阅读说明：本技术 一种船载水下探测设备用升降、姿态控制装置及控制方法 (Lifting and attitude control device and control method for shipborne underwater detection equipment ) 是由 张�杰 史渊 凌剑国 张婷婷 孔鹏 于 2020-07-09 设计创作，主要内容包括：一种船载水下探测设备用升降、姿态控制装置及控制方法,属于水下探测辅助设备技术领域。上台面的外法兰与船体法兰固连,上台面的中间上法兰与液压缸吊装法兰连接,上台面的中间下法兰与上支撑圆筒的上法兰连接,上台面的外侧端部连接外法兰；上支撑圆筒的下法兰与斜拉杆固定筒的法兰连接,斜拉杆固定筒的耳座与斜拉杆的下端吊耳连接,斜拉杆上端通过斜拉杆承力座及调节螺母与上台面连接。本发明实现了水下探测设备的垂直升降、在受侧向载荷作用下能正常工作,水上、水下两种介质的快速、安全转移,本发明结构简单,伺服控制和液压系统操控方便、稳定可靠,适用于船载水下探测设备的辅助升降、姿态控制。(A lifting and attitude control device and a control method for shipborne underwater detection equipment belong to the technical field of underwater detection auxiliary equipment. The outer flange of the upper table top is fixedly connected with a ship body flange, the middle upper flange of the upper table top is connected with a hydraulic cylinder hoisting flange, the middle lower flange of the upper table top is connected with the upper flange of the upper supporting cylinder, and the outer side end of the upper table top is connected with the outer flange; the lower flange of the upper supporting cylinder is connected with the flange of the diagonal draw bar fixing cylinder, the lug seat of the diagonal draw bar fixing cylinder is connected with the lower end lifting lug of the diagonal draw bar, and the upper end of the diagonal draw bar is connected with the upper table top through the diagonal draw bar bearing seat and the adjusting nut. The invention realizes the vertical lifting of underwater detection equipment, normal work under the action of lateral load and rapid and safe transfer of two mediums on water and underwater.)

1. A lifting device for a ship-borne underwater detection device, the attitude control device is characterized in that an outer flange of an upper table top is fixedly connected with a ship body flange, an upper flange in the middle of the upper table top is connected with a hydraulic cylinder hoisting flange, a lower flange in the middle of the upper table top is connected with an upper flange of an upper supporting cylinder, a lower flange of the upper supporting cylinder is connected with a flange of a diagonal draw bar fixing cylinder, an ear seat of the diagonal draw bar fixing cylinder is connected with a lower end lifting lug of the diagonal draw bar, the upper end of the diagonal draw bar is connected with the upper table top through a diagonal draw bar bearing seat and an adjusting nut, a lifting supporting cylinder is arranged inside the upper supporting cylinder and the diagonal draw bar fixing cylinder, a lower end flange of the lifting supporting cylinder is connected with a middle flange of a lower table top, the lower table top is connected with underwater detection equipment, the upper end of a hydraulic cylinder component is connected with the lifting lug of the hydraulic cylinder hoisting flange through a fixing shaft and a.

2. The lifting and attitude control device for the shipborne underwater detection equipment according to claim 1, wherein the lifting support cylinder and the upper support cylinder are in a spline fit connection structure; the inner diameter of the diagonal draw bar fixing cylinder is of a step structure, and the outer diameter of the lifting support cylinder is of a step structure.

3. The lift and attitude control device according to claim 1, wherein the cylinder assembly is connected to the cylinder mounting flange via a cylinder assembly joint bearing and a fixed shaft.

4. The lift and attitude control device according to claim 1, wherein the hydraulic cylinder assembly includes a position sensor mounted therein.

5. The lift and attitude control system according to claim 1, wherein the hydraulic cylinder assembly includes a plurality of sealing means.

6. The elevation and attitude control device for a ship-borne underwater detecting apparatus according to claim 1, the hydraulic cylinder assembly is characterized in that a plug-in overflow valve of the hydraulic cylinder assembly is connected with an electromagnetic directional valve, the electromagnetic directional valve is respectively connected with a first throttle valve and a second throttle valve, the first throttle valve is connected with a first high-pressure stop valve, the first high-pressure stop valve is connected with the hydraulic cylinder assembly through a first rubber tube, the second throttle valve is connected with a second high-pressure stop valve, the second high-pressure stop valve is connected with the hydraulic cylinder assembly through a second rubber tube, a pressure sensor is connected with the plug-in overflow valve, an MP pressure measuring joint is arranged between the pressure sensor and the plug-in overflow valve, an MA pressure measuring joint is arranged between the first throttle valve and the first high-pressure stop valve, an MB pressure measuring joint is arranged between the second throttle valve and the second high-pressure stop valve, and a third.

7. A lifting and attitude control method for ship-borne underwater detection equipment is characterized by comprising the following steps; the control panel receives an instruction sent by an upper computer or a control panel in real time, controls the on-off of the hydraulic control valve group, drives the lifting platform to ascend, descend and stop, and feeds back the current actual position of the platform in real time through a displacement sensor arranged on the hydraulic cylinder assembly to form position closed-loop control.

8. The lifting and attitude control method for the shipborne underwater detection equipment as claimed in claim 7, wherein when the upper computer sends an uplink instruction, the singlechip control board is connected with an uplink relay of a hydraulic valve, the platform moves upwards, and the platform stops automatically after moving to a limit position;

when the upper computer sends a downlink instruction, the singlechip control board is connected with a hydraulic valve downlink relay, the platform moves downwards and stops automatically after moving to a limit position;

in the moving process of the platform, the upper computer can send a stop command at any time, and the single chip microcomputer control board simultaneously cuts off the uplink and downlink relays to enable the platform to stop at any position;

the computer sends that the platform moves to any position in the effective range, and the platform automatically stops after moving to the specified position;

When an uplink button or a downlink button of the control panel is pressed respectively, the platform moves up or down correspondingly, and stops automatically after moving to the limit position; and in the moving process of the platform, the stop button is pressed at any time to realize the emergency stop of the platform.

9. The lifting and attitude control method for the shipborne underwater detection equipment according to claim 8, characterized in that a control board collects the numerical value of a pressure sensor in real time, once the hydraulic pressure exceeds an upper limit value, a pressure alarm lamp flashes, a platform stops suddenly, and simultaneously an alarm signal is sent to a hydraulic pump station through a serial port to automatically close the hydraulic pump station;

when the displacement sensor or the pressure sensor breaks down, the corresponding fault indicator lamp is normally on, and the platform is suddenly stopped, so that the control panel needs to be powered off, and after the fault is eliminated, the control panel is powered on again, and the system can normally work.

Technical Field

The invention relates to a lifting and attitude control device and a control method for shipborne underwater detection equipment, and belongs to the technical field of underwater detection auxiliary equipment.

Background

A scientific investigation ship is a ship for investigating and researching special tasks of marine hydrology, geology, meteorology, biology and the like. And the underwater detection equipment is one of the core components on the scientific research ship. The underwater detection equipment can carry out various operations only in an underwater operation mode. The underwater detection equipment is directly arranged on the water inlet part of the ship body, and after the underwater detection equipment is completely operated, the underwater detection equipment is detached to ensure the safety of the detection equipment. This approach has significant drawbacks and requires an auxiliary device that automatically lowers the detection device into the water when the detection device is in operation and then semi-automatically retrieves the detection device into the safe area of the hull after the operation is completed.

Disclosure of Invention

In order to overcome the defects of the prior art, the lifting and attitude control device and the control method for the shipborne underwater detection equipment are provided, and the underwater and overwater rapid transfer of the underwater detection equipment can be realized, so that the working efficiency and the safety are improved.

A lift, posture control device for ship-borne underwater detection equipment, an outer flange of an upper table top is fixedly connected with a ship body flange, an upper flange in the middle of the upper table top is connected with a hydraulic cylinder hoisting flange, and a lower flange in the middle of the upper table top is connected with an upper flange of an upper support cylinder; the lower flange of the upper supporting cylinder is connected with the flange of the diagonal draw bar fixing cylinder, the lug seat of the diagonal draw bar fixing cylinder is connected with the lower end lifting lug of the diagonal draw bar, the upper end of the diagonal draw bar is connected with the upper table top through a diagonal draw bar bearing seat and an adjusting nut, the lifting supporting cylinder is arranged inside the upper supporting cylinder and the diagonal draw bar fixing cylinder, the lower end flange of the lifting supporting cylinder is connected with the middle flange of the lower table top, the lower table top is connected with an underwater detection device, the upper end of a hydraulic cylinder assembly is connected with the lifting lug of the hydraulic cylinder lifting flange through a fixing shaft and a hydraulic cylinder joint bearing, and the lower end of the hydraulic cylinder assembly is connected with the lower table top.

The lifting support cylinder and the upper support cylinder are in a spline fit connection structure; the inner diameter of the diagonal draw bar fixing cylinder is of a step structure, and the outer diameter of the lifting support cylinder is of a step structure. The hydraulic cylinder assembly is connected with the hydraulic cylinder hoisting flange through a hydraulic cylinder assembly joint bearing and a fixed shaft. And a position sensor is arranged in the hydraulic cylinder assembly. Multiple sealing devices are arranged inside the hydraulic cylinder assembly.

A plug-in overflow valve of a hydraulic cylinder assembly is connected with an electromagnetic directional valve, the electromagnetic directional valve is respectively connected with a first throttle valve and a second throttle valve, the first throttle valve is connected with a first high-pressure stop valve, the first high-pressure stop valve is connected with a hydraulic cylinder assembly through a first rubber tube, the second throttle valve is connected with a second high-pressure stop valve, the second high-pressure stop valve is connected with the hydraulic cylinder assembly through a second rubber tube, a pressure sensor is connected with the plug-in overflow valve, an MP pressure measuring joint is arranged between the pressure sensor and the plug-in overflow valve, an MA pressure measuring joint is arranged between the first throttle valve and the first high-pressure stop valve, an MB pressure measuring joint is arranged between the second throttle valve and the second high-pressure stop valve, and a third rubber tube and a fourth rubber.

A lifting and attitude control method for ship-borne underwater detection equipment comprises the following steps; the control panel receives an instruction sent by an upper computer or a control panel in real time, controls the on-off of the hydraulic control valve group, drives the lifting platform to ascend, descend and stop, and feeds back the current actual position of the platform in real time through a displacement sensor arranged on the hydraulic cylinder assembly to form position closed-loop control.

The invention has the following beneficial effects: the invention realizes the vertical lifting of underwater detection equipment, normal work under the action of lateral load and rapid and safe transfer of two mediums on water and underwater.

The auxiliary lifting and attitude control device provided by the invention can realize the rapid transfer of underwater and overwater detection equipment in water, thereby improving the working efficiency and safety of the detection equipment, is particularly suitable for underwater scientific detection, and is one of important underwater scientific detection equipment.

Drawings

A more complete and thorough understanding of the present invention, and the many attendant advantages thereof, will be readily obtained by reference to the following detailed description when considered in connection with the accompanying drawings, which form a part hereof, and the accompanying drawings, wherein:

FIG. 1 is a mechanical block diagram of the present invention;

FIG. 2 is a top view of the mechanical structure of the present invention;

FIG. 3 is a top deck structure of the present invention;

FIG. 4 is a hydraulic control schematic of the present invention;

FIG. 5 is a schematic diagram of servo control of the present invention.

The invention is further illustrated with reference to the following figures and examples.

Detailed Description

It will be apparent that those skilled in the art can make many modifications and variations based on the spirit of the present invention.

The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description, "plurality" means two or more unless specifically limited otherwise.

Unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. To those of ordinary skill in the art, the specific meaning of terms in the present invention can be understood according to specific circumstances.

It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art.

The following further explanation is provided in order to facilitate understanding of the embodiments, and the embodiments are not to be construed as limiting the embodiments.