to swing, so that the launching gun shell 29 backs up the launching gun parallel swing arm door 2 and extends out of the swing arm extending window, the linkage rod 282 drives the linkage poking rod 283 to swing backwards, the extrusion overturning poking rod 281 swings backwards, the overturning poking rod 281 drives the front side of the launching gun shell 29 to swing downwards, and at the moment, the thermohaline depth gauge slides out of the sea due to the forward tilting of the launching tube 48;
after the throwing is finished, the swing arm driving motor 49 drives the launching gun shell 29 to return to the box body 1, the linkage poking rod 283 swings forwards, the overturning driving tension spring 284 drives the overturning poking rod 281 to drive the launching gun shell 29 to reset to a horizontal state, the clamping driving motor 20 drives the launching tube holding hand 21 to release, the empty launching tube 48 is thrown into the empty launching tube storage cabin 7, and the empty launching tube push plate 47 swings left and right under the driving of the tray conveying motor 44 to push the empty launching tube 48 to be sorted; the gun housing 29 is then returned to the initial position;
the tray conveying motor 44 drives the tray conveying hook 46 to move leftwards again, the hook is separated from the buckling hole 451 and then reaches the position of the left buckling hole 451, the tray 45 is driven to move leftwards again, and the steps are repeated;
after the launching tubes 48 on the trays 45 are completely put in, the tray release motor 34 drives the tray release slide rails 37 to slide up and down through a crank rocker structure, drives the two tray turnover pull rods 35 to respectively drive the two tray support plates 36 to swing downwards, so that the empty tray 45 falls into the tray storage cabin 6 below, and meanwhile, the tray lifting motor 40 is started again to lift the tray 45 on the uppermost layer to a position between the two tray limit guide rails 38;
when all the launching tubes 48 are completely launched, the tray storage compartment door 3 and the empty launching tube storage compartment door 4 can be opened, and the empty tray 45 and the empty launching tubes 48 can be taken out.
As noted above, while the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited thereto. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The utility model provides an automatic detection of deep section ship-based of ocean temperature and salinity is equipped which characterized in that: the device comprises a box body (1), an equipment chassis, a tray lifting driving mechanism, a launching gun, a detector lifting and transferring mechanism, a plurality of launching tubes (48) and a plurality of thermohaline depth gauges;
the box body (1) is arranged on the equipment chassis in a cover-covering mode, and the equipment chassis is matched with the ship boards with different heights to stop and fix; each thermohaline is respectively arranged in each emission tube (48); the tray lifting driving mechanism is arranged in the box body (1), a plurality of trays (45) are stacked on the tray lifting driving mechanism, the launching tubes (48) are placed on the trays (45), and the trays (45) are driven to lift by the tray lifting driving mechanism; the detector lifting and transferring mechanism and the launching guns are both arranged in the box body (1), each launching tube (48) is lifted upwards by the detector lifting and transferring mechanism, the launching guns grab the launching tubes (48) and put in the thermohaline depth gauge, and then the empty launching tubes (48) are released in the box body (1).
2. The automatic detection equipment for ocean warm salt deep profile ship base according to claim 1, characterized in that: the equipment chassis comprises a bearing bottom plate (50), a chassis lifting rod (17), a chassis lifting motor (19), a lifting driving screw rod (18), a lifting linkage pull rod (16), a directional caster lifting shaft (131), two directional casters (13) and two universal casters (14);
the two universal casters (14) are respectively arranged at two vertex angles at the same side of the lower side surface of the bearing bottom plate (50); the other two top corners of the lower side surface of the bearing bottom plate (50) are respectively provided with a rotating seat (136); two ends of the directional caster lifting shaft (131) are respectively and rotatably arranged on the two rotating seats (136); the two directional casters (13) are respectively fixed on the two ends of the directional caster lifting shaft (131) through caster mounting rods (135); the chassis lifting rod (17) vertically penetrates through the bearing bottom plate (50) in a sliding manner; the lower end of the lifting driving screw rod (18) is screwed on the upper end of the chassis lifting rod (17) in a coaxial type thread way; the chassis lifting motor (19) is used for driving the lifting driving screw rod (18) to rotate; one end of the lifting linkage pull rod (16) is hinged with two lifting connecting rods (134); the end parts of the two lifting connecting rods (134) are respectively hinged on the lower side surface of the bearing bottom plate (50) and the lower end of the chassis lifting rod (17); a swinging seat (132) is fixed on the directional caster lifting shaft (131); the other end of the lifting linkage pull rod (16) is hinged on the swinging seat (132).
3. The automatic detection equipment for ocean warm salt deep profile ship-based according to claim 2, characterized in that: the tray lifting driving mechanism comprises a tray lifting motor (40), a lifting spindle (42), two lifting gears (41), two lifting racks (43) and two tray lifting forks (39);
two rack mounting rods (431) are vertically mounted on the front side edge of the left side of the bearing bottom plate (50); the two lifting racks (43) are respectively arranged on the two rack mounting rods (431); the tray lifting fork (39) is L-shaped; the vertical sections of the two tray lifting forks (39) are respectively vertically and slidably mounted on the two rack mounting rods (431); the left end and the right end of the lifting main shaft (42) are respectively and rotatably arranged on the two tray lifting forks (39); the two lifting gears (41) are both arranged on the lifting main shaft (42), and the two lifting gears (41) are respectively meshed with the two lifting racks (43); the tray lifting motor (40) is used for driving the lifting main shaft (42) to rotate; each tray (45) is stacked on the horizontal sections of the two tray lifting forks (39); a tray placing window is arranged on the left side wall of the box body (1), and a water-tight door (11) for sealing the tray placing window is hinged on the left side face of the box body (1).
4. The automatic detection equipment for ocean warm salt deep profile ship base according to claim 3, characterized in that: the detector lifting transmission mechanism comprises a tray (45), a translation driving unit, a detector lifting unit, a tray releasing unit, a Y-shaped support plate (301), two tray limiting guide rails (38) and two tray supporting plates (36); the translation driving unit comprises a tray conveying motor (44) and a tray conveying hook (46);
the lower edge of the vertical plate of the Y-shaped support plate (301) is fixed on the upper side surface of the bearing bottom plate (50); two tray limiting guide rails (38) are respectively fixed on the upper ends of two branch support plates of the Y-shaped support plate (301) in a parallel type transversely and are used for being attached to the front side surface and the rear side surface of the tray (45) at the uppermost layer; the two tray supporting plates (36) are respectively arranged on the tray limiting guide rails (38) in a swinging mode and used for supporting the trays (45);
the edges of the front side and the rear side of the tray (45) are provided with buckle holes (451) at intervals; the tray conveying motor (44) is arranged on one tray limiting guide rail (38); a crochet crank (442) is arranged on the output shaft of the tray transmission motor (44); a hook rocker (441) is hinged on the end part of the hook crank (442); the middle part of the tray conveying hook hand (46) is hinged to the end part of the hook hand rocker (441), and the lower edge of the tray conveying hook hand (46) is provided with a hook for hooking the buckling hole (451); the tray release unit is arranged on the Y-shaped support plate (301) and used for driving the two tray supporting plates (36) to swing so as to enable the tray (45) to fall; the detector lifting unit is arranged on the Y-shaped support plate (301) and used for lifting the transmitting tube (48) on the tray (45) upwards;
a tray taking-out window is arranged on the rear side wall of the box body (1), and a tray storage cabin door (3) used for closing the tray taking-out window is hinged on the rear side surface of the box body (1).
5. The automatic detection equipment for ocean warm salt deep profile ship base according to claim 4, characterized in that: an empty launching tube push plate (47) is hinged on the upper side surface of the bearing bottom plate (50); the tray transmission motor (44) drives the empty launching tube push plate (47) to swing left and right through a crank rocker mechanism;
a launching tube taking-out window is arranged on the right wall of the box body (1), and an empty launching tube storage cabin door (4) used for sealing the launching tube taking-out window is hinged on the right side surface of the box body (1).
6. The automatic detection equipment for ocean warm salt deep profile ship base according to claim 4, characterized in that: the tray releasing unit comprises a tray releasing slide rail (37), a tray releasing motor (34) and two supporting plate overturning pull rods (35);
the tray release slide rail (37) is vertically and slidably arranged on the Y-shaped bracket plate (301); the tray release motor (34) is arranged on the Y-shaped support plate (301) and drives the tray release slide rail (37) to slide up and down through a crank rocker structure; the lower ends of the two supporting plate overturning pull rods (35) are hinged on the supporting plate releasing slide rails (37), and the upper ends of the two supporting plate overturning pull rods are hinged on the two supporting plate supporting plates (36) respectively.
7. The automatic detection equipment for ocean warm salt deep profile ship base according to claim 4, characterized in that: the detector lifting unit comprises a detector lifting motor (30) and two lifting transmission forks (33);
two buckle rib plates (453) are transversely arranged on the tray (45); a plurality of semicircular clamping grooves (454) are formed in the two buckle rib plates (453) at intervals; each launching tube (48) is respectively placed on the two corresponding semicircular clamping grooves (454) in the front and the back, and the positions of the semicircular clamping grooves (454) correspond to the positions of the clamping holes (451); two rows of lifting holes (452) are formed in the tray (45), and the positions of the lifting holes (452) correspond to the positions of the semicircular clamping grooves (454);
the detector lifting motor (30) is arranged on the Y-shaped support plate (301), and the detector lifting motor (30) is a motor with double output shafts; two output shafts of the detector lifting motor (30) are respectively provided with a lifting crank (31); a lifting rocker (32) is hinged on the end part of the lifting crank (31); two auxiliary plates (302) are arranged on the Y-shaped support plate (301); the two lifting transfer forks (33) are respectively vertically and slidably arranged on the two auxiliary plates (302); the upper ends of the two lifting rockers (32) are respectively hinged to the lower ends of the two lifting transmission forks (33) and used for driving the upper ends of the two lifting transmission forks (33) to synchronously extend to the upper side of the tray (45) through two lifting holes (452) corresponding to the front position and the rear position.
8. The automatic detection equipment for ocean warm salt deep profile ship base according to claim 4, characterized in that: the shooting gun comprises a shooting gun shell (29), a clamping unit and a position adjusting unit; the position adjusting unit comprises a swing arm driving motor (49), a swing arm connecting plate (285) and two parallel swing arms (28);
a swing arm extending window is arranged on the upper side of the front side surface of the box body (1); two support rods are vertically arranged on the right edge of the bearing bottom plate (50); the right ends of the two parallel swing arms (28) are respectively hinged on the two support rods, and the left ends of the two parallel swing arms are respectively hinged on a swing arm connecting plate (285); the swing arm driving motor (49) is used for driving one parallel swing arm (28) to swing horizontally and extend out of the box body (1) through a swing arm extending window; the launching gun shell (29) is arranged on the swing arm connecting plate (285) through a downward turning linkage structure, and when the parallel swing arm (28) extends out of the box body (1), the downward turning linkage structure drives the launching gun shell (29) to swing downwards; the clamping unit is arranged on a shell (29) of the launching gun and is used for clamping a launching tube (48) lifted upwards by the detector lifting unit; a launching gun parallel swing arm door (2) used for sealing a swing arm extending window is hinged on the front side surface of the box body (1).
9. The automatic detection equipment for ocean warm salt deep profile ship base according to claim 8, characterized in that: the clamping unit comprises a clamping driving motor (20), two armful slide rails (24) and four transmitting tube armful hands (21); the two holding hand sliding rails (24) are longitudinally arranged on a shooting gun shell (29); the four launching tube clasps (21) are respectively arranged on the two clasping slide rails (24) in pairs, and the two groups of launching tube clasps (21) corresponding to the left and right positions are used for clamping the launching tubes (48); the upper ends of two transmitting tube armors (21) on the same armer slide rail (24) are connected through a connecting plate (211); the clamping driving motor (20) is a motor with double output shafts, and two output shafts of the clamping driving motor (20) are respectively provided with a clamping crank (23); a clamping rocker (22) is hinged to the end of each clamping crank (23); the end parts of the two clamping rocking bars (22) are respectively hinged on the two connecting plates (211); a hand clasping tension spring is connected between the two connecting plates (211); the limiting plate (26) is longitudinally arranged on the shell (29) of the launching gun, and limiting grooves are symmetrically arranged on the edges of the left side and the right side of the limiting plate (26); the opposite side surfaces of the two connecting plates (211) are respectively rotatably provided with an outer spherical roller (27) which walks along the edge of the limiting plate (26); a butt terminal seat (251) is longitudinally and slidably arranged at the rear side of the shooting gun shell (29); a data transmission butt joint terminal (25) is arranged on the front side surface of the butt joint terminal seat (251); a balance spring is elastically supported between the butt terminal holder (251) and the rear side wall of the gun housing (29); a data transmission butt joint interface used for being in conductive connection with the data transmission butt joint terminal (25) is arranged at the rear end of each transmitting tube (48).
10. The automatic detection equipment for ocean warm salt deep profile ship base according to claim 8, characterized in that: the downward turning linkage structure comprises a turning shaft (286), a turning deflector rod (281) and a linkage rod (282);
the overturning shaft (286) is fixed on the right side surface of the launching gun shell (29), and the end part of the overturning shaft penetrates through the swing arm connecting plate (285) in a rotating way; one end of the turning deflector rod (281) is fixed on the penetrating end of the turning shaft (286); a turnover driving tension spring (284) is connected between the other end of the turnover deflector rod (281) and the swing arm connecting plate (285); two ends of the linkage rod (282) are respectively hinged on the two parallel swing arms (28); the interlocking shifting rod (283) used for extruding the overturning shifting rod (281) is arranged on the interlocking rod (282), when the interlocking shifting rod (283) swings backwards, the front side of the emission gun shell (29) swings downwards when the extruding overturning shifting rod (281) swings backwards, when the interlocking shifting rod (283) swings forwards, the overturning driving tension spring (284) drives the overturning shifting rod (281) to reset, and the emission gun shell (29) resets to a horizontal state.
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| CN202210589305.5A CN115200558B (en) | 2022-05-27 | 2022-05-27 | Marine temperature salt deep profile ship base automatic detection equipment |
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| CN202210589305.5A CN115200558B (en) | 2022-05-27 | 2022-05-27 | Marine temperature salt deep profile ship base automatic detection equipment |
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| CN115200558B (en) | 2023-08-29 |
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