CN209581820U - A kind of mobile base bottom device - Google Patents
A kind of mobile base bottom device Download PDFInfo
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- CN209581820U CN209581820U CN201920111657.3U CN201920111657U CN209581820U CN 209581820 U CN209581820 U CN 209581820U CN 201920111657 U CN201920111657 U CN 201920111657U CN 209581820 U CN209581820 U CN 209581820U
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Abstract
The utility model discloses a kind of mobile base bottom device, including upper plate, support plate and lower plate, three walking supporting legs are installed in the top surface of the upper plate and lower plate respectively；Upper plate is installed on the supporting plate by pivoting support, and rotary motion mechanism is equipped between upper plate and support plate；Support plate bottom wheel mounting base, wheel mounting base bottom is equipped with wheel, and by wheel supporting on the leading truck on lower plate, hoofing part mechanism is equipped between wheel mounting base and lower plate；Rotary motion mechanism, hoofing part mechanism are connect with control unit respectively；Control unit is connect with the walking supporting leg of upper plate and lower plate respectively；Level inclination sensor is installed on upper bed-plate, position tracing sensor is installed on lower plate, level inclination sensor and position tracing sensor are connect with control unit respectively.The utility model uses three point parallel connection shorings, can fast implement the balance control and leveling of system.The supporting leg up and down of the utility model can meet the requirement that lash ship limits seat bottom device space with folding and unfolding, spaces compact, adaptable.
Description
Technical field
The utility model relates to the seabeds with walking Mobile base bottom device and utilization the walking Mobile base bottom device
Drilling system, in more detail, be related to it is different from the existing seafloor robot for obtaining thrust in a manner of propeller, using by multiple
The leg that joint is formed is close to sea bottom surface, and the offshore drilling's system carried with walking Mobile base bottom device.
Background technique
Walking Mobile base bottom device is for carrying out submarine observation, and marine resources detect, seabed engineering geologic survey
Technical equipment, walking Mobile base bottom device are to carry offshore drilling's sampling apparatus to realize the important with being arranged of its underwater operation
It is standby.Reliable walking Mobile base bottom device can break through limited cabin space limitation, while can carry heavy device again not
The seabed smooth operations of rule, for the equipment of offshore drilling's operation, the Mobile base bottom device of reliable design is filled
Setting can not ignore.
Seabed operation device obtains mobility approximately through two kinds of forms.
First, although propeller mode is effective to the cruise type submarine of self-discipline unmanned submarines etc, for wanting
For the offshore drilling's device for seeking precise operation, it is not easy to obtain control stability.This is because acting on seabed brill in water
Visit device fluid force be it is non-linear, thrust is also inherent the strong non-linear of inert zone, answering delay, saturation etc..In particular,
In the case where being exposed to ocean current as strong such as seabed, it is difficult to ensure thus postural stability and mobility are difficult to obtain position precision
The ultrasonograph of degree, operation precision and distinctness, thus there are many case where not can be carried out seabed operation.In Qiang Hailiu
Under environment, using the existing mobile base bottom device of propeller necessarily there is unstable maneuverability to ask with high energy consumption etc.
Topic.
Second, the propulsion mode of unlimited track form, which has, to be difficult in irregular sea-floor relief or barrier region row
It sails, the shortcomings that confusing seabed in driving mode characteristic.Because there is shipwreck, fishing ground, rope and discarded fishing net etc. always in seabed
The restriction condition of the sea-floor reliefs such as various barriers and submerged reef, soft foundation, therefore deposited in terms of the traveling of unlimited orbital fashion
In difficulty.Also, in the case where submarine exploration, there are many will to confuse the side of minimum in the environment of not being disturbed
The inspection of the scene of a crime of formula composition, but there are problems that being difficult to use in this purposes.
Utility model content
To solve the above-mentioned problems, the utility model provide a kind of structure is simple, occupy little space, is highly-safe, for
The mobile seat bottom device of the irregular walking that sea-floor relief is adaptable, high reliablity and bearing capacity are strong.
The technical solution adopted in the utility model is: a kind of mobile base bottom device, upper plate, support plate and bottom
The top surface of plate, the upper plate and lower plate is installed by three walking supporting legs respectively；Upper plate is mounted on branch by pivoting support
On fagging, rotary motion mechanism is equipped between upper plate and support plate；Support plate bottom wheel mounting base, wheel mounting base bottom
Equipped with wheel, by wheel supporting on the leading truck on lower plate, hoofing part is equipped between wheel mounting base and lower plate
Mechanism；Rotary motion mechanism, hoofing part mechanism are connect with control unit respectively；
Control unit is connect with the walking supporting leg of upper plate and lower plate respectively, can drive upper plate and lower plate
Walking supporting leg is hanging or lands；Level inclination sensor is installed, the posture for detection body on upper bed-plate；On lower plate
Position tracing sensor is installed, for tracking and detecting position in the water for executing mobile base bottom device in real time；It is horizontal
Obliquity sensor and position tracing sensor are connect with control unit respectively.
In above-mentioned mobile base bottom device, the walking supporting leg includes support oil cylinder, supporting plate, bracket ear, branch
Legs and feet plate universal joint and strut；Strut one end and bracket ear are hinged, the supporting leg seat otic placode on the other end and upper plate or lower plate
Hingedly；Bracket ear is connect by pin shaft with support oil cylinder and supporting leg sole universal joint, and supporting leg sole universal joint passes through pin shaft and branch
Plate connection, the upper end of the other end and the supporting leg seat on upper plate or lower plate of support oil cylinder are hinged；Support oil cylinder is equipped with pressure
Force snesor and displacement sensor I, pressure sensor, displacement sensor I and support oil cylinder are connect with control unit respectively.
In above-mentioned mobile base bottom device, the hoofing part mechanism include walking oil cylinder, the two of oil cylinder of walking
It holds hinged respectively at wheel mounting base and lower plate；The walking oil cylinder is equipped with displacement sensor II and travel switch, row
Oil cylinder, displacement sensor II and travel switch is walked to connect with control unit respectively.
In above-mentioned mobile base bottom device, the rotary motion mechanism includes steering cylinder, slide rail, sliding block
And push rod；The steering cylinder, slide rail are mounted on upper plate bottom, and steering cylinder is hinged with sliding block, and sliding block is mounted on
It on slide rail, can be moved along slide rail, one end connection of sliding block and push rod, the other end and support plate of push rod connects
It connects；Steering cylinder is equipped with displacement sensor III, and steering cylinder, displacement sensor III are connect with control unit.
In above-mentioned mobile base bottom device, the control unit includes hydraulic control device and PLC control device；
The hydraulic control device includes hydraulic pump, main oil inlet pipe and main oil return pipe, and the import of hydraulic pump is connected by pipeline and fuel tank
Logical, the outlet of hydraulic pump is connected to main oil inlet pipe, and main oil return pipe connects fuel tank；The P mouth of ratio of turning multi-way valve, translation ratio are more
The P mouth of road valve, the P mouth of lower supporting leg proportional multi-way valve I, the P mouth of lower supporting leg proportional multi-way valve II, upper supporting leg proportional multi-way valve I P
The P mouth of mouth, upper supporting leg proportional multi-way valve II, the P mouth of uniform-pressure-drop valve are connect with main oil inlet pipe respectively；Ratio of turning multi-way valve
T mouthfuls, translation the T mouth of proportional multi-way valve, the T mouth of lower supporting leg proportional multi-way valve I, lower supporting leg proportional multi-way valve II T mouth, upper supporting leg
The T mouth of proportional multi-way valve I, the T mouth of upper supporting leg proportional multi-way valve II are connect with main oil return pipe respectively；The ratio of turning multichannel
Valve, translation proportional multi-way valve, lower supporting leg proportional multi-way valve I, lower supporting leg proportional multi-way valve II, upper supporting leg proportional multi-way valve I, upper branch
Leg proportional multi-way valve II is connect with the output end of PLC control device；Displacement on PLC control device input terminal and support oil cylinder passes
Sensor I, the signal output end of pressure sensor, the signal output end of displacement sensor II on walking oil cylinder, on steering cylinder
Displacement sensor III signal output end, level inclination sensor signal output end, position tracing sensor signal output end
It is connected with travel switch；
The rodless cavity of steering cylinder is connect with the B of hydraulic control one-way valve I mouth, the A mouth and steering electromagnetic switch of hydraulic control one-way valve I
The A mouth of valve connects, and the B mouth of ratio of turning multi-way valve is connect with steering cylinder rod chamber；
The rodless cavity of translation oil cylinder is connect with the B of hydraulic control one-way valve II mouth, and the A mouth and translation ratio of hydraulic control one-way valve II are more
The A mouth of road valve connects, and the B mouth for translating proportional multi-way valve is connect with steering cylinder rod chamber；
The B mouth of the rodless cavity of the support oil cylinder of three walking supporting legs and upper supporting leg proportional multi-way valve I on the upper plate
And the A mouth connection of upper supporting leg proportional multi-way valve II；The rod chamber and upper supporting leg of the support oil cylinder of three walking supporting legs on upper plate
The B mouth connection of the A mouth and upper supporting leg proportional multi-way valve II of proportional multi-way valve I；
The B mouth of the rodless cavity of the support oil cylinder of three walking supporting legs and lower supporting leg proportional multi-way valve I on the lower plate
And the A mouth connection of lower supporting leg proportional multi-way valve II；The rod chamber and lower supporting leg of the support oil cylinder of three walking supporting legs on lower plate
The B mouth connection of the A mouth and lower supporting leg proportional multi-way valve II of proportional multi-way valve I.
In above-mentioned mobile base bottom device, the hydraulic control device further includes pressure compensator, pressure compensation
The import of device and the outlet of hydraulic pump connect, and the outlet of pressure compensator connects fuel tank by pipeline.
In above-mentioned mobile base bottom device, the hydraulic control device further includes balanced valve and pressure reducing valve, balance
The P of valve and pressure reducing valve mouth is connect with main oil inlet pipe respectively, and the T mouth of balanced valve and pressure reducing valve is connect with main oil return pipe respectively.
Compared with prior art, the beneficial effects of the utility model are:
1, the utility model uses step moving mechanism, proposes to promote with propeller and crawler-type traveling is entirely different
The seabed seat bottom device being made of six legs and its implementation of new concept, can preferably be adapted to seabed irregular terrain profiles,
Seat bottom device is mobile in a manner of being tightly attached to seabed, maintains posture using posture and motion detection sensor and overcomes ocean current, In
Offshore drilling's system is carried in seabed walking, transmits seafloor data to control vessel by wire/wireless communication unit, thus is had
The effect of habitata can be carried out in shallow sea and deep-sea.
2, the utility model uses three point parallel connection shorings, can carry offshore drilling's device and the detection of large-tonnage
System, and the balance control and leveling of system can be fast implemented.
3, the hydraulic pump of the utility model is mounted in fuel tank, and hydraulic control component is arranged in fuel tank by oil circuit circuit board
On, upper and lower supporting leg can meet the requirement that lash ship limits seat bottom device space with folding and unfolding, spaces compact, adaptable.
Detailed description of the invention
Fig. 1 is the utility model overall structure stereoscopic schematic diagram.
Fig. 2 is the utility model overall structure schematic side view.
Fig. 3 is the utility model overall structure schematic top plan view.
Fig. 4 is the utility model folding and unfolding status diagram.
Fig. 5 is the utility model steering mechanism schematic diagram.
Fig. 6 is the control flow schematic diagram of the utility model.
Fig. 7 is hydraulic, electric control structure schematic diagram of the utility model.
Specific embodiment
The utility model will be further described below with reference to the accompanying drawings.
As shown in Figure 1, Figure 2, Figure 3 shows, the utility model mobile base bottom device, including upper plate 16, support plate 9 and under
Bottom plate 1；The upper plate 16 and lower plate 1 is octagon type frame structure, upper plate 16 and 1 upper edge of lower plate difference
If there are three supporting leg seat 5 and three supporting leg seat otic placodes 4.Supporting leg seat 5 and supporting leg seat otic placode 4 are for installing walking supporting leg 10.Institute
The walking supporting leg 10 stated includes support oil cylinder 14, supporting plate 11, bracket ear 13, supporting leg sole universal joint 12 and strut；Strut one
End is hinged with bracket ear 13, and the supporting leg seat otic placode 4 on the other end and upper plate or lower plate is hinged.Bracket ear 13 by pin shaft with
Support oil cylinder 14 and supporting leg sole universal joint 12 connect, and supporting leg sole universal joint 12 is connect by pin shaft with supporting plate 11, supporting leg oil
The other end of cylinder 14 and the upper end of the supporting leg seat 5 on upper plate or lower plate are hinged.The support oil cylinder of upper plate 16 is equipped with pressure
The support oil cylinder of force snesor 49 and displacement sensor I 48, lower plate 1 is equipped with pressure sensor 43 and displacement sensor I 44,
The rotation of walking supporting leg 10 is realized in the driving of support oil cylinder 14.
As shown in figure 5,16 bottom of upper plate is equipped with upper plate support base 18, upper plate support base 18 passes through revolution
Bearing 8 is mounted in support plate 9, and 18 bottom of upper plate support base is equipped with steering cylinder 25 and slide rail 26, steering cylinder
25 are connect by pin shaft with sliding block 27, and sliding block 27 is placed on slide rail 26, can be slided along slide rail 26, on steering cylinder
Equipped with displacement sensor III 39.Sliding block 27 is connect with push rod 28 by pin shaft, and push rod 28 is connect by pin shaft with support plate 9, shape
At a crank and rocker mechanism, the rotation for realizing upper plate 16 is driven by steering cylinder 25.
9 bottom symmetrical of support plate is set there are four wheel mounting base 7, and each 7 bottom of wheel mounting base is equipped with a pair
Wheel 6 is equipped with push rod attachment base 24 through wheel supporting on the leading truck 3 on lower plate 1 in support plate 9, oil cylinder of walking
2 both ends pass through pin shaft respectively and connect with push rod attachment base 24 and wheel mounting base 7, and support plate 9 drives vehicle by walking oil cylinder 2
Wheel 6 realizes that it is translated in leading truck 3.The walking oil cylinder 2 is equipped with displacement sensor II 42 and travel switch 41.
Level inclination sensor 51 is installed on the upper bed-plate 16, the posture for detection body.It is installed on lower plate 1
There is position tracing sensor 46, for tracking and detecting the horizontal position of execution mobile base bottom device in real time.
As shown in fig. 7, the control unit includes hydraulic control device and PLC control device；The hydraulic control
Device includes hydraulic pump 32, pressure compensator 30, main oil inlet pipe and main oil return pipe, and the import of hydraulic pump 32 passes through pipeline and fuel tank
Connection, the pipeline are equipped with filter 31, and pollution signalling generator 54 is equipped on filter 31.The pressure compensator 30 into
Mouth is connect with the outlet of hydraulic pump 32, and the outlet of pressure compensator 30 connects fuel tank by pipeline.
The outlet of hydraulic pump is connected to main oil inlet pipe, and main oil return pipe connects fuel tank；The P mouth of ratio of turning multi-way valve 35 is put down
Weigh the P mouth of valve 34, the P mouth of pressure reducing valve 36, P mouth, the P mouth of lower supporting leg proportional multi-way valve I 45, lower branch for translating proportional multi-way valve 40
The P mouth of leg proportional multi-way valve II 47, the P mouth of upper supporting leg proportional multi-way valve I 50, upper supporting leg proportional multi-way valve II 52 P mouth, it is fixed poor
The P mouth of pressure reducing valve 37 is connect with main oil inlet pipe respectively；T mouth, the pressure reducing valve 36 of the T mouth of ratio of turning multi-way valve 35, balanced valve 34
T mouth, translation the T mouth of proportional multi-way valve 40, the T mouth of lower supporting leg proportional multi-way valve I 45, lower supporting leg proportional multi-way valve II 47 T
Mouth, the T mouth of upper supporting leg proportional multi-way valve I 50, upper supporting leg proportional multi-way valve II 52 T mouth connect respectively with main oil return pipe；It is described
Ratio of turning multi-way valve 35, translation proportional multi-way valve 40, lower supporting leg proportional multi-way valve I 45, lower supporting leg proportional multi-way valve II 47, on
The output end of supporting leg proportional multi-way valve I 50, upper supporting leg proportional multi-way valve II 52 and pressure compensator 30 and PLC control device 53 connects
It connects；Displacement sensor I48 on 53 input terminal of PLC control device and support oil cylinder 14,44, the signal of pressure sensor 43,49
Output end, the signal output end of displacement sensor II 42 on walking oil cylinder 2, displacement sensor III 39 on steering cylinder 25
Signal output end, 51 signal output end of level inclination sensor, 46 signal output end of position tracing sensor, pollution signalling generator 54
Signal output end and travel switch 41 connect.
The rodless cavity of steering cylinder 25 is connect with the B of hydraulic control one-way valve I 38 mouth, the A mouth and steering electricity of hydraulic control one-way valve I 38
The A mouth of magnetic reversal valve 35 connects, and the B mouth of ratio of turning multi-way valve 35 is connect with 25 rod chamber of steering cylinder.
The rodless cavity of translation oil cylinder 2 is connect with the B of hydraulic control one-way valve II mouth, the A mouth and translation ratio of hydraulic control one-way valve II
The A mouth of multi-way valve 40 connects, and the B mouth of translation proportional multi-way valve 40 is connect with 25 rod chamber of steering cylinder.
The rodless cavity of the support oil cylinder of three walking supporting legs and upper supporting leg proportional multi-way valve I 50 on the upper plate 16
The A mouth connection of B mouthfuls and upper supporting leg proportional multi-way valve II 52；On upper plate 16 three walking supporting leg support oil cylinder rod chamber with
The B mouth connection of the A mouth and upper supporting leg proportional multi-way valve II 52 of upper supporting leg proportional multi-way valve I 50.
The B of the rodless cavity of the support oil cylinder of three walking supporting legs and lower supporting leg proportional multi-way valve I 45 on the lower plate 1
The connection of the A mouth of mouth and lower supporting leg proportional multi-way valve II 47；The rod chamber of the support oil cylinder of three walking supporting legs is under on lower plate 1
The B mouth connection of the A mouth and lower supporting leg proportional multi-way valve II 47 of supporting leg proportional multi-way valve I 45.
As shown in fig. 6, the implementation method of mobile base bottom device includes steering operation, moving operation and Levelling operation.
Specific step is as follows for steering operation:
1, PLC control device 53 controls hydraulic pump 32 and opens, and the commutation of upper supporting leg proportional multi-way valve I 50 to bottom works, on
The support oil cylinder 14 of walking supporting leg 10 on bottom plate 16 is flexible, and pressure sensor 49 detects pressure and reaches design value stopping；Position
Tracking transducer 46 is set to start to detect the relative angle of target point and leading truck 3.
2, when the relative angle that position tracing sensor 46 detects target point and leading truck 3 is in [0 ° 90 °] and [180 °
270 °] when, the commutation of ratio of turning multi-way valve 35 to upper work, steering cylinder 25 drives lower plate 1 to rotate, when position tracking passes
When the detection target point of sensor 46 is conllinear with leading truck 3, the lower commutation of supporting leg proportional multi-way valve 45 to bottom works, on lower plate 1
Write a Chinese character in simplified form in walking supporting leg 10(figure are as follows: lower supporting leg) it lands, pressure sensor 43 detects pressure and reaches design value stopping, upper branch
Leg proportional multi-way valve I 50 commutates to upper work, so that writing a Chinese character in simplified form in the walking supporting leg 10(figure on upper plate 16 are as follows: upper support
Leg) it is hanging；The support oil cylinder displacement that displacement sensor 48 detects the walking supporting leg 10 on lower plate 1 stops when reaching design value
Only；The commutation of ratio of turning multi-way valve 35 to bottom works, and steering cylinder 25 drives the rotation of upper plate 16 to reset.
When position tracing sensor 46 detects target point and leading truck 3 not collinearly, when lower plate 1 turns to extreme position,
The lower commutation of supporting leg proportional multi-way valve 45 to bottom works, so that three walking supporting legs 10 on lower plate 1 land, pressure sensing
Device 43 detects pressure and reaches design value stopping, and upper supporting leg proportional multi-way valve I 50 commutates to upper work, so that on upper plate 16
Three walking supporting legs 10 are hanging, and displacement sensor 48 detects stopping when lower support oil cylinder displacement reaches design value.Ratio of turning
The commutation of multi-way valve 35 to bottom works, and steering cylinder 25 drives upper plate 16 to turn to extreme position, upper supporting leg proportional multi-way valve I
50 commutations to bottom works, so that three walking supporting legs 10 on upper plate 16 land, pressure sensor 49 detects pressure and reaches
Stop to design value, the lower commutation of supporting leg proportional multi-way valve I 45 is to upper work, so that three walking supporting legs on lower plate 1
10 is hanging, and displacement sensor 44 detects stopping when lower support oil cylinder displacement reaches design value.Steering cylinder 25 drives 1 turn of lower plate
It is dynamic, when the detection target point of position tracing sensor 46 is conllinear with leading truck 3, the lower commutation of supporting leg proportional multi-way valve I 45 to bottom
Work, so that three walking supporting legs 10 on lower plate 1 land, pressure sensor 43 detects pressure and reaches design value stopping,
The commutation of upper supporting leg proportional multi-way valve I 50 is to upper work, so that three walking supporting legs 10 on upper plate 16 are hanging, displacement is passed
Stopping when the support oil cylinder displacement that sensor 48 detects the walking supporting leg 10 on lower plate 1 reaches design value.Ratio of turning multichannel
The commutation of valve 35 to bottom works, and steering cylinder 25 drives the rotation of upper plate 16 to reset.
When the relative angle that position tracing sensor 46 detects target point and leading truck 3 is not at [0 ° 90 °] and [180 °
270 °] when, the lower commutation of supporting leg proportional multi-way valve I 45 to bottom works, so that three walking supporting legs 10 on lower plate 1
Ground, pressure sensor 43 detect pressure and reach design value stopping, and upper supporting leg proportional multi-way valve I 50 commutates to upper work, so that
Three walking supporting legs 10 on upper plate 16 are hanging, and displacement sensor 48 detects the branch of the walking supporting leg 10 on lower plate 1
The stopping when displacement of leg oil cylinder reaches design value.The commutation of ratio of turning multi-way valve 35 to bottom works, and steering cylinder 25 drives upper bottom
Plate 16 turns to extreme position, and the commutation of upper supporting leg proportional multi-way valve I 50 to bottom works, so that three on upper plate 16 are walked
Supporting leg 10 lands, and pressure sensor 49 detects pressure and reaches design value stopping, and lower supporting leg proportional multi-way valve I 45 commutates to upper
Work, so that three walking supporting legs 10 on lower plate 1 are hanging, displacement sensor 44 detects the walking support on lower plate 1
Stopping when the support oil cylinder displacement of leg 10 reaches design value.Ratio of turning multi-way valve 35 commutates to upper work, steering cylinder 25
Lower plate 1 is driven to rotate.
The elongation of steering cylinder and the calculation formula of bottom plate steering angle are as follows:
(1)
In formula, X is the elongation of steering cylinder, unit mm；α is bottom plate steering angle.
Specific step is as follows for moving operation:
The commutation of proportional multi-way valve 40 is translated to upper work, drives upper plate 16 mobile to target point, position tracking sensing
The relative shift of device 46 detection and target point, PLC control device 53 subtract the maximum displacement of translation oil cylinder 2 according to relative shift
Amount calculates the number of moving step length.When relative shift is 0, the lower commutation of supporting leg proportional multi-way valve I 45 to bottom works, so that
Three walking supporting legs 10 on lower plate 1 land, and pressure sensor 43 detects pressure and reaches design value stopping, upper supporting leg ratio
The commutation of multi-way valve I 50 is to upper work, so that three walking supporting legs 10 on upper plate 16 are hanging, displacement sensor 48 is detected
Stopping when the support oil cylinder displacement of walking supporting leg 10 on lower plate 1 reaches design value.Ratio of turning multi-way valve 35 commutates extremely
Bottom work, steering cylinder 25 drive the rotation of upper plate 16 to reset, and the commutation of upper supporting leg proportional multi-way valve I 50 to bottom works, on
The support oil cylinder 14 of walking supporting leg 10 on bottom plate 16 drives upper supporting leg 10 to land, and the detection of pressure sensor 49 pressure, which reaches, to be set
Evaluation stops, the lower commutation of supporting leg proportional multi-way valve I 45 to upper work, so that the walking supporting leg 10 on lower plate 1 is hanging, position
Stopping when the support oil cylinder displacement that displacement sensor 44 detects the walking supporting leg 10 on lower plate 1 reaches design value.
Specific step is as follows for Levelling operation:
When the walking supporting leg 10 on lower plate 1 lands, and the walking supporting leg 10 on upper plate 16 is hanging, lower supporting leg ratio
Example multi-way valve I 45 is closed, and the lower commutation of supporting leg proportional multi-way valve II 47 accurately levels standard of fuselage degree to upper work；
When the walking supporting leg 10 on upper plate 16 lands, and the walking supporting leg 10 on lower plate 1 is hanging, upper supporting leg ratio
Example multi-way valve I 50 is closed, and upper supporting leg proportional multi-way valve II 52 commutates to upper work, is accurately leveled to standard of fuselage degree.
The implementation method of the mobile base bottom device of the utility model, as there are the big marine for maintaining of ocean current
The mean of access of stable posture is overturned or is not blown away and maintain because of ocean current, and mobile base bottom device must not be by ocean current
Blow away, the condition that mobile base bottom device is not blown away by ocean current is: the self weight of mobile base bottom device is generated with Yang Li
Grab ground toe frictional force be greater than fluid resistance: i.e.:
(2)
(3)
In formula, m is the quality of mobile seat bottom device, and g is acceleration of gravity, and B is the buoyancy of mobile seat bottom device, fF
Ground frictional force is grabbed for the sea bottom surface of mobile seat bottom device, fD is fluid resistance, and fE is other external force ingredients in addition to this, and
And μ is to grab ground coefficient of friction, fL be act on a bottom device raise power.In mathematical expression 2, due to fD and fE be to flow velocity with
The function of mobile seat bottom device posture, therefore posture can be compensated in a manner of meeting the inequality of mathematical expression 2, to overcome
Ocean current.
Claims (7)
1. a kind of mobile base bottom device, it is characterised in that: upper plate, support plate and lower plate, the upper plate and bottom
The top surface of plate is installed by three walking supporting legs respectively；Upper plate is installed on the supporting plate by pivoting support, upper plate and support
Rotary motion mechanism is equipped between plate；Support plate bottom installs wheel mounting base, and wheel mounting base bottom is equipped with wheel, passes through vehicle
It takes turns on the leading truck being supported on lower plate, hoofing part mechanism is equipped between wheel mounting base and lower plate；Revolution driving machine
Structure, hoofing part mechanism are connect with control unit respectively；
Control unit is connect with the walking supporting leg of upper plate and lower plate respectively, can drive the walking of upper plate and lower plate
Supporting leg is hanging or lands；Level inclination sensor is installed, the posture for detection body on upper bed-plate；It is installed on lower plate
There is position tracing sensor, for tracking and detecting position in the water for executing mobile base bottom device in real time；Level inclination
Sensor and position tracing sensor are connect with control unit respectively.
2. mobile base bottom according to claim 1 device, it is characterised in that: the walking supporting leg includes supporting leg
Oil cylinder, supporting plate, bracket ear, supporting leg sole universal joint and strut；Strut one end and bracket ear are hinged, the other end and upper plate or under
Supporting leg seat otic placode on bottom plate is hinged；Bracket ear is connect by pin shaft with support oil cylinder and supporting leg sole universal joint, supporting leg sole
Universal joint is connect by pin shaft with supporting plate, and the other end and upper plate of support oil cylinder or the upper end of the supporting leg seat on lower plate are cut with scissors
It connects；Support oil cylinder is equipped with pressure sensor and displacement sensor I, pressure sensor, displacement sensor I and support oil cylinder difference
It is connect with control unit.
3. mobile base bottom according to claim 2 device, it is characterised in that: the hoofing part mechanism includes row
Oil cylinder is walked, the both ends for oil cylinder of walking are hinged respectively at wheel mounting base and lower plate；The walking oil cylinder is equipped with displacement and passes
Sensor II and travel switch, walking oil cylinder, displacement sensor II and travel switch are connect with control unit respectively.
4. mobile base bottom according to claim 3 device, it is characterised in that: the rotary motion mechanism includes turning
To oil cylinder, slide rail, sliding block and push rod；The steering cylinder, slide rail are mounted on upper plate bottom, steering cylinder with
Sliding block is hinged, and sliding block is mounted on slide rail, can move along slide rail, one end connection of sliding block and push rod, push rod
The other end connect with support plate；Steering cylinder is equipped with displacement sensor III, and steering cylinder, displacement sensor III and control are single
Member connection.
5. mobile base bottom according to claim 4 device, it is characterised in that: the control unit includes hydraulic control
Device and PLC control device processed；The hydraulic control device includes hydraulic pump, main oil inlet pipe and main oil return pipe, hydraulic pump
Import is connected to by pipeline with fuel tank, and the outlet of hydraulic pump is connected to main oil inlet pipe, and main oil return pipe connects fuel tank；Ratio of turning is more
The P mouth of road valve, the translation P mouth of proportional multi-way valve, the P mouth of lower supporting leg proportional multi-way valve I, lower supporting leg proportional multi-way valve II P mouth,
The P mouth of the P mouth of upper supporting leg proportional multi-way valve I, upper supporting leg proportional multi-way valve II, the P mouth of uniform-pressure-drop valve respectively with main oil inlet pipe
Connection；T mouth, translation the T mouth of proportional multi-way valve, the T mouth of lower supporting leg proportional multi-way valve I, lower supporting leg ratio of ratio of turning multi-way valve
Example the T mouth of multi-way valve II, the T mouth of upper supporting leg proportional multi-way valve I, upper supporting leg proportional multi-way valve II T mouth respectively with main oil return pipe
Connection；The ratio of turning multi-way valve, translation proportional multi-way valve, lower supporting leg proportional multi-way valve I, lower supporting leg proportional multi-way valve II,
Upper supporting leg proportional multi-way valve I, upper supporting leg proportional multi-way valve II are connect with the output end of PLC control device；The input of PLC control device
It holds and the displacement sensor II on the signal output end of displacement sensor I, pressure sensor on support oil cylinder, walking oil cylinder
Signal output end, the level inclination sensor signal output end, position of displacement sensor III on signal output end, steering cylinder
Tracking transducer signal output end is connected with travel switch；
The rodless cavity of steering cylinder is connect with the B of hydraulic control one-way valve I mouth, A mouth and the steering solenoid directional control valve of hydraulic control one-way valve I
A mouthfuls of connections, the B mouth of ratio of turning multi-way valve are connect with steering cylinder rod chamber；
The rodless cavity of translation oil cylinder is connect with the B of hydraulic control one-way valve II mouth, the A mouth and translation proportional multi-way valve of hydraulic control one-way valve II
The connection of A mouth, the B mouth for translating proportional multi-way valve connect with steering cylinder rod chamber；
On the upper plate three walking supporting leg the rodless cavity of support oil cylinder and the B mouth of upper supporting leg proportional multi-way valve I and on
The A mouth of supporting leg proportional multi-way valve II connects；The rod chamber and upper supporting leg ratio of the support oil cylinder of three walking supporting legs on upper plate
The B mouth connection of the A mouth and upper supporting leg proportional multi-way valve II of multi-way valve I；
On the lower plate three walking supporting leg the rodless cavity of support oil cylinder and the B mouth of lower supporting leg proportional multi-way valve I and under
The A mouth of supporting leg proportional multi-way valve II connects；The rod chamber of the support oil cylinder of three walking supporting legs and lower supporting leg ratio on lower plate
The B mouth connection of the A mouth and lower supporting leg proportional multi-way valve II of multi-way valve I.
6. mobile base bottom according to claim 5 device, it is characterised in that: the hydraulic control device further includes
Pressure compensator, the import of pressure compensator and the outlet of hydraulic pump connect, and the outlet of pressure compensator connects oil by pipeline
Case.
7. mobile base bottom according to claim 5 or 6 device, it is characterised in that: the hydraulic control device is also
Including balanced valve and pressure reducing valve, the P mouth of balanced valve and pressure reducing valve is connect with main oil inlet pipe respectively, the T mouth of balanced valve and pressure reducing valve
It is connect respectively with main oil return pipe.
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| CN109693773A (en) * | 2019-01-23 | 2019-04-30 | 湖南科技大学 | A kind of mobile base bottom device and its implementation |
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| CN109693773A (en) * | 2019-01-23 | 2019-04-30 | 湖南科技大学 | A kind of mobile base bottom device and its implementation |
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