CN109693773B - A movable base device and its realization method - Google Patents

Abstract

The invention discloses a movable seat bottom device and its realization method. The device comprises an upper base plate, a support plate and a lower base plate. Three walking support legs are respectively installed on the top surfaces of the upper base plate and the lower base plate; The support is installed on the support plate, and a rotary drive mechanism is provided between the upper base plate and the support plate; the wheel mounting seat at the bottom of the support plate, and the wheel is provided at the bottom of the mounting seat, and the wheels are supported on the guide frame on the lower base plate. There is a walking drive mechanism between the lower base plates; the slewing drive mechanism and the walking drive mechanism are respectively connected to the control unit; the control unit is respectively connected to the walking support legs of the upper base plate and the lower base plate; a horizontal inclination sensor is installed on the upper base, and the lower base plate A position tracking sensor is installed, and the horizontal inclination sensor and the position tracking sensor are respectively connected with the control unit. The invention adopts a three-point parallel diagonal bracing system, which can quickly realize the balance control and leveling of the system. The upper and lower supporting legs of the present invention can be retracted, and the space is compact, which meets the requirement of the mother ship for the space limitation of the seat bottom device, and has strong adaptability.

Description

A movable base device and its realization method

technical field

The present invention relates to a subsea drilling system with a walking-type mobile base device and using the walking-type mobile base device. The legs are close to the seabed surface, and the subsea drilling system carried by the walking-type mobile base device.

Background technique

The walking-type mobile base device is a technical equipment used for seabed observation, marine resource detection, and submarine engineering geological survey. The walking-type mobile base device is an important supporting equipment for underwater drilling and sampling devices. Reliable walking-type mobile base device can break through the limitation of limited cabin space, and at the same time, it can carry heavy equipment to work smoothly on the irregular seabed. Especially for equipment for subsea drilling operations, reliable design of mobile base device cannot be ignored .

The subsea operation device obtains mobility roughly through two forms.

First, although the propeller method is effective for cruise-type submarines such as autonomous unmanned submarines, it is not easy to obtain control stability for submarine drilling equipment that requires precise operations. This is because the fluid force acting on the seabed drilling apparatus in water is nonlinear, and the thrust also has inherently strong nonlinearities such as dead zones, response delays, and saturation. In particular, when exposed to strong ocean currents such as the bottom of the sea, it is difficult to ensure posture stability and mobility, and thus it is difficult to obtain positional precision, operational precision, and clear ultrasonic images, so there are many cases where subsea operations cannot be performed. In a strong ocean current environment, the existing movable base device using the propeller must have problems such as unstable maneuverability and high energy consumption.

Second, the propulsion method in the form of an infinite track has the disadvantage of being difficult to travel on irregular seabed terrain or obstacle areas, and disturbing the seabed in terms of the characteristics of the driving method. Since there are always various obstacles such as sunken ships, fishing grounds, ropes and abandoned fishing nets on the seabed, and the constraints of submarine topography such as submerged reefs and weak foundations, it is difficult to drive in the infinite track mode. Also, in the case of seabed surveys, there are many site surveys that are composed in such a way that disturbances are minimized in an undisturbed environment, but there is a problem that it is difficult to use them for such purposes.

Contents of the invention

In order to solve the above problems, the present invention provides a walking-type mobile base device with simple structure, small space occupation, high safety, strong adaptability to irregular seabed terrain, high reliability and strong bearing capacity and its realization method.

The technical solution adopted in the present invention is: a movable base device, an upper base plate, a support plate and a lower base plate, three walking support legs are respectively installed on the top surfaces of the upper base plate and the lower base plate; the upper base plate is installed through a slewing bearing On the support plate, a rotary drive mechanism is provided between the upper base plate and the support plate; the wheel mounting seat at the bottom of the support plate, and the wheel is provided at the bottom of the wheel mounting seat, and the wheels are supported on the guide frame on the lower base plate, and the wheel mounting base and the lower base plate There is a walking drive mechanism between them; the slewing drive mechanism and the walking drive mechanism are respectively connected to the control unit;

The control unit is respectively connected with the walking support legs of the upper base and the lower base, and can drive the walking support legs of the upper base and the lower base to hang in the air or land on the ground; a horizontal inclination sensor is installed on the upper base to detect the posture of the body; A position tracking sensor is used for real-time tracking and detection of the underwater position of the movable base device; the horizontal inclination sensor and the position tracking sensor are respectively connected with the control unit.

In the above movable base device, the walking support leg includes a leg oil cylinder, a support plate, a bracket ear, a universal joint of the leg foot plate and a support rod; one end of the support rod is hinged to the support ear, and the other end is connected to the upper base plate Or the lug plate of the outrigger seat on the lower bottom plate is hinged; the bracket ear is connected with the outrigger oil cylinder and the outrigger foot plate universal joint through the pin shaft, and the outrigger foot plate universal joint is connected with the support plate 11 through the pin shaft, and the other outrigger oil cylinder One end is hinged with the upper end of the outrigger seat on the upper base or the lower base; the outrigger cylinder is provided with a pressure sensor and a displacement sensor, and the pressure sensor, displacement sensor and outrigger cylinder are respectively connected with the control unit.

In the above-mentioned movable base device, the traveling drive mechanism includes a traveling oil cylinder, and the two ends of the traveling oil cylinder are respectively hinged on the wheel mounting seat and the lower base plate; The oil cylinder, displacement sensor and travel switch are respectively connected with the control unit.

In the above movable base device, the rotary drive mechanism includes a steering cylinder, a sliding guide rail, a slider and a push rod; the steering cylinder and the sliding guide rail are installed at the bottom of the upper base, and the steering cylinder is hinged to the slider. The slider is installed on the sliding guide rail and can move along the sliding guide rail. The slider is connected with one end of the push rod, and the other end of the push rod is connected with the support plate; the steering cylinder is connected with the control unit.

In the above movable base device, the control unit includes a hydraulic control device and a PLC control device; the hydraulic control device includes a hydraulic pump, a main oil inlet pipe and a main oil return pipe, and the inlet of the hydraulic pump passes through the pipeline and the oil tank. The outlet of the hydraulic pump is connected to the main oil inlet pipe, and the main oil return pipe is connected to the oil tank; the P port of the steering proportional multi-way valve, the P port of the translation proportional multi-way valve, the P port of the lower leg proportional multi-way valve I, the lower branch The P port of the leg proportional multi-way valve II, the P port of the upper leg proportional multi-way valve I, the P port of the upper leg proportional multi-way valve II, and the P port of the differential pressure reducing valve are respectively connected with the main oil inlet pipe; T port of proportional multi-way valve, T port of translational proportional multi-way valve, T port of lower outrigger proportional multi-way valve I, T port of lower outrigger proportional multi-way valve II, upper outrigger proportional multi-way valve I The T port and the T port of the upper outrigger proportional multi-way valve II are respectively connected to the main oil return pipe; the steering proportional multi-way valve, translation proportional multi-way valve, lower outrigger proportional multi-way valve I, and lower outrigger proportional multi-way Valve II, upper outrigger proportional multi-way valve I, and upper outrigger proportional multi-way valve II are connected to the output end of the PLC control device; the input end of the PLC control device is connected to the output end of the displacement sensor signal, the output end of the displacement sensor signal, and the signal of the pressure sensor The output terminal, the displacement sensor signal output terminal, the pressure sensor signal output terminal, the displacement sensor signal output terminal, the horizontal inclination sensor signal output terminal, the position tracking sensor signal output terminal and the travel switch are connected;

The rodless chamber of the steering oil cylinder is connected to the B port of the hydraulic control check valve I, the A port of the hydraulic control check valve I is connected to the A port of the steering electromagnetic reversing valve, and the B port of the steering proportional multi-way valve is connected to the steering oil cylinder. Rod cavity connection;

The rodless chamber of the translation cylinder is connected to the B port of the hydraulic control check valve II, the A port of the hydraulic control check valve II is connected to the A port of the translation proportional multi-way valve, and the B port of the translation proportional multi-way valve is connected to the steering cylinder. Rod cavity connection;

The rodless chamber of the outrigger oil cylinder of the three walking legs on the upper base plate is connected with the B port of the upper outrigger proportional multi-way valve I and the A port of the upper outrigger proportional multi-way valve II; The rod cavity of the outrigger cylinder of the walking outrigger is connected to the A port of the upper outrigger proportional multi-way valve I and the B port of the upper outrigger proportional multi-way valve II;

The rodless cavity of the outrigger cylinder of the three walking legs on the lower base plate is connected with the B port of the lower outrigger proportional multi-way valve I and the A port of the lower outrigger proportional multi-way valve II; The rod chamber of the outrigger oil cylinder of the walking outrigger is connected with port A of the proportional multi-way valve I of the lower outrigger and port B of the proportional multi-way valve II of the lower outrigger.

In the above movable base device, the hydraulic control device further includes a pressure compensator, the inlet of the pressure compensator is connected to the outlet of the hydraulic pump, and the outlet of the pressure compensator is connected to the oil tank through a pipeline.

In the above movable seat bottom device, the hydraulic control device also includes a balance valve and a pressure reducing valve, the P ports of the balance valve and the pressure reducing valve are respectively connected to the main oil inlet pipe, and the T ports of the balance valve and the pressure reducing valve Connect with the main oil return pipe respectively.

The implementation method of the above-mentioned movable base device, including steering operation, moving operation and automatic leveling operation

The specific steps of steering operation are as follows:

1) The PLC control device controls the opening of the hydraulic pump, the proportional multi-way valve Ⅰ of the upper outrigger switches to the lower position, the outrigger cylinders of the three walking support legs on the upper base plate expand and contract, and the pressure sensor detects that the pressure reaches the design value and stops; position tracking The sensor starts to detect the relative angle between the target point and the guide frame;

2) When the position tracking sensor detects that the relative angle between the target point and the guide frame is between [0°90°] and [180°270°], the steering proportional multi-way valve switches to the upper position, and the steering cylinder drives the lower base plate to rotate. When the position tracking sensor detects that the target point is in line with the guide frame, the proportional multi-way valve of the lower outrigger switches to the lower position to work, the walking support leg on the lower bottom plate touches the ground, the pressure sensor detects that the pressure reaches the design value and stops, and the proportional multi-way valve of the upper outrigger The valve Ⅰ switches to the upper position to work, so that the three walking support legs on the upper base plate are suspended in the air; the displacement sensor detects that the displacement of the outrigger cylinder of the walking support leg on the lower base plate reaches the design value and stops; the steering proportional multi-way valve switches to the lower position Work, the steering cylinder drives the upper base plate to rotate and reset;

When the position tracking sensor detects that the target point is not collinear with the guide frame, and the lower base plate rotates to the limit position, the proportional multi-way valve of the lower outrigger switches to the lower position, so that the walking support legs on the lower base plate touch the ground, and the pressure sensor detects that the pressure reaches When the design value stops, the upper outrigger proportional multi-way valve I switches to the upper position to work, so that the three walking support legs on the upper base plate are suspended in the air, and the displacement sensor detects that the displacement of the lower outrigger oil cylinder reaches the design value and stops; the steering proportional multi-way valve changes Work to the lower position, the steering cylinder drives the upper base plate to rotate to the limit position, the upper leg proportional multi-way valve I switches to the lower position, so that the three walking support legs on the upper base plate touch the ground, and the pressure sensor detects that the pressure reaches the design value and stops. The proportional multi-way valve Ⅰ of the lower outrigger switches to the upper position to work, so that the three walking support legs on the lower base plate are suspended in the air. The displacement sensor detects that the displacement of the lower outrigger cylinder reaches the design value and stops; the steering cylinder drives the lower base plate to rotate. When the position is tracked When the sensor detects that the target point is in line with the guide frame, the proportional multi-way valve Ⅰ of the lower outrigger switches to the lower position to work, so that the three walking support legs on the lower base plate touch the ground, the pressure sensor detects that the pressure reaches the design value and stops, and the proportional multi-way valve of the upper outrigger The multi-way valve I switches to the upper position to work, so that the three walking support legs on the upper base plate are suspended in the air, and the displacement sensor detects that the displacement of the outrigger cylinder of the walking support legs on the lower base plate reaches the design value and stops; the steering proportional multi-way valve changes direction To work at the lower position, the steering cylinder drives the upper base plate to rotate and reset;

When the position tracking sensor detects that the relative angle between the target point and the guide frame is not between [0°90°] and [180°270°], the proportional multi-way valve Ⅰ of the lower outrigger switches to the lower position, so that the three One walking support leg touches the ground, the pressure sensor detects that the pressure reaches the design value and stops, the proportional multi-way valve Ⅰ of the upper leg switches to the upper position to work, so that the three walking support legs on the upper base plate are suspended in the air, and the displacement sensor detects the walking support on the lower base plate When the displacement of the outrigger oil cylinder of the leg reaches the design value, it stops; the steering proportional multi-way valve switches to the lower position, the steering oil cylinder drives the upper base plate to rotate to the limit position, and the upper outrigger proportional multi-way valve I switches to the lower position to work, so that the upper base plate The upper three walking support legs touch the ground, the pressure sensor detects that the pressure reaches the design value and stops, and the proportional multi-way valve Ⅰ of the lower outrigger switches to the upper position to work, so that the three walking support legs on the lower bottom plate are suspended in the air, and the displacement sensor detects the pressure on the lower bottom plate. When the displacement of the outrigger cylinder of the walking support leg reaches the design value, it stops; the steering ratio multi-way valve switches to the upper position, and the steering cylinder drives the bottom plate to rotate;

The specific steps of the mobile operation are as follows:

The translation proportional multi-way valve switches to the upper position, drives the upper base plate to move to the target point, the position tracking sensor detects the relative displacement with the target point, and the PLC control device calculates the moving step according to the relative displacement minus the maximum displacement of the translation cylinder Times; when the relative displacement is 0, the proportional multi-way valve Ⅰ of the lower outrigger switches to the lower position to work, so that the three walking support legs on the lower bottom plate touch the ground, the pressure sensor detects that the pressure reaches the design value and stops, and the proportion of the upper outrigger reaches the design value. The road valve I switches to the upper position to work, so that the three walking support legs on the upper floor are suspended in the air, and the displacement sensor detects that the displacement of the outrigger cylinder of the walking support legs on the lower floor reaches the design value and stops; the steering proportional multi-way valve switches to The lower position works, the steering cylinder drives the upper base plate to rotate and reset, and the upper outrigger proportional multi-way valve I switches to the lower position, so that the walking support legs on the upper base plate touch the ground, the pressure sensor detects that the pressure reaches the design value and stops, and the lower outrigger proportional multi-way The valve Ⅰ is switched to the upper position, so that the walking support leg on the lower floor is suspended in the air, and the displacement sensor detects that the displacement of the outrigger cylinder of the walking support leg on the lower floor reaches the design value and stops;

The specific steps of leveling operation are as follows:

When the walking support legs on the lower base plate are on the ground and the walking support legs on the upper base plate are suspended in the air, the proportional multi-way valve Ⅰ of the lower outrigger is closed, and the proportional multi-way valve Ⅱ of the lower outrigger is switched to the upper position to accurately control the level of the fuselage. Leveling;

When the walking support legs on the upper base plate are on the ground and the walking support legs on the lower base plate are suspended in the air, the proportional multi-way valve Ⅰ50 of the upper outrigger is closed, and the proportional multi-way valve II of the upper outrigger switches to the upper position to work, and the level of the fuselage is checked. Precise leveling.

In the implementation method of the above-mentioned movable base device, in step 2) of the steering operation, the calculation formula of the elongation of the steering cylinder and the steering angle of the bottom plate is as follows:

（1）

(1)

In the formula: X is the elongation of the steering cylinder, in mm; α is the steering angle of the bottom plate.

In the implementation method of the above-mentioned movable base device, the movable base device must not be blown away by the ocean current, and the condition for the movable base device not to be blown away by the ocean current is: the dead weight of the movable base device and The friction force of the grip toe produced by the lifting force is greater than the fluid resistance: that is:

（2）

(2)

（3）

(3)

In the formula: m is the mass of the mobile base device, g is the acceleration of gravity, B is the buoyancy of the mobile base device, fF is the frictional force of the seabed surface of the mobile base device, fD is the fluid resistance, and fE is In addition to other external force components, and, μ is the grip friction coefficient, and fL is the lifting force acting on the seat bottom device. In Mathematical Formula 2, since fD and fE are functions of the convective velocity and the posture of the mobile base device, the posture can be compensated so as to satisfy the inequality in Mathematical Formula 2, thereby overcoming ocean currents.

Compared with prior art, the beneficial effect of the present invention is:

1. The present invention adopts a walking mechanism, and proposes a new concept of a sea base device composed of six legs and its realization method, which is completely different from propeller propulsion and crawler type walking, and can better adapt to the irregular terrain of the seabed. The bottom device moves close to the bottom of the sea, uses posture and motion detection sensors to maintain posture and overcome currents, walks on the bottom of the sea, is equipped with a subsea drilling system, and transmits bottom data to the command ship with the help of wired/wireless communication units, so it has the ability to operate in shallow seas. And the effect of seabed detection in deep sea.

2. The present invention adopts a three-point parallel bracing system, which can be equipped with a large-tonnage subsea drilling device and a detection system, and can quickly realize the balance control and leveling of the system.

3. The hydraulic pump of the present invention is installed in the fuel tank, and the hydraulic control components are arranged on the fuel tank through the oil circuit integrated board. The upper and lower support legs can be retracted, and the space is compact, which meets the requirements of the mother ship for the space limitation of the bottom device, and has strong adaptability.

Description of drawings

Fig. 1 is a three-dimensional schematic diagram of the overall structure of the present invention.

Fig. 2 is a schematic side view of the overall structure of the present invention.

Fig. 3 is a schematic top view of the overall structure of the present invention.

Fig. 4 is a schematic diagram of the retractable state of the present invention.

Fig. 5 is a schematic diagram of the steering mechanism of the present invention.

Fig. 6 is a schematic diagram of the control flow of the present invention.

Fig. 7 is a schematic diagram of the hydraulic and electric control structure of the present invention.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings.

As shown in Fig. 1, Fig. 2 and Fig. 3, the movable base device of the present invention includes an upper base plate 16, a support plate 9 and a lower base plate 1; the upper base plate 16 and the lower base plate 1 are octagonal frames structure, the upper bottom plate 16 and the upper edge of the lower bottom plate 1 are respectively provided with three outrigger seats 5 and three outrigger seat ear plates 4 . Outrigger seat 5 and outrigger seat lug plate 4 are used for installing walking support leg 10. The walking support leg 10 comprises a leg oil cylinder 14, a support plate 11, a bracket ear 13, a leg foot plate universal joint 12 and a pole; one end of the pole is hinged with the bracket ear 13, and the other end is connected with the upper or lower base plate 4 hinged leg seat lugs. The bracket ear 13 is connected with the outrigger oil cylinder 14 and the outrigger foot plate universal joint 12 through the pin shaft, the outrigger foot plate universal joint 12 is connected with the support plate 11 through the pin shaft, and the other end of the outrigger oil cylinder 14 is connected with the upper or lower base plate The upper end of the upper leg seat 5 is hinged. The outrigger oil cylinder is provided with a pressure sensor 43 and a displacement sensor 44, and the outrigger oil cylinder 14 is driven to realize the rotation of the walking support leg 10.

As shown in Figure 5, the bottom of the upper base plate 16 is provided with an upper base plate support base 18, the upper base plate support base 18 is installed on the support plate 9 through the slewing bearing 8, and the bottom of the upper base plate support base 18 is equipped with a steering oil cylinder 25 and a slide Guide rail 26, steering oil cylinder 25 is connected with slide block 27 by pin shaft, slide block 27 is placed on slide guide rail 26, can slide along slide guide rail 26. Slide block 27 is connected with push rod 28 by pin, and push rod 28 is connected with support plate 9 by pin, forms a crank rocker mechanism, is driven by steering oil cylinder 25 and realizes the rotation of upper base plate 16.

The bottom of the support plate 9 is symmetrically provided with four wheel mounts 7, and each wheel mount 7 is provided with a pair of wheels 6 at the bottom, which are supported on the guide frame 3 on the lower base plate 1 by the wheels, and pushers are installed on the support plate 9. The two ends of the rod connecting seat 24 and the traveling oil cylinder 2 are connected with the push rod connecting seat 24 and the wheel mounting seat 7 through pin shafts respectively, and the support plate 9 drives the wheel 6 through the traveling oil cylinder 2 to realize its translation in the guide frame 3 . The travel oil cylinder 2 is provided with a displacement sensor 42 and a travel switch 41 .

A horizontal inclination sensor 51 is installed on the upper base 16 for detecting the posture of the main body. A position tracking sensor 46 is installed on the lower base plate 1 for tracking and detecting the horizontal position of the movable base device in real time.

As shown in Figure 7, the control unit includes a hydraulic control device and a PLC control device; the hydraulic control device includes a hydraulic pump 32, a pressure compensator 30, a main oil inlet pipe and a main oil return pipe, and the inlet of the hydraulic pump 32 passes through The pipeline communicates with the oil tank, and the pipeline is provided with a filter 31, and a pollution signaler 54 is installed on the filter 31. The inlet of the pressure compensator 30 is connected to the outlet of the hydraulic pump 32, and the outlet of the pressure compensator 30 is connected to the oil tank through a pipeline.

The outlet of the hydraulic pump is connected to the main oil inlet pipe, and the main oil return pipe is connected to the fuel tank; the P port of the steering proportional multi-way valve 35, the P port of the balance valve 34, the P port of the pressure reducing valve 36, and the P port of the translation proportional multi-way valve 40 , the P port of the lower outrigger proportional multi-way valve I45, the P port of the lower outrigger proportional multi-way valve II47, the P port of the upper outrigger proportional multi-way valve I50, the P port of the upper outrigger proportional multi-way valve II52, set The P port of the differential decompression valve 37 is connected with the main oil inlet pipe respectively; the T port of the steering proportional multi-way valve 35, the T port of the balance valve 34, the T port of the pressure reducing valve 36, the T port of the translation proportional multi-way valve 40, The T port of the lower outrigger proportional multi-way valve Ⅰ45, the T port of the lower outrigger proportional multi-way valve Ⅱ47, the T port of the upper outrigger proportional multi-way valve Ⅰ50, and the T port of the upper outrigger proportional multi-way valve Ⅱ52 are respectively connected with the main Oil return pipe connection; the steering proportional multi-way valve 35, the translation proportional multi-way valve 40, the lower outrigger proportional multi-way valve I45, the lower outrigger proportional multi-way valve II47, the upper outrigger proportional multi-way valve I50, the upper outrigger The proportional multi-way valve II 52 and the pressure compensator 30 are connected to the output end of the PLC control device 53; the input end of the PLC control device 53 is connected to the signal output end of the displacement sensor 39, the signal output end of the displacement sensor 42, the signal output end of the pressure sensor 43, and the displacement sensor 44 signal output terminals, pressure sensor 49 signal output terminals, displacement sensor 48 signal output terminals, horizontal inclination sensor 51 signal output terminals, position tracking sensor 46 signal output terminals, pollution transmitter 54 signal output terminals and travel switch 41 are connected.

The rodless chamber of the steering oil cylinder 25 is connected to the B port of the hydraulic control check valve I38, the A port of the hydraulic control check valve I38 is connected to the A port of the steering electromagnetic reversing valve 35, and the B port of the steering proportional multi-way valve 35 is connected to the Steering oil cylinder 25 is connected with rod cavity.

The rodless chamber of the translation cylinder 2 is connected to the B port of the hydraulic control check valve II, the A port of the hydraulic control check valve II is connected to the A port of the translation proportional multi-way valve 40, and the B port of the translation proportional multi-way valve 40 is connected to Steering oil cylinder 25 is connected with rod cavity.

The rodless chambers of the outrigger cylinders of the three walking legs on the upper bottom plate 16 are connected to the B port of the upper outrigger proportional multi-way valve I50 and the A port of the upper outrigger proportional multi-way valve II52; The rod cavity of the outrigger oil cylinder of the three walking outriggers is connected with the A port of the upper outrigger proportional multi-way valve I50 and the B port of the upper outrigger proportional multi-way valve II52.

The rodless cavity of the outrigger cylinders of the three walking legs on the lower bottom plate 1 is connected to the B port of the lower outrigger proportional multi-way valve I45 and the A port of the lower outrigger proportional multi-way valve II47; The rod cavity of the outrigger oil cylinder of the three walking outriggers is connected with the A port of the lower outrigger proportional multi-way valve I45 and the B port of the lower outrigger proportional multi-way valve II47.

As shown in Figure 6, the implementation method of the movable base device includes steering operation, moving operation and leveling operation.

The specific steps of steering operation are as follows:

1. The PLC control device 53 controls the opening of the hydraulic pump 32, the upper outrigger proportional multi-way valve I50 switches to the lower position, the outrigger cylinder 14 of the walking support leg 10 on the upper base plate 16 stretches, and the pressure sensor 49 detects that the pressure reaches the design value Stop; the position tracking sensor 46 starts to detect the relative angle between the target point and the guide frame 3 .

2. When the position tracking sensor 46 detects that the relative angle between the target point and the guide frame 3 is between [0°90°] and [180°270°], the steering ratio multi-way valve 35 is switched to the upper position, and the steering cylinder 25 is driven down When the base plate 1 rotates, when the position tracking sensor 46 detects that the target point is in line with the guide frame 3, the lower outrigger proportional multi-way valve 45 switches to the lower position, and the walking support leg 10 on the lower base plate 1 (abbreviated as: lower The supporting leg) lands on the ground, the pressure sensor 43 detects that the pressure reaches the design value and stops, and the proportional multi-way valve I50 of the upper supporting leg switches to the upper position to work, so that the walking supporting leg 10 on the upper base plate 16 (abbreviated as: upper supporting leg in the figure) is suspended The displacement sensor 48 detects that the displacement of the supporting leg oil cylinder of the walking support leg 10 on the lower base plate 1 reaches the design value and stops; the steering ratio multi-way valve 35 switches to the lower position, and the steering cylinder 25 drives the upper base plate 16 to rotate and reset.

When the position tracking sensor 46 detects that the target point is not collinear with the guide frame 3 and the lower base plate 1 rotates to the limit position, the lower leg proportional multi-way valve 45 switches to the lower position to work, so that the three walking support legs on the lower base plate 1 10 lands, the pressure sensor 43 detects that the pressure reaches the design value and stops, and the proportional multi-way valve I50 of the upper leg switches to the upper position to work, so that the three walking support legs 10 on the upper base plate 16 are suspended in the air, and the displacement sensor 48 detects the displacement of the cylinder of the lower leg Stop when the design value is reached. The steering proportional multi-way valve 35 switches to the lower position, the steering cylinder 25 drives the upper base plate 16 to rotate to the limit position, and the upper leg proportional multi-way valve I50 switches to the lower position, so that the three walking support legs 10 on the upper base plate 16 Landing, the pressure sensor 49 detects that the pressure reaches the design value and stops, and the proportional multi-way valve I45 of the lower leg switches to the upper position to work, so that the three walking support legs 10 on the lower floor 1 are suspended in the air, and the displacement sensor 44 detects that the displacement of the lower leg cylinder reaches Stop at design value. The steering cylinder 25 drives the lower base plate 1 to rotate. When the position tracking sensor 46 detects that the target point is in line with the guide frame 3, the lower outrigger proportional multi-way valve I45 switches to the lower position, so that the three walking support legs on the lower base plate 1 10 lands, the pressure sensor 43 detects that the pressure reaches the design value and stops, and the proportional multi-way valve I50 of the upper leg switches to the upper position to work, so that the three walking support legs 10 on the upper base plate 16 are suspended in the air, and the displacement sensor 48 detects the pressure on the lower base plate 1. Stop when the displacement of the supporting leg oil cylinder of walking support leg 10 reaches the design value. The steering proportional multi-way valve 35 switches to the lower position to work, and the steering oil cylinder 25 drives the upper base plate 16 to rotate and reset.

When the position tracking sensor 46 detects that the relative angle between the target point and the guide frame 3 is not between [0°90°] and [180°270°], the proportional multi-way valve I 45 of the lower outrigger switches to the lower position, so that the lower bottom plate 1 The three walking support legs 10 on the upper floor touch the ground, the pressure sensor 43 detects that the pressure reaches the design value and stops, and the upper leg proportional multi-way valve I50 switches to the upper position to work, so that the three walking support legs 10 on the upper base plate 16 are suspended in the air, and the displacement sensor 48 detects that the displacement of the supporting leg oil cylinder of the walking support leg 10 on the lower base plate 1 reaches the design value and stops. The steering proportional multi-way valve 35 switches to the lower position, the steering cylinder 25 drives the upper base plate 16 to rotate to the limit position, and the upper leg proportional multi-way valve I50 switches to the lower position, so that the three walking support legs 10 on the upper base plate 16 Landing, the pressure sensor 49 detects that the pressure reaches the design value and stops, the proportional multi-way valve I45 of the lower leg switches to the upper position to work, so that the three walking support legs 10 on the lower base 1 are suspended in the air, and the displacement sensor 44 detects the walking on the lower base 1 When the displacement of the supporting leg oil cylinder of supporting leg 10 reaches the design value, it stops. The steering proportional multi-way valve 35 switches to the upper position to work, and the steering cylinder 25 drives the lower base plate 1 to rotate.

The formula for calculating the elongation of the steering cylinder and the steering angle of the floor is as follows:

（1）

(1)

In the formula, X is the elongation of the steering cylinder in mm; α is the steering angle of the bottom plate.

The specific steps of the mobile operation are as follows:

The translation proportional multi-way valve 40 switches to the upper position to work, drives the upper base plate 16 to move to the target point, the position tracking sensor 46 detects the relative displacement with the target point, and the PLC control device 53 subtracts the maximum displacement of the translation cylinder 2 according to the relative displacement Count the number of move steps. When the relative displacement is 0, the lower outrigger proportional multi-way valve I45 switches to the lower position, so that the three walking support legs 10 on the lower bottom plate 1 touch the ground, the pressure sensor 43 detects that the pressure reaches the design value and stops, and the upper outrigger proportion The multi-way valve I50 switches to the upper position to work, so that the three walking support legs 10 on the upper base plate 16 are suspended in the air, and the displacement sensor 48 stops when the displacement of the outrigger cylinder of the walking support legs 10 on the lower base plate 1 reaches the design value. The steering proportional multi-way valve 35 switches to the lower position, the steering cylinder 25 drives the upper base plate 16 to rotate and reset, the upper leg proportional multi-way valve Ⅰ50 switches to the lower position, and the outrigger cylinder 14 of the walking support leg 10 on the upper base plate 16 Drive the upper leg 10 to the ground, the pressure sensor 49 detects that the pressure reaches the design value and stops, the proportional multi-way valve I45 of the lower leg switches to the upper position to work, so that the walking support leg 10 on the lower base 1 is suspended, and the displacement sensor 44 detects the lower base 1 Stop when the displacement of the supporting leg oil cylinder of the walking supporting leg 10 reaches the design value.

The specific steps of leveling operation are as follows:

When the walking support leg 10 on the lower base plate 1 touches the ground and the walking support leg 10 on the upper base plate 16 is in the air, the proportional multi-way valve I45 of the lower outrigger is closed, and the proportional multi-way valve II47 of the lower outrigger switches to the upper position to work. Leveling for precise leveling;

When the walking support leg 10 on the upper base plate 16 touches the ground and the walking support leg 10 on the lower base plate 1 is suspended in the air, the proportional multi-way valve Ⅰ50 of the upper leg is closed, and the proportional multi-way valve II 52 of the upper leg switches to the upper position to work. body level for precise leveling.

The realization method of the movable base device of the present invention is as an approach method for maintaining a stable posture without being overturned or blown away by the current in the sea where currents exist, and the movable base device must not be Blown away by the ocean current, the condition for the movable base device not to be blown away by the ocean current is that the frictional force of the toe-grip produced by the self-weight and lifting force of the movable base device is greater than the fluid resistance: namely:

（2）

(2)

（3）

(3)

In the formula, m is the mass of the mobile base device, g is the gravitational acceleration, B is the buoyancy of the mobile base device, fF is the seabed friction force of the mobile base device, fD is the fluid resistance, and fE is In addition to other external force components, and, μ is the grip friction coefficient, and fL is the lifting force acting on the seat bottom device. In Mathematical Formula 2, since fD and fE are functions of the convective velocity and the posture of the mobile base device, the posture can be compensated so as to satisfy the inequality in Mathematical Formula 2, thereby overcoming ocean currents.

Claims (4)

1. A movable base device, characterized in that: an upper base plate, a support plate and a lower base plate, three walking support legs are respectively installed on the top surfaces of the upper base plate and the lower base plate; On the plate, a rotary drive mechanism is provided between the upper base plate and the support plate; the wheel mounting seat is installed at the bottom of the support plate, and the wheel is provided at the bottom of the wheel mounting base, and the wheels are supported on the guide frame on the lower base plate. There is a walking drive mechanism between them; the slewing drive mechanism and the walking drive mechanism are respectively connected with the control unit; The control unit is respectively connected with the walking support legs of the upper base and the lower base, and can drive the walking support legs of the upper base and the lower base to hang in the air or land on the ground; a horizontal inclination sensor is installed on the upper base to detect the posture of the body; There is a position tracking sensor, which is used to track and detect the underwater position of the movable base device in real time; the horizontal inclination sensor and the position tracking sensor are respectively connected with the control unit; The walking support leg includes a leg oil cylinder, a support plate, a support ear, a universal joint of the support leg and a support rod; one end of the support rod is hinged with the support ear, and the other end is connected with the leg seat ear plate on the upper base or the lower base. Hinged; the bracket ear is connected with the outrigger cylinder and the outrigger foot plate universal joint through the pin shaft, the outrigger foot plate universal joint is connected with the support plate through the pin shaft, and the other end of the outrigger oil cylinder is connected with the outrigger on the upper or lower base plate The upper end of the seat is hinged; the outrigger cylinder is provided with a pressure sensor and a displacement sensor, and the pressure sensor, displacement sensor and outrigger cylinder are respectively connected with the control unit; The walking drive mechanism includes a walking oil cylinder, the two ends of which are respectively hinged on the wheel mounting seat and the lower floor; the walking oil cylinder is provided with a displacement sensor and a stroke switch, and the walking cylinder, the displacement sensor and the stroke switch are respectively connected with the control unit connection; The slewing drive mechanism includes a steering cylinder, a sliding guide rail, a slider and a push rod; the steering cylinder and the sliding guide rail are installed at the bottom of the upper base plate, the steering cylinder is hinged to the slider, and the slider is installed on the sliding guide rail. Move along the sliding guide rail, the slider is connected with one end of the push rod, and the other end of the push rod is connected with the support plate; the steering cylinder is connected with the control unit; The control unit includes a hydraulic control device and a PLC control device; the hydraulic control device includes a hydraulic pump, a main oil inlet pipe and a main oil return pipe, the inlet of the hydraulic pump communicates with the oil tank through a pipeline, and the outlet of the hydraulic pump communicates with the main oil inlet pipe. The main oil return pipe is connected to the oil tank; the P port of the steering proportional multi-way valve, the P port of the translation proportional multi-way valve, the P port of the lower outrigger proportional multi-way valve I, the P port of the lower outrigger proportional multi-way valve II, The P port of the upper outrigger proportional multi-way valve Ⅰ, the P port of the upper outrigger proportional multi-way valve II, and the P port of the differential pressure reducing valve are respectively connected to the main oil inlet pipe; the T port of the steering proportional multi-way valve, the translation ratio T port of multi-way valve, T port of lower outrigger proportional multi-way valve I, T port of lower outrigger proportional multi-way valve II, T port of upper outrigger proportional multi-way valve I, upper outrigger proportional multi-way valve The T port of II is respectively connected with the main oil return pipe; the steering proportional multi-way valve, translation proportional multi-way valve, lower outrigger proportional multi-way valve I, lower outrigger proportional multi-way valve II, upper outrigger proportional multi-way valve Ⅰ. The upper outrigger proportional multi-way valve Ⅱ is connected to the output end of the PLC control device; the input end of the PLC control device is connected to the output end of the displacement sensor signal on the outrigger oil cylinder, the signal output end of the pressure sensor on the outrigger oil cylinder, and the upper end of the walking oil cylinder. The displacement sensor signal output terminal, the horizontal inclination sensor signal output terminal, the position tracking sensor signal output terminal and the travel switch are connected; The rodless chamber of the steering oil cylinder is connected to the B port of the hydraulic control check valve I, the A port of the hydraulic control check valve I is connected to the A port of the steering electromagnetic reversing valve, and the B port of the steering proportional multi-way valve is connected to the steering oil cylinder. Rod cavity connection; The rodless chamber of the translation cylinder is connected to the B port of the hydraulic control check valve II, the A port of the hydraulic control check valve II is connected to the A port of the translation proportional multi-way valve, and the B port of the translation proportional multi-way valve is connected to the steering cylinder. Rod cavity connection; The rodless chamber of the outrigger oil cylinder of the three walking legs on the upper base plate is connected with the B port of the upper outrigger proportional multi-way valve I and the A port of the upper outrigger proportional multi-way valve II; The rod cavity of the outrigger cylinder of the walking outrigger is connected to the A port of the upper outrigger proportional multi-way valve I and the B port of the upper outrigger proportional multi-way valve II; The rodless cavity of the outrigger cylinder of the three walking legs on the lower base plate is connected with the B port of the lower outrigger proportional multi-way valve I and the A port of the lower outrigger proportional multi-way valve II; The rod cavity of the outrigger cylinder of the walking outrigger is connected to the A port of the lower outrigger proportional multi-way valve I and the B port of the lower outrigger proportional multi-way valve II; The hydraulic control device also includes a pressure compensator, the inlet of the pressure compensator is connected to the outlet of the hydraulic pump, and the outlet of the pressure compensator is connected to the oil tank through a pipeline; The hydraulic control device also includes a balance valve and a pressure reducing valve, the P ports of the balance valve and the pressure reducing valve are respectively connected to the main oil inlet pipe, and the T ports of the balance valve and the pressure reducing valve are respectively connected to the main oil return pipe. 2. A method for realizing the movable base device according to claim 1, comprising steering operation, moving operation and leveling operation, The specific steps of steering operation are as follows: 1) The PLC control device controls the opening of the hydraulic pump, the upper outrigger proportional multi-way valve I switches to the lower position, the outrigger cylinders of the three walking support legs on the upper base plate expand and contract, and the pressure sensor detects that the pressure reaches the design value and stops; position tracking The sensor starts to detect the relative angle between the target point and the guide frame; 2) When the position tracking sensor detects that the relative angle between the target point and the guide frame is between [0°90°] and [180°270°], the steering ratio multi-way valve switches to the upper position, and the steering cylinder drives the lower base plate to rotate. When the position tracking sensor detects that the target point is in line with the guide frame, the proportional multi-way valve of the lower outrigger switches to the lower position to work, the walking support leg on the lower bottom plate touches the ground, the pressure sensor detects that the pressure reaches the design value and stops, and the proportional multi-way valve of the upper outrigger The valve Ⅰ switches to the upper position to work, so that the three walking support legs on the upper base plate are suspended in the air; the displacement sensor detects that the displacement of the outrigger cylinder of the walking support leg on the lower base plate reaches the design value and stops; the steering proportional multi-way valve switches to the lower position Work, the steering cylinder drives the upper base plate to rotate and reset; When the position tracking sensor detects that the target point is not collinear with the guide frame, and the lower base plate rotates to the limit position, the proportional multi-way valve of the lower outrigger switches to the lower position, so that the walking support legs on the lower base plate touch the ground, and the pressure sensor detects that the pressure reaches When the design value stops, the upper outrigger proportional multi-way valve I switches to the upper position to work, so that the three walking support legs on the upper base plate are suspended in the air, and the displacement sensor detects that the displacement of the lower outrigger oil cylinder reaches the design value and stops; the steering proportional multi-way valve changes Work to the lower position, the steering cylinder drives the upper base plate to rotate to the limit position, the upper leg proportional multi-way valve I switches to the lower position, so that the three walking support legs on the upper base plate touch the ground, and the pressure sensor detects that the pressure reaches the design value and stops. The proportional multi-way valve Ⅰ of the lower outrigger switches to the upper position to work, so that the three walking support legs on the lower base plate are suspended in the air. The displacement sensor detects that the displacement of the lower outrigger cylinder reaches the design value and stops; the steering cylinder drives the lower base plate to rotate. When the position is tracked When the sensor detects that the target point is in line with the guide frame, the proportional multi-way valve Ⅰ of the lower outrigger switches to the lower position to work, so that the three walking support legs on the lower base plate touch the ground, the pressure sensor detects that the pressure reaches the design value and stops, and the proportional multi-way valve of the upper outrigger The multi-way valve I switches to the upper position to work, so that the three walking support legs on the upper base plate are suspended in the air, and the displacement sensor detects that the displacement of the outrigger cylinder of the walking support legs on the lower base plate reaches the design value and stops; the steering proportional multi-way valve changes direction To work at the lower position, the steering cylinder drives the upper base plate to rotate and reset; When the position tracking sensor detects that the relative angle between the target point and the guide frame is not between [0°90°] and [180°270°], the proportional multi-way valve Ⅰ of the lower outrigger switches to the lower position, so that the three One walking support leg touches the ground, the pressure sensor detects that the pressure reaches the design value and stops, the proportional multi-way valve Ⅰ of the upper leg switches to the upper position to work, so that the three walking support legs on the upper base plate are suspended in the air, and the displacement sensor detects the walking support on the lower base plate When the displacement of the outrigger oil cylinder of the leg reaches the design value, it stops; the steering proportional multi-way valve switches to the lower position, the steering oil cylinder drives the upper base plate to rotate to the limit position, and the upper outrigger proportional multi-way valve I switches to the lower position to work, so that the upper base plate The upper three walking support legs touch the ground, the pressure sensor detects that the pressure reaches the design value and stops, and the proportional multi-way valve Ⅰ of the lower outrigger switches to the upper position to work, so that the three walking support legs on the lower bottom plate are suspended in the air, and the displacement sensor detects the pressure on the lower bottom plate. When the displacement of the outrigger cylinder of the walking support leg reaches the design value, it stops; the steering ratio multi-way valve switches to the upper position, and the steering cylinder drives the bottom plate to rotate; The specific steps of the mobile operation are as follows: The translation proportional multi-way valve switches to the upper position, drives the upper base plate to move to the target point, the position tracking sensor detects the relative displacement with the target point, and the PLC control device calculates the moving step according to the relative displacement minus the maximum displacement of the translation cylinder Times; when the relative displacement is 0, the proportional multi-way valve Ⅰ of the lower outrigger switches to the lower position to work, so that the three walking support legs on the lower bottom plate touch the ground, the pressure sensor detects that the pressure reaches the design value and stops, and the proportion of the upper outrigger reaches the design value. The road valve I switches to the upper position to work, so that the three walking support legs on the upper floor are suspended in the air, and the displacement sensor detects that the displacement of the outrigger cylinder of the walking support legs on the lower floor reaches the design value and stops; the steering proportional multi-way valve switches to The lower position works, the steering cylinder drives the upper base plate to rotate and reset, and the upper outrigger proportional multi-way valve I switches to the lower position, so that the walking support legs on the upper base plate touch the ground, the pressure sensor detects that the pressure reaches the design value and stops, and the lower outrigger proportional multi-way The valve Ⅰ is switched to the upper position, so that the walking support leg on the lower floor is suspended in the air, and the displacement sensor detects that the displacement of the outrigger cylinder of the walking support leg on the lower floor reaches the design value and stops; The specific steps of leveling operation are as follows: When the walking support legs on the lower base plate are on the ground and the walking support legs on the upper base plate are suspended in the air, the proportional multi-way valve Ⅰ of the lower outrigger is closed, and the proportional multi-way valve Ⅱ of the lower outrigger is switched to the upper position to accurately control the level of the fuselage. Leveling; When the walking support legs on the upper base plate are on the ground and the walking support legs on the lower base plate are suspended in the air, the proportional multi-way valve Ⅰ of the upper outrigger is closed, and the proportional multi-way valve Ⅱ of the upper outrigger switches to the upper position to work, and the level of the fuselage is checked. Precise leveling. 3. The implementation method of the movable base device according to claim 2, in the step 2) of the steering operation, the calculation formula of the elongation of the steering cylinder and the steering angle of the base plate is as follows: X＝450×(cos5°-cos(α+5°)) (1) In the formula: X is the elongation of the steering cylinder, in mm; α is the steering angle of the bottom plate. 4. The realization method of the movable base device according to claim 2, the movable base device must not be blown away by the ocean current, and the condition that the movable base device is not blown away by the ocean current is: the movable base device must not be blown away by the ocean current. The frictional force of the gripping toe produced by the self-weight and lifting force of the bottom device is greater than the fluid resistance: namely: mg+B+fF<<fD+fE (2) fF=μfL (3) In the formula: m is the mass of the mobile base device, g is the acceleration of gravity, B is the buoyancy of the mobile base device, fF is the frictional force of the seabed surface of the mobile base device, fD is the fluid resistance, and fE is In addition to other external force components, and, μ is the grip friction coefficient, fL is the lifting force acting on the base device; in mathematical formula 2, since fD and fE are the effects of the flow velocity and the posture of the mobile base device function, so it is possible to compensate the posture in such a way as to satisfy the inequality of Math.

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