CN117650389A - Underwater electric connector plugging actuator based on spherical hinge-electric cylinder and control method - Google Patents
Underwater electric connector plugging actuator based on spherical hinge-electric cylinder and control method Download PDFInfo
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- CN117650389A CN117650389A CN202311550546.XA CN202311550546A CN117650389A CN 117650389 A CN117650389 A CN 117650389A CN 202311550546 A CN202311550546 A CN 202311550546A CN 117650389 A CN117650389 A CN 117650389A
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 4
- 238000004804 winding Methods 0.000 claims description 18
- 238000009434 installation Methods 0.000 claims description 6
- 238000012423 maintenance Methods 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 3
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- 230000005540 biological transmission Effects 0.000 description 6
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
- H01R13/629—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/46—Bases; Cases
- H01R13/502—Bases; Cases composed of different pieces
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Abstract
The invention provides an underwater electric connector plugging actuator based on a spherical hinge-electric cylinder and a control method thereof, wherein the underwater electric connector plugging actuator comprises a mounting base, a bearing rack and a flexible electric connector plug, the bearing rack comprises an upper frame panel, a bearing panel and a Z-direction adjusting mechanism, the Z-direction adjusting mechanism drives the bearing rack to move along the Z direction, an X-direction adjusting mechanism and a Y-direction adjusting mechanism are arranged on the bearing panel, and the X-direction adjusting mechanism drives the Y-direction adjusting mechanism to move along the X direction; the flexible electric connector plug comprises a plug body and a flexible connecting piece, wherein the outer part of the flexible connecting piece is connected with a Y-direction adjusting mechanism, the plug body is inserted into the flexible connecting piece and is connected with the flexible connecting piece, the Y-direction adjusting mechanism drives the flexible electric connector plug to move along the Y direction, and the bearing rack adjusts the position and the posture of the flexible electric connector plug through XYZ three-way displacement adjustment so as to realize the alignment of the plug and the socket.
Description
Technical Field
The application relates to the technical field of underwater power transmission, in particular to an underwater electric connector plugging actuator based on a spherical hinge-electric cylinder and a control method.
Background
The manned submersible performs electric energy transmission on an underwater unmanned vehicle (UUV for short), which is an important content of unmanned-unmanned collaborative operation and has important significance for improving the endurance of the UUV. The wired charging is a mode for realizing highest underwater power transmission efficiency and stronger reliability. Under the underwater working condition, the butt joint of the electric connector plug and the socket of the separated manned submersible and the UUV is a core technology for realizing wired charging.
Before power transmission, the plugging operation of the electric connector is required, but there is an error in the relative position of the UUV and the manned submersible, and the error may cause deviation between the position and the posture of the plug (hereinafter referred to as plug) of the electric connector and the socket. Therefore, the manned submersible is provided with the plug actuator capable of adjusting the plug position, and an operator or a control device can adjust and control the plug actuator, so that the plug position and the plug posture are adjusted, and the alignment of the plug and the socket is realized. The plug position is adjusted by using a plug actuator, which is an important content for the plug-in industry.
Disclosure of Invention
The invention aims to solve the problems by providing an underwater electric connector plugging actuator based on a spherical hinge-electric cylinder and a control method, wherein the plugging actuator is used for adjusting the plug position to realize the alignment of a plug and a socket.
Embodiments of the present application are implemented as follows:
the embodiment of the application provides an underwater electric connector plugging actuator based on a spherical hinge-electric cylinder, which is characterized by comprising an installation base, a bearing rack and a flexible electric connector plug, wherein the bearing rack comprises an upper frame panel, a bearing panel and a Z-direction adjusting mechanism, the Z-direction adjusting mechanism comprises a Z-direction electric cylinder and a Z-direction guiding assembly, the Z-direction electric cylinder is arranged between a group of opposite angle positions corresponding to the upper frame panel and the installation base, the bearing rack is driven to move along the Z-direction, the Z-direction guiding assembly is arranged between the upper frame panel and the other group of opposite angle positions of the installation base, four corners of the bearing panel are respectively fixed on the Z-direction electric cylinder and the Z-direction guiding assembly at corresponding sides, the bearing panel is provided with an X-direction adjusting mechanism and a Y-direction adjusting mechanism, and the X-direction adjusting mechanism drives the Y-direction adjusting mechanism to move along the X-direction;
the flexible electric connector plug comprises a plug body and a flexible connecting piece, the outer part of the flexible connecting piece is connected with the Y-direction adjusting mechanism, the plug body is inserted into the flexible connecting piece and connected with the flexible connecting piece, the Y-direction adjusting mechanism drives the flexible electric connector plug to move along the Y direction, and the bearing rack drives the flexible electric connector plug to be aligned through XYZ three-way displacement adjustment.
In some optional embodiments, the Z-direction electric cylinder is mounted on the bottom surface of the upper frame panel, and the end of the telescopic rod is connected with the top surface of the mounting base; the Z-direction guiding component comprises a guiding rod fixed on the mounting base and a guiding cylinder fixed on the upper frame panel.
In some optional embodiments, the X-direction adjusting mechanism comprises an X-direction electric cylinder, an X-direction guide rail and an X-direction sliding table, wherein the X-direction electric cylinder is fixed on the bearing panel, the X-direction guide rail is fixed on the bearing panel through an X-direction slide rail mounting frame, the X-direction sliding table is configured and connected with the X-direction guide rail, and the end of a telescopic rod of the X-direction electric cylinder is connected with the X-direction sliding table to drive the X-direction sliding table to slide along the X-direction guide rail.
In some optional embodiments, the Y-direction adjusting mechanism comprises a Y-direction electric cylinder, a Y-direction guide rail and a Y-direction sliding table, the Y-direction guide rail is fixed on the X-direction sliding table, the Y-direction electric cylinder is fixed on the Y-direction sliding table, the Y-direction sliding table is configured and connected with the Y-direction guide rail, the end of a telescopic rod of the Y-direction electric cylinder is connected with the X-direction sliding table to drive the Y-direction sliding table to slide along the Y-direction guide rail, and the flexible electric connector plug is fixed on the Y-direction sliding table.
In some optional embodiments, the flexible connector comprises a plug sleeve, a spherical hinge joint, a fixed cylinder and a centralizing cylinder, wherein a top cover is arranged at the top of the spherical hinge joint, the bottom of the spherical hinge joint is connected with the top of the centralizing cylinder, a spherical cavity is arranged at the upper part of the fixed cylinder and sleeved with the spherical hinge joint, the lower part of the fixed cylinder is sleeved with the centralizing cylinder, the plug sleeve is sleeved with the plug body and connected with the plug body, the bottom of the plug sleeve is connected with the top cover of the spherical hinge joint, a plurality of spring accommodating cavities are uniformly arranged on the inner wall of the bottom of the fixed cylinder at intervals along the circumferential direction, a central column is arranged in the spring accommodating cavities, a radial spring is sleeved on the central column, two ends of the radial spring are respectively connected with the fixed cylinder and the cylinder wall, two rotary springs are arranged in an annular space formed by the fixed cylinder and the centralizing cylinder, and two ends of the rotary spring are respectively connected with the fixed cylinder and the cylinder wall.
In some alternative embodiments, the bearing rack is provided with a pressure compensator which is respectively communicated with the X-direction electric cylinder, the Y-direction electric cylinder and the Z-direction electric cylinder; the bearing rack is also provided with a plurality of reinforcing ribs.
In some optional embodiments, the system further comprises a control system, wherein the X-direction electric cylinder, the Y-direction electric cylinder and the Z-direction electric cylinder are respectively provided with a telescopic rod stroke sensor, the telescopic rod stroke sensors are connected with the input end of a plug controller, and the output end of the plug controller is respectively connected with the X-direction electric cylinder, the Y-direction electric cylinder and the Z-direction electric cylinder.
The application method of the underwater electric connector plugging actuator based on the spherical hinge-electric cylinder is characterized by comprising the following steps of:
step a, the plug controller transmits position instructions [ rx, ry, rz ] to the plug executor according to the operation of an operator or the instruction of a superior system]The plug controller judges the working state of the plug actuator, sends out working or maintenance instructions P, and receives push rod stroke measurement values x, y and z of each stroke sensor 1 、z 2 ；
And b, calculating a difference value between the position command value and the measured value by the plug controller, judging the stroke amounts of the X-direction electric cylinder, the Y-direction electric cylinder and the Z-direction electric cylinder, and respectively performing three-way position movement control.
In some alternative embodiments, the work or service order P is divided into three types:
if p=0, then the electrical connector is in a "normal" state;
if p=1, the electrical connector is in a clamping stagnation state, overhauling is carried out, and after the plugging controller judges that the electrical connector exits from the clamping stagnation state, the p value is set to be p=0;
if p=2, it means that the electrical connector is in the "plugged-in-place" state, and if the plug is pulled out, the p value is set to p=0.
In some alternative embodiments, the three-way position movement control comprises the steps of:
step a, X-direction movement control:
step a 1 The X-direction sensor collects the push rod stroke of the X-direction electric cylinder to obtain a push rod stroke value X;
step a 2 Subtracting rx from x to obtain a difference value ex;
step a 3 The difference value ex is input to a plug controller, and the plug controller obtains a current instruction value rix through the control algorithm operation of the plug controller;
step a 4 The plug controller sends out a command signal p, if p=0, the current command value rix is input to the X-direction electric cylinder, and the X-direction electric cylinder generates the current command rix as a winding current ix; under the action of the winding current ix, the push rod of the X-direction electric cylinder moves, namely the stroke X of the push rod is updated, and the position of the electric connector plug in the X direction is changed;
if p=1, the push rod is retracted by the plugging controller in a clamping stagnation state;
if p=2, the driver is blocked to output so that the X-direction electric cylinder is in a follow-up state;
step b, Y-direction movement control:
step b 1 The Y-direction sensor collects the push rod stroke of the Y-direction electric cylinder to obtain a push rod stroke value Y;
step b 2 Performing subtraction operation on ry and y to obtain a difference ey;
step b 3 The difference ey is input to a plug controller, and the plug controller obtains a current instruction value riy through the control algorithm operation of the plug controller;
step b 4 The plug controller sends out a command signal p, if p=0, the current command value riy is input to the Y-direction electric cylinder, and the Y-direction electric cylinder generates a current command riy as a winding current iy; under the action of the winding current iy, the push rod of the Y-direction electric cylinder moves, namely the stroke Y of the push rod is updated, and the position of the plug in the Y direction is changed;
if p=1, the push rod is retracted by the plugging controller in a clamping stagnation state;
if p=2, the driver is blocked to output so that the Y-direction electric cylinder is in a follow-up state;
step c, Z-direction movement control:
step c 1 The Z-direction sensor collects the push rod strokes of the two Z-direction electric cylinders to obtain a push rod stroke value Z 1 、z 2 ；
Step c 2 Rz1, rz2 are respectively equal to the push rod stroke value z 1 、z 2 Subtracting to generate a difference e 1 And e 2 ；
Step c 3 Difference e 1 And e 2 Input to a plug controller, and the plug controller obtains a current instruction value riz through the control algorithm operation of the plug controller 1 、riz 2 ；
Step c 4 The plug controller sends out command signal p, if p=0, the current command value riz is in normal plug state 1 And riz 2 Input to the plug controller, the plug controller sends a current command riz 1 And riz 2 Generated as winding current iz 1 、iz 2 At winding current iz 1 、iz 2 Under the action of z 1 Electric cylinder, z 2 The push rod of the electric cylinder moves;
if p=1, the push rod is retracted by the plugging controller in a clamping stagnation state;
if p=2, in-place, the driver output is blocked, z 1 Electric cylinder、z 2 The electric cylinder is in a follow-up state.
The beneficial effects of this application are: the invention provides an underwater electric connector plugging actuator based on a spherical hinge-electric cylinder and a control method thereof, when a manned submersible and a UUV carry out electric energy transmission operation, the position of a plug of the electric connector is adjusted and aligned before the plugging operation, and plugging can be realized under the condition of alignment errors, so that the plugging operation is realized to realize reliable electric energy transmission; meanwhile, the electric connector plug in flexible connection can perform position compensation in a certain range when in deviation alignment, and is suitable for shaking which may occur in UUV after being plugged in and out, so that the plugging actuator, the electric connector plug and the socket are prevented from being damaged.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a plug actuator according to an embodiment of the present application;
FIG. 2 is a front view of a plug actuator according to an embodiment of the present application;
FIG. 3 is a right side view of a pluggable actuator of an embodiment of the present application;
FIG. 4 is a left side view of a pluggable actuator of an embodiment of the present application;
FIG. 5 is a top view of a pluggable actuator according to an embodiment of the present application;
FIG. 6 is a bottom view of a pluggable actuator of an embodiment of the present application;
fig. 7 is a schematic structural view of a carrying platform according to an embodiment of the present application;
FIG. 8 is a schematic view of a mounting base and a Z-directed guide assembly according to an embodiment of the present application;
fig. 9 is a schematic structural view of a flexible electrical connector plug according to an embodiment of the present application;
FIG. 10 is a cross-sectional view of a flexible electrical connector plug according to an embodiment of the present application;
FIG. 11 is a top view of a flexible electrical connector plug according to an embodiment of the present application;
fig. 12 is a block diagram of a control method according to an embodiment of the present application.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present application, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships that are conventionally put in use of the product of the application, are merely for convenience of description of the present application and simplification of description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be configured and operated in a specific direction, and therefore should not be construed as limiting the present application. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal," "vertical," "overhang," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present application, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context.
In this application, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, and may also include the first and second features not being in direct contact but being in contact with each other by way of additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
The features and capabilities of the present application are described in further detail below in connection with the examples.
As shown in fig. 1-11, the invention provides an underwater electric connector plugging actuator based on a spherical hinge-electric cylinder, which comprises a mounting base 1, a bearing rack 2 and a flexible electric connector plug 3, wherein the bearing rack comprises an upper frame panel 4, a bearing panel 5 and a Z-direction adjusting mechanism, the Z-direction adjusting mechanism comprises a Z-direction electric cylinder 6 and a Z-direction guiding component, the Z-direction electric cylinder is arranged between a group of opposite angle positions corresponding to the upper frame panel and the mounting base, the bearing rack is driven to move along the Z-direction, the Z-direction guiding component is arranged between the other group of opposite angle positions of the upper frame panel and the mounting base, four corners of the bearing panel are respectively fixed on the Z-direction electric cylinder and the Z-direction guiding component at the corresponding sides, the bearing panel is provided with an X-direction adjusting mechanism and a Y-direction adjusting mechanism, and the X-direction adjusting mechanism drives the Y-direction adjusting mechanism to move along the X-direction.
The flexible electric connector plug comprises a plug body 7 and a flexible connecting piece, the outside of the flexible connecting piece is connected with a Y-direction adjusting mechanism, the plug body is inserted into the flexible connecting piece and connected with the flexible connecting piece, the Y-direction adjusting mechanism drives the flexible electric connector plug to move along the Y direction, and the bearing rack drives the flexible electric connector plug to be aligned through XYZ three-way displacement adjustment.
In some alternative embodiments, the Z-direction electric cylinder is arranged on the bottom surface of the upper frame panel, the end of the telescopic rod is connected with the top surface of the mounting base, and the Z-direction electric cylinder drives the bearing rack to move in the Z direction; the Z-direction guiding component comprises a guiding rod 8 fixed on the mounting base and a guiding cylinder 9 fixed on the upper frame panel, and the guiding cylinder slides along the guiding rod when the bearing rack moves in the Z direction.
In some alternative embodiments, the X-direction adjusting mechanism comprises an X-direction electric cylinder 10, an X-direction guide rail 11 and an X-direction sliding table 12, wherein the X-direction electric cylinder is fixed on the bearing panel, the X-direction guide rail is fixed on the bearing panel through an X-direction sliding rail mounting frame, the X-direction sliding table is configured and connected with the X-direction guide rail, and the end head of a telescopic rod of the X-direction electric cylinder is connected with the X-direction sliding table to drive the X-direction sliding table to slide along the X-direction guide rail.
In some alternative embodiments, the Y-direction adjusting mechanism comprises a Y-direction electric cylinder 13, a Y-direction guide rail 14 and a Y-direction sliding table 15, wherein the Y-direction guide rail is fixed on the X-direction sliding table, the Y-direction electric cylinder is fixed on the Y-direction sliding table, the Y-direction sliding table is connected with the Y-direction guide rail in a configuration, the end head of a telescopic rod of the Y-direction electric cylinder is connected with the X-direction sliding table to drive the Y-direction sliding table to slide along the Y-direction guide rail, and the flexible electric connector plug is fixed on the Y-direction sliding table.
The flexible connecting piece comprises a plug sleeve 16, a spherical hinge joint 17, a fixed cylinder 18 and a centralizing cylinder 19, wherein a top cover 20 is arranged at the top of the spherical hinge joint, the bottom of the spherical hinge joint is connected with the top of the centralizing cylinder, a spherical cavity is arranged at the upper part of the fixed cylinder, the spherical hinge joint is sleeved with the lower part of the fixed cylinder, the centralizing cylinder is sleeved with the plug sleeve, the plug sleeve is sleeved with the plug body and connected with the plug sleeve, the bottom of the plug sleeve is connected with the top cover of the spherical hinge joint, a plurality of spring accommodating cavities are uniformly spaced along the circumferential direction on the inner wall of the bottom of the fixed cylinder, a central column is arranged in the spring accommodating cavities, radial springs 21 are sleeved on the central column, two ends of each radial spring are respectively connected with the fixed cylinder and the cylinder wall of the centralizing cylinder, two rotary springs 22 are arranged in an annular space formed by the fixed cylinder and the centralizing cylinder, and two ends of each rotary spring are respectively connected with the fixed cylinder and the cylinder wall of the centralizing cylinder.
When the electric connector plug is twisted and shifted by external force generated by alignment error and vehicle shaking, the spherical hinge joint can be twisted and shifted along with the plug, and the radial spring and the rotary spring deform to generate elasticity. When the alignment error of the plug and the external force generated by the shaking of the aircraft disappear, the elasticity of the radial spring and the rotary spring can axially centralize the plug to be axially coincident with the flexible fixed cylinder, and the rotary angle is reset to zero.
The bearing rack is provided with a pressure compensator 23 which is respectively communicated with the X-direction electric cylinder, the Y-direction electric cylinder and the Z-direction electric cylinder to supplement oil to each electric cylinder and resist water pressure; the bearing rack is also provided with a plurality of reinforcing ribs 24, so that the structural strength of the bearing rack is improved.
The control system is characterized by further comprising a control system, wherein the X-direction electric cylinder, the Y-direction electric cylinder and the Z-direction electric cylinder are respectively provided with a telescopic rod stroke sensor, the telescopic rod stroke sensors are connected with the input end of a plug controller, and the output end of the plug controller is respectively connected with the X-direction electric cylinder, the Y-direction electric cylinder and the Z-direction electric cylinder.
The application method of the underwater electric connector plugging actuator based on the spherical hinge-electric cylinder comprises the following steps:
step a, the plug controller transmits position instructions [ rx, ry, rz ] to the plug executor according to the operation of an operator or the instruction of a superior system]The plug controller judges the working state of the plug actuator, sends out working or maintenance instructions P and receives the stroke sensorsPush rod travel measurement x, y, z 1 、z 2 ；
And b, calculating a difference value between the position command value and the measured value by the plug controller, judging the stroke amounts of the X-direction electric cylinder, the Y-direction electric cylinder and the Z-direction electric cylinder, and respectively performing three-way position movement control.
In some alternative embodiments, the work or service order P is divided into three types:
if p=0, then the electrical connector is in a "normal" state;
if p=1, the electrical connector is in a clamping stagnation state, overhauling is carried out, and after the plugging controller judges that the electrical connector exits from the clamping stagnation state, the p value is set to be p=0;
if p=2, it means that the electrical connector is in the "plugged-in-place" state, and if the plug is pulled out, the p value is set to p=0.
In some alternative embodiments, the three-way position movement control comprises the following steps (see fig. 12):
step a, X-direction movement control:
step a 1 The X-direction sensor collects the push rod stroke of the X-direction electric cylinder to obtain a push rod stroke value X;
step a 2 Subtracting rx from x to obtain a difference value ex;
step a 3 The difference value ex is input to a plug controller, and the plug controller obtains a current instruction value rix through the control algorithm operation of the plug controller;
step a 4 The plug controller sends out a command signal p, if p=0, the current command value rix is input to the X-direction electric cylinder, and the X-direction electric cylinder generates the current command rix as a winding current ix; under the action of the winding current ix, the push rod of the X-direction electric cylinder moves, namely the stroke X of the push rod is updated, and the position of the electric connector plug in the X direction is changed;
if p=1, the push rod is retracted by the plugging controller in a clamping stagnation state;
if p=2, the driver is blocked to output so that the X-direction electric cylinder is in a follow-up state;
step b, Y-direction movement control:
step b 1 The Y-direction sensor collects the push rod stroke of the Y-direction electric cylinder to obtain a push rod stroke value Y;
step b 2 Performing subtraction operation on ry and y to obtain a difference ey;
step b 3 The difference ey is input to a plug controller, and the plug controller obtains a current instruction value riy through the control algorithm operation of the plug controller;
step b 4 The plug controller sends out a command signal p, if p=0, the current command value riy is input to the Y-direction electric cylinder, and the Y-direction electric cylinder generates a current command riy as a winding current iy; under the action of the winding current iy, the push rod of the Y-direction electric cylinder moves, namely the stroke Y of the push rod is updated, and the position of the plug in the Y direction is changed;
if p=1, the push rod is retracted by the plugging controller in a clamping stagnation state;
if p=2, the driver is blocked to output so that the Y-direction electric cylinder is in a follow-up state;
step c, Z-direction movement control:
step c 1 The Z-direction sensor collects the push rod strokes of the two Z-direction electric cylinders to obtain a push rod stroke value Z 1 、z 2 ；
Step c 2 Rz1, rz2 are respectively equal to the push rod stroke value z 1 、z 2 Subtracting to generate a difference e 1 And e 2 ；
Step c 3 Difference e 1 And e 2 Input to a plug controller, and the plug controller obtains a current instruction value riz through the control algorithm operation of the plug controller 1 、riz 2 ；
Step c 4 The plug controller sends out command signal p, if p=0, the current command value riz is in normal plug state 1 And riz 2 Input to the plug controller, the plug controller sends a current command riz 1 And riz 2 Generated as winding current iz 1 、iz 2 At winding current iz 1 、iz 2 Under the action of (2)，z 1 Electric cylinder, z 2 The push rod of the electric cylinder moves;
if p=1, the push rod is retracted by the plugging controller in a clamping stagnation state;
if p=2, in-place, the driver output is blocked, z 1 Electric cylinder, z 2 The electric cylinder is in a follow-up state.
Claims (10)
1. The underwater electric connector plugging actuator based on the spherical hinge-electric cylinder is characterized by comprising an installation base, a bearing rack and a flexible electric connector plug, wherein the bearing rack comprises an upper frame panel, a bearing panel and a Z-direction adjusting mechanism, the Z-direction adjusting mechanism comprises a Z-direction electric cylinder and a Z-direction guiding assembly, the Z-direction electric cylinder is arranged between a group of opposite angle positions corresponding to the upper frame panel and the installation base, the bearing rack is driven to move along the Z-direction, the Z-direction guiding assembly is arranged between the upper frame panel and the other group of opposite angle positions of the installation base, four corners of the bearing panel are respectively fixed on the Z-direction electric cylinder and the Z-direction guiding assembly on the corresponding sides, the bearing panel is provided with an X-direction adjusting mechanism and a Y-direction adjusting mechanism, and the X-direction adjusting mechanism drives the Y-direction adjusting mechanism to move along the X-direction;
the flexible electric connector plug comprises a plug body and a flexible connecting piece, the outer part of the flexible connecting piece is connected with the Y-direction adjusting mechanism, the plug body is inserted into the flexible connecting piece and connected with the flexible connecting piece, the Y-direction adjusting mechanism drives the flexible electric connector plug to move along the Y direction, and the bearing rack drives the flexible electric connector plug to be aligned through XYZ three-way displacement adjustment.
2. The underwater electric connector plugging actuator based on the spherical hinge-electric cylinder according to claim 1, wherein the Z-direction electric cylinder is arranged on the bottom surface of the upper frame panel, and the end of the telescopic rod is connected with the top surface of the mounting base; the Z-direction guiding component comprises a guiding rod fixed on the mounting base and a guiding cylinder fixed on the upper frame panel.
3. The underwater electric connector plugging actuator based on the spherical hinge-electric cylinder according to claim 1 or 2, wherein the X-direction adjusting mechanism comprises an X-direction electric cylinder, an X-direction guide rail and an X-direction sliding table, the X-direction electric cylinder is fixed on the bearing panel, the X-direction guide rail is fixed on the bearing panel through an X-direction sliding rail mounting frame, the X-direction sliding table is connected with the X-direction guide rail in a configuration mode, and the end head of a telescopic rod of the X-direction electric cylinder is connected with the X-direction sliding table to drive the X-direction sliding table to slide along the X-direction guide rail.
4. The underwater electric connector plugging actuator based on the spherical hinge-electric cylinder according to claim 3, wherein the Y-direction adjusting mechanism comprises a Y-direction electric cylinder, a Y-direction guide rail and a Y-direction sliding table, the Y-direction guide rail is fixed on the X-direction sliding table, the Y-direction electric cylinder is fixed on the Y-direction sliding table, the Y-direction sliding table is configured and connected with the Y-direction guide rail, the end head of a telescopic rod of the Y-direction electric cylinder is connected with the X-direction sliding table to drive the Y-direction sliding table to slide along the Y-direction guide rail, and the flexible electric connector plug is fixed on the Y-direction sliding table.
5. The underwater electric connector plugging actuator based on the spherical hinge-electric cylinder according to claim 1 or 4, wherein the flexible connecting piece comprises a plug sleeve, a spherical hinge joint, a fixed cylinder and a centralizing cylinder, the top of the spherical hinge joint is provided with a top cover, the bottom of the spherical hinge joint is connected with the top of the centralizing cylinder, the upper part of the fixed cylinder is provided with a spherical cavity, the spherical cavity is sleeved with the spherical hinge joint, the lower part of the fixed cylinder is sleeved with the centralizing cylinder, the plug sleeve is sleeved on the plug body and connected with the plug body, the bottom of the plug sleeve is connected with the top cover of the spherical hinge joint, a plurality of spring accommodating cavities are uniformly arranged on the inner wall of the bottom of the fixed cylinder at intervals along the circumferential direction, a central column is arranged in the spring accommodating cavity, radial springs are sleeved on the central column, two ends of each radial spring are respectively connected with the cylinder walls of the fixed cylinder and the centralizing cylinder, two rotary springs are respectively connected with the cylinder walls of the fixed cylinder and the centralizing cylinder.
6. The underwater electric connector plugging actuator based on the spherical hinge-electric cylinder according to claim 4, wherein the bearing rack is provided with a pressure compensator which is respectively communicated with the X-direction electric cylinder, the Y-direction electric cylinder and the Z-direction electric cylinder; the bearing rack is also provided with a plurality of reinforcing ribs.
7. The underwater electric connector plugging actuator based on the spherical hinge-electric cylinder according to claim 5, further comprising a control system, wherein telescopic rod stroke sensors are respectively arranged on the X-direction electric cylinder, the Y-direction electric cylinder and the Z-direction electric cylinder, the telescopic rod stroke sensors are connected with the input end of a plugging controller, and the output end of the plugging controller is connected with the X-direction electric cylinder, the Y-direction electric cylinder and the Z-direction electric cylinder respectively.
8. The use method of the underwater electric connector plugging actuator based on the spherical hinge-electric cylinder is characterized by comprising the following steps:
step a, the plug controller transmits position instructions [ rx, ry, rz ] to the plug executor according to the operation of an operator or the instruction of a superior system]The plug controller judges the working state of the plug actuator, sends out working or maintenance instructions P, and receives push rod stroke measurement values x, y and z of each stroke sensor 1 、z 2 ；
And b, calculating a difference value between the position command value and the measured value by the plug controller, judging the stroke amounts of the X-direction electric cylinder, the Y-direction electric cylinder and the Z-direction electric cylinder, and respectively performing three-way position movement control.
9. The method for using the underwater electric connector plugging actuator based on the spherical hinge-electric cylinder according to claim 8, wherein the working or maintenance instructions P are divided into the following three types:
if p=0, then the electrical connector is in a "normal" state;
if p=1, the electrical connector is in a clamping stagnation state, overhauling is carried out, and after the plugging controller judges that the electrical connector exits from the clamping stagnation state, the p value is set to be p=0;
if p=2, it means that the electrical connector is in the "plugged-in-place" state, and if the plug is pulled out, the p value is set to p=0.
10. The method of using a ball-and-socket-based underwater electric connector plug actuator according to claim 9, wherein the three-way position movement control comprises the steps of:
step a, X-direction movement control:
step a 1 The X-direction sensor collects the push rod stroke of the X-direction electric cylinder to obtain a push rod stroke value X;
step a 2 Subtracting rx from x to obtain a difference value ex;
step a 3 The difference value ex is input to a plug controller, and the plug controller obtains a current instruction value rix through the control algorithm operation of the plug controller;
step a 4 The plug controller sends out a command signal p, if p=0, the current command value rix is input to the X-direction electric cylinder, and the X-direction electric cylinder generates the current command rix as a winding current ix; under the action of the winding current ix, the push rod of the X-direction electric cylinder moves, namely the stroke X of the push rod is updated, and the position of the electric connector plug in the X direction is changed;
if p=1, the push rod is retracted by the plugging controller in a clamping stagnation state;
if p=2, the driver is blocked to output so that the X-direction electric cylinder is in a follow-up state;
step b, Y-direction movement control:
step b 1 The Y-direction sensor collects the push rod stroke of the Y-direction electric cylinder to obtain a push rod stroke value Y;
step b 2 Performing subtraction operation on ry and y to obtain a difference ey;
step b 3 The difference ey is input to a plug controller, and the plug controller obtains a current instruction value riy through the control algorithm operation of the plug controller;
step b 4 The plug controller sends out a command signal p ifp=0, and in the normal plugging state, the current command value riy is input to the Y-direction electric cylinder, and the Y-direction electric cylinder generates a current command riy as a winding current iy; under the action of the winding current iy, the push rod of the Y-direction electric cylinder moves, namely the stroke Y of the push rod is updated, and the position of the plug in the Y direction is changed;
if p=1, the push rod is retracted by the plugging controller in a clamping stagnation state;
if p=2, the driver is blocked to output so that the Y-direction electric cylinder is in a follow-up state;
step c, Z-direction movement control:
step c 1 The Z-direction sensor collects the push rod strokes of the two Z-direction electric cylinders to obtain a push rod stroke value Z 1 、z 2 ；
Step c 2 Rz1, rz2 are respectively equal to the push rod stroke value z 1 、z 2 Subtracting to generate a difference e 1 And e 2 ；
Step c 3 Difference e 1 And e 2 Input to a plug controller, and the plug controller obtains a current instruction value riz through the control algorithm operation of the plug controller 1 、riz 2 ；
Step c 4 The plug controller sends out command signal p, if p=0, the current command value riz is in normal plug state 1 And riz 2 Input to the plug controller, the plug controller sends a current command riz 1 And riz 2 Generated as winding current iz 1 、iz 2 At winding current iz 1 、iz 2 Under the action of z 1 Electric cylinder, z 2 The push rod of the electric cylinder moves;
if p=1, the push rod is retracted by the plugging controller in a clamping stagnation state;
if p=2, in-place, the driver output is blocked, z 1 Electric cylinder, z 2 The electric cylinder is in a follow-up state.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311550546.XA CN117650389A (en) | 2023-11-21 | 2023-11-21 | Underwater electric connector plugging actuator based on spherical hinge-electric cylinder and control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311550546.XA CN117650389A (en) | 2023-11-21 | 2023-11-21 | Underwater electric connector plugging actuator based on spherical hinge-electric cylinder and control method |
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| CN117650389A true CN117650389A (en) | 2024-03-05 |
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| CN202311550546.XA Pending CN117650389A (en) | 2023-11-21 | 2023-11-21 | Underwater electric connector plugging actuator based on spherical hinge-electric cylinder and control method |
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| CN (1) | CN117650389A (en) |
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