CN204253983U - A kind of underwater hydraulic clack box control gear - Google Patents
A kind of underwater hydraulic clack box control gear Download PDFInfo
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- CN204253983U CN204253983U CN201420735614.XU CN201420735614U CN204253983U CN 204253983 U CN204253983 U CN 204253983U CN 201420735614 U CN201420735614 U CN 201420735614U CN 204253983 U CN204253983 U CN 204253983U
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- clack box
- hydraulic
- underwater hydraulic
- control gear
- relay
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Abstract
The utility model relates to a kind of underwater hydraulic clack box control gear, comprises embedded controller and connected relay, communication interface, temperature transducer and pressure transducer; It is inner that described embedded controller, relay, communication interface, temperature transducer and pressure transducer are all arranged at the underwater hydraulic clack box being full of hydraulic oil; Described relay is connected with the hydrovalve in underwater hydraulic clack box; Described communication interface is connected with water controller by watertight cable.The utility model has very high level of integration, can control multiple hydrovalve simultaneously; Can be operated in and be full of in the hyperbaric environment of hydraulic oil; Improve sealing reliability, save cost.
Description
Technical field
The utility model relates to ocean engineering field, specifically a kind of hydraulic valve controller.Be mainly used in marine settings exploitation and underwater operation.
Background technique
Robot and field of marine equipment often use hydraulic control system under water, as hydraulic pusher, and the underwater installations such as hydraulic efficiency manipulator.Hydraulic control system can realize large-scale inorganic speed governing in running, and under equal output power, the volume of hydraulic control device is little, lightweight, movement inertia is little, dynamic characteristic is good.Hydraulic control system can make underwater robot be operated in the dark scope in full sea by pressure compensated mode.Robot field's hydrovalve is mainly arranged on underwater hydraulic clack box inside under water, is filled with pressure compensation oil in underwater hydraulic clack box.
Underwater hydraulic control valve device is arranged on hydraulic valve box outside usually, and hydrovalve control end lead-in wire needs to be connected with hydraulic valve controller by multicore watertight cable, and the sealing of multicore watertight cable is poor, and expensive.And then, need to research and develop a kind of underwater hydraulic clack box control gear and can fill and work full compensation in the hyperbaric environment of oil.
Model utility content
The purpose of this utility model is a kind of underwater hydraulic clack box control gear of exploitation, and it normally can work in the hyperbaric environment being full of hydraulic oil.
The technological scheme that the utility model is adopted for achieving the above object is: a kind of underwater hydraulic clack box control gear, comprises embedded controller and connected relay, communication interface, temperature transducer and pressure transducer; It is inner that described embedded controller, relay, communication interface, temperature transducer and pressure transducer are all arranged at the underwater hydraulic clack box being full of hydraulic oil; Described relay is connected with the hydrovalve in underwater hydraulic clack box; Described communication interface is connected with water controller by watertight cable.
Described embedded controller is the MCU encapsulated with the QFP of analog-to-digital conversion interface.
The crystal oscillator of described embedded controller adopts the active crystal oscillator of 16MHz ceramic package.
Described relay is the solid-state relay of ceramic package.
Described relay is multiple, and each relay is connected with a hydrovalve.
Described temperature transducer is paster thermistor.
A kind of underwater hydraulic clack box controlling method, comprises the following steps:
First initialization is carried out after control gear powers on;
Receive hydraulic valve box control command by interrupt mode, and be stored in serial communication buffer area;
When receiving control command end byte, reading the control command in serial communication buffer area, the mode of control command by School Affairs is verified;
If verification is not passed through, then abandon this control command and continue to wait for next control command;
If verification is passed through, then output control signals to relay according to control command, and then hydraulic control valve events, and hydrovalve the temperature inside the box of collection and pressure information are fed back to water controller by communication interface.
The utility model has following beneficial effect and advantage:
1, the utility model has very high level of integration, can control multiple hydrovalve simultaneously.
2, the utility model adopts USB design, and the hydrovalve of identical type all can adopt this device, without the need to carrying out secondary development and design.
3, the utility model can be operated in and be full of in the hyperbaric environment of hydraulic oil.
4, the utility model connects underwater hydraulic clack box control gear and water controller by eight conventional core watertight cables, is communicated, improves sealing reliability, saved cost by universal serial bus.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of a kind of underwater hydraulic clack box control gear of the present utility model;
Fig. 2 is the theory structure block diagram of a kind of underwater hydraulic clack box control gear of the present utility model;
Wherein, 1 switch power module, 2 embedded controllers, 3 serial communication interfaces, 4 relays, 5 temperature transducers, 6 pressure transducers;
Fig. 3 is workflow diagram of the present utility model.
Embodiment
Below in conjunction with drawings and Examples, the utility model is described in further detail.
A kind of underwater hydraulic clack box control gear comprises: embedded controller 2, switch power module 1, relay 4, temperature transducer 5, pressure transducer 6, circuit such as serial communication interface 3 grade, embedded controller carries out data interaction by serial communication interface and outside, acceptable solution pressure valve control command, feedback hydraulic clack box status data.This device for core, accepts hydraulic valve box control command by serial communication interface 3 with embedded controller 2, and underwater hydraulic control gear, according to different order output switch amount, Analog control signal, controls respective hydraulic valves action.
This device adopts digital communication technology, carries out data interaction by universal serial bus and the external world; Adopt embedded controller, parsing verification is carried out to communication data packet, obtains control command.This device can control multi-path hydraulic valve simultaneously; Control switch hydrovalve and servo-fluid pressure valve; Can be operated in the high-pressure environment being full of and compensating oil.
Described switch power module is the 5V VDC by DC/DC conversion, the standard 24V VDC of external input being converted to underwater hydraulic clack box control gear needs.
The main program flow of embedded controller is:
First perform initialization, be then in recurrent state;
Accepting external control order by interruption in the circulating cycle, after having accepted, first verify, if verification is not by then abandoning this control command, waiting next control command to be subjected; If verification is by then exporting control signal according to control command, controls corresponding hydrovalve action, and the temperature of hydraulic valve box, pressure and other parameters are fed back to water controller.
As shown in Figure 1, for the schematic diagram of a kind of underwater hydraulic clack box control gear described in the utility model, it is inner that it is installed on underwater hydraulic clack box, the control end lead-in wire of each hydrovalve is connected with the control signal output terminal of underwater hydraulic clack box control gear, be filled with in hydraulic valve box and compensate oil, the pressure identical with outside is born by pressure compensator in hydraulic valve box inside, water controller is connected with underwater hydraulic clack box control gear by high strength eight core watertight cable, water controller is communicated with underwater hydraulic clack box control gear by universal serial bus, simultaneously for underwater hydraulic clack box control gear provides power supply,
As shown in Figure 2, be the theory diagram of a kind of underwater hydraulic clack box control gear described in the utility model, comprise: embedded controller, switch power module, relay, serial communication interface, temperature transducer (thermistor) and pressure transducer etc.; That embedded controller adopts is 64 pin MCU encapsulate with the QFP of analog-digital conversion function, and it directly can gather temperature and the pressure signal of clack box, the crystal oscillator employing of embedded controller be the active crystal oscillator of 16MHz ceramic package; The embedded controller of underwater hydraulic clack box control gear carries out data interaction by serial communication interface and outside, and serial communication comprises RS232 and RS485 two kinds of modes, can switch two kinds of communication modes as required; What the relay of underwater hydraulic clack box control gear adopted after passing through and screening is the AQV Series solid state relay that PANASONIC DIP6 encapsulates, and underwater hydraulic clack box control gear normally can work through testing in the hyperbaric environment of 78.6MPa;
As shown in Figure 3, for the workflow diagram of a kind of underwater hydraulic clack box control gear described in the utility model, first system electrification carries out initialization later, systematic parameter is set, then major cycle is entered, wait for hydraulic valve box control command, the MCU of underwater hydraulic clack box control gear receives hydraulic valve box control command by interrupt mode, interrupting receive byte control command, serial communication buffer area is first stored in after receiving a byte control command, prove to receive a complete control command when receiving control command end byte, then the control command in playback buffer district, control command is verified, the first byte of control command is the start byte of control command, byte is afterwards control byte, wherein last byte is control command end byte, byte second from the bottom is check byte, check byte be above all control bytes and, if verification is not passed through, then abandon this control command to continue to wait for next control command, if verification is passed through, then export control signal according to control command, and export temperature and the pressure parameter information of clack box, then wait for next control command.
Claims (6)
1. a underwater hydraulic clack box control gear, is characterized in that: comprise embedded controller (2) and connected relay (4), communication interface (3), temperature transducer (5) and pressure transducer (6); It is inner that described embedded controller (2), relay (4), communication interface (3), temperature transducer (5) and pressure transducer (6) are all arranged at the underwater hydraulic clack box being full of hydraulic oil; Described relay (4) is connected with the hydrovalve in underwater hydraulic clack box; Described communication interface (3) is connected with water controller by watertight cable.
2. a kind of underwater hydraulic clack box control gear according to claim 1, is characterized in that described embedded controller (2) is the MCU encapsulated with the QFP of analog-to-digital conversion interface.
3. a kind of underwater hydraulic clack box control gear according to claim 1, is characterized in that the crystal oscillator of described embedded controller (2) adopts the active crystal oscillator of 16MHz ceramic package.
4. a kind of underwater hydraulic clack box control gear according to claim 1, is characterized in that the solid-state relay that described relay (4) is ceramic package.
5. a kind of underwater hydraulic clack box control gear according to claim 1, it is characterized in that described relay (4) is for multiple, each relay is connected with a hydrovalve.
6. a kind of underwater hydraulic clack box control gear according to claim 1, is characterized in that described temperature transducer (5) is for paster thermistor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420735614.XU CN204253983U (en) | 2014-11-30 | 2014-11-30 | A kind of underwater hydraulic clack box control gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420735614.XU CN204253983U (en) | 2014-11-30 | 2014-11-30 | A kind of underwater hydraulic clack box control gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204253983U true CN204253983U (en) | 2015-04-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420735614.XU Active CN204253983U (en) | 2014-11-30 | 2014-11-30 | A kind of underwater hydraulic clack box control gear |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105650323A (en) * | 2014-11-30 | 2016-06-08 | 中国科学院沈阳自动化研究所 | Control device and method of underwater hydraulic valve box |
-
2014
- 2014-11-30 CN CN201420735614.XU patent/CN204253983U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105650323A (en) * | 2014-11-30 | 2016-06-08 | 中国科学院沈阳自动化研究所 | Control device and method of underwater hydraulic valve box |
| CN105650323B (en) * | 2014-11-30 | 2018-11-20 | 中国科学院沈阳自动化研究所 | A kind of underwater hydraulic clack box control device and its control method |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |