CN109693773B - Movable seat bottom device and implementation method thereof - Google Patents
Movable seat bottom device and implementation method thereof Download PDFInfo
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- CN109693773B CN109693773B CN201910062803.2A CN201910062803A CN109693773B CN 109693773 B CN109693773 B CN 109693773B CN 201910062803 A CN201910062803 A CN 201910062803A CN 109693773 B CN109693773 B CN 109693773B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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Abstract
The invention discloses a movable seat bottom device and a realization method thereof, wherein the device comprises an upper bottom plate, a supporting plate and a lower bottom plate, wherein three walking supporting legs are respectively arranged on the top surfaces of the upper bottom plate and the lower bottom plate; the upper bottom plate is arranged on the supporting plate through a slewing bearing, and a slewing driving mechanism is arranged between the upper bottom plate and the supporting plate; the bottom of the supporting plate is provided with wheels, the wheels are supported on a guide frame on the lower bottom plate through the wheels, and a traveling driving mechanism is arranged between the wheels and the lower bottom plate; the rotary driving mechanism and the walking driving mechanism are respectively connected with the control unit; the control unit is respectively connected with the walking support legs of the upper bottom plate and the lower bottom plate; the upper base is provided with a horizontal inclination angle sensor, the lower base plate is provided with a position tracking sensor, and the horizontal inclination angle sensor and the position tracking sensor are respectively connected with the control unit. The invention adopts a three-point parallel diagonal bracing system, and can quickly realize balance control and leveling of the system. The upper and lower supporting legs can be retracted and extended, the space is compact, the requirement of a mother ship on space limitation of a seat bottom device is met, and the adaptability is high.
Description
Technical Field
The present invention relates to a subsea drilling system having a walking type movable base device and a subsea drilling system using the walking type movable base device, and more particularly, to a subsea drilling system mounted by a walking type movable base device while approaching a bottom surface with legs formed of a plurality of joints, unlike a conventional subsea robot that obtains thrust by a propeller system.
Background
The walking type movable base device is technical equipment for submarine observation, ocean resource detection and submarine engineering geological investigation, and is important matching equipment for carrying the submarine drilling sampling device to realize underwater operation. The reliable walking type movable base device can break through the limit of the limited cabin space, and can carry heavy devices to stably operate at irregular seafloor, and particularly for equipment for submarine drilling operation, the design of the reliable movable base device is not negligible.
The mobility of the subsea working device is obtained substantially by two modalities.
First, although the propeller system is effective for a cruise type submarine such as an autonomous unmanned submarine, it is not easy to obtain control stability for a subsea drilling device requiring a precise operation. This is because the fluid forces acting on the subsea drilling device in water are nonlinear, and the thrust forces are inherently also strongly nonlinear in the dead zone, response delay, saturation, etc. In particular, when exposed to, for example, a ocean strong ocean current, it is difficult to ensure the posture stability and mobility, and thus it is difficult to obtain positional accuracy, operation accuracy, and clear ultrasonic images, and thus there are many cases where the ocean operation cannot be performed. In a strong ocean current environment, the existing movable type seat bottom device utilizing the propeller inevitably has the problems of unstable operability, high energy consumption and the like.
Second, the endless track propulsion system has a disadvantage in that it is difficult to travel on irregular seafloor terrains or obstacle regions, and the characteristics of the travel system are disturbing to the sea bottom. There are various obstacles such as sunken ships, fishing grounds, ropes and abandoned fishing nets on the sea floor and constraints on the sea floor topography such as reefs and soft foundations, so that there are difficulties in traveling in an endless track system. In addition, in the case of a submarine survey, there are many on-site surveys that are composed in such a way as to minimize disturbance in an undisturbed environment, but there is a problem that it is difficult to use the survey in such a use.
Disclosure of Invention
In order to solve the problems, the invention provides the walking type movable seat bottom device which has the advantages of simple structure, small occupied space, high safety, strong adaptability to irregular seabed terrains, high reliability and strong bearing capacity and the realization method thereof.
The technical scheme adopted by the invention is as follows: the movable seat bottom device comprises an upper bottom plate, a supporting plate and a lower bottom plate, wherein three walking supporting legs are respectively arranged on the top surfaces of the upper bottom plate and the lower bottom plate; the upper bottom plate is arranged on the supporting plate through a slewing bearing, and a slewing driving mechanism is arranged between the upper bottom plate and the supporting plate; the bottom of the supporting plate is provided with wheels, the wheels are supported on a guide frame on the lower bottom plate through the wheels, and a traveling driving mechanism is arranged between the wheels and the lower bottom plate; the rotary driving mechanism and the walking driving mechanism are respectively connected with the control unit;
the control unit is respectively connected with the walking support legs of the upper bottom plate and the lower bottom plate and can drive the walking support legs of the upper bottom plate and the lower bottom plate to hang or land; the upper base is provided with a horizontal inclination sensor for detecting the posture of the body; the lower bottom plate is provided with a position tracking sensor for tracking and detecting the position of the movable seat bottom device in water in real time; the horizontal inclination angle sensor and the position tracking sensor are respectively connected with the control unit.
In the movable seat bottom device, the walking supporting leg comprises a supporting leg oil cylinder, a supporting plate, a supporting leg ear, a supporting leg foot plate universal joint and a supporting rod; one end of the supporting rod is hinged with the bracket lug, and the other end is hinged with the supporting leg seat lug plate on the upper bottom plate or the lower bottom plate; the support lug is connected with the support oil cylinder and the support foot plate universal joint through a pin shaft, the support foot plate universal joint is connected with the support plate 11 through a pin shaft, and the other end of the support oil cylinder is hinged with the upper end of the support foot seat on the upper bottom plate or the lower bottom plate; the support leg oil cylinder is provided with a pressure sensor and a displacement sensor, and the pressure sensor, the displacement sensor and the support leg oil cylinder are respectively connected with the control unit.
In the movable base device, the walking driving mechanism comprises a walking oil cylinder, and two ends of the walking oil cylinder are respectively hinged with the wheel mounting base and the lower bottom plate; the travel oil cylinder is provided with a displacement sensor and a travel switch, and the travel oil cylinder, the displacement sensor and the travel switch are respectively connected with the control unit.
In the movable seat bottom device, the rotary driving mechanism comprises a steering oil cylinder, a sliding guide rail, a sliding block and a push rod; the steering cylinder and the sliding guide rail are arranged at the bottom of the upper bottom plate, the steering cylinder is hinged with the sliding block, the sliding block is arranged on the sliding guide rail and can move along the sliding guide rail, the sliding block is connected with one end of the push rod, and the other end of the push rod is connected with the supporting plate; the steering cylinder is connected with the control unit.
In the movable seat bottom device, the control unit comprises a hydraulic control device and a PLC control device; the hydraulic control device comprises a hydraulic pump, a main oil inlet pipe and a main oil return pipe, wherein an inlet of the hydraulic pump is communicated with the oil tank through a pipeline, an outlet of the hydraulic pump is communicated with the main oil inlet pipe, and the main oil return pipe is connected with the oil tank; the P port of the steering proportion multi-way valve, the P port of the translation proportion multi-way valve, the P port of the lower support leg proportion multi-way valve I, the P port of the lower support leg proportion multi-way valve II, the P port of the upper support leg proportion multi-way valve I and the P port of the upper support leg proportion multi-way valve II are respectively connected with a main oil inlet pipe; the T port of the steering proportion multi-way valve, the T port of the translation proportion multi-way valve, the T port of the lower support leg proportion multi-way valve I, the T port of the lower support leg proportion multi-way valve II, the T port of the upper support leg proportion multi-way valve I and the T port of the upper support leg proportion multi-way valve II are respectively connected with a main oil return pipe; the steering proportion multi-way valve, the translation proportion multi-way valve, the lower support leg proportion multi-way valve I, the lower support leg proportion multi-way valve II, the upper support leg proportion multi-way valve I and the upper support leg proportion multi-way valve II are connected with the output end of the PLC control device; the input end of the PLC control device is connected with the signal output end of the displacement sensor, the signal output end of the pressure sensor, the signal output end of the displacement sensor, the signal output end of the horizontal inclination angle sensor, the signal output end of the position tracking sensor and the travel switch;
the rodless cavity of the steering cylinder is connected with the port B of the hydraulic control one-way valve I, the port A of the hydraulic control one-way valve I is connected with the port A of the steering electromagnetic directional valve, and the port B of the steering proportional multi-way valve is connected with the rod cavity of the steering cylinder;
the rodless cavity of the translation oil cylinder is connected with the port B of the hydraulic control one-way valve II, the port A of the hydraulic control one-way valve II is connected with the port A of the translation proportional multi-way valve, and the port B of the translation proportional multi-way valve is connected with the rod cavity of the steering oil cylinder;
the rodless cavity of the leg oil cylinders of the three walking legs on the upper bottom plate is connected with the port B of the upper leg proportional multi-way valve I and the port A of the upper leg proportional multi-way valve II; the rod cavity of the leg oil cylinder of the three walking legs on the upper bottom plate is connected with the port A of the upper leg proportional multi-way valve I and the port B of the upper leg proportional multi-way valve II;
the rodless cavity of the leg oil cylinders of the three walking legs on the lower bottom plate is connected with the port B of the lower leg proportional multi-way valve I and the port A of the lower leg proportional multi-way valve II; the rod cavity of the leg oil cylinder of the three walking legs on the lower bottom plate is connected with the port A of the lower leg proportional multi-way valve I and the port B of the lower leg proportional multi-way valve II.
In the movable seat bottom device, the hydraulic control device further comprises a pressure compensator, an inlet of the pressure compensator is connected with an outlet of the hydraulic pump, and an outlet of the pressure compensator is connected with the oil tank through a pipeline.
In the movable seat bottom device, the hydraulic control device further comprises a balance valve and a pressure reducing valve, wherein P ports of the balance valve and the pressure reducing valve are respectively connected with the main oil inlet pipe, and T ports of the balance valve and the pressure reducing valve are respectively connected with the main oil return pipe.
The realization method of the movable seat bottom device comprises steering operation, moving operation and automatic leveling operation
The steering operation comprises the following specific steps:
1) The PLC control device controls the hydraulic pump to be started, the upper supporting leg proportional multi-way valve I is reversed to work in a lower position, supporting leg oil cylinders of three walking supporting legs on the upper bottom plate stretch out and draw back, and the pressure sensor detects that the pressure reaches a design value and stops; the position tracking 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 degree 90 degrees and 180 degrees 270 degrees, the steering proportional multi-way valve is reversed to work at an upper position, the steering oil cylinder drives the lower base plate to rotate, when the position tracking sensor detects that the target point and the guide frame are collinear, the lower support leg proportional multi-way valve is reversed to work at a lower position, the walking support leg on the lower base plate is grounded, the pressure sensor detects that the pressure reaches a design value and stops, and the upper support leg proportional multi-way valve I is reversed to work at an upper position, so that three walking support legs on the upper base plate are suspended; the displacement sensor detects that the displacement of the landing leg oil cylinder of the walking supporting leg on the lower bottom plate is stopped when the displacement reaches a design value; the steering proportion multi-way valve is switched to lower position to work, and the steering oil cylinder drives the upper bottom plate to rotate and reset;
when the position tracking sensor detects that the target point is not collinear with the guide frame, the lower bottom plate rotates to the limit position, the lower landing leg proportional multi-way valve is reversed to work in the lower position, so that the walking support legs on the lower bottom plate are grounded, the pressure sensor detects that the pressure reaches a design value and stops, the upper landing leg proportional multi-way valve I is reversed to work in the upper position, so that three walking support legs on the upper bottom plate are suspended, and the displacement sensor detects that the displacement of the lower landing leg oil cylinder reaches the design value and stops; the steering proportional multi-way valve is switched to lower position to work, the steering oil cylinder drives the upper base plate to rotate to the limit position, the upper support leg proportional multi-way valve I is switched to lower position to enable three walking support legs on the upper base plate to land, the pressure sensor detects that the pressure reaches a design value to stop, the lower support leg proportional multi-way valve I is switched to upper position to work, the three walking support legs on the lower base plate are suspended, and the displacement sensor detects that the displacement of the lower support leg oil cylinder reaches the design value to stop; the steering oil cylinder drives the lower bottom plate to rotate, when the position tracking sensor detects that the target point is collinear with the guide frame, the lower landing leg proportional multi-way valve I is reversed to work in a lower position, so that three walking support legs on the lower bottom plate are grounded, the pressure sensor detects that the pressure reaches a design value to stop, the upper landing leg proportional multi-way valve I is reversed to work in an upper position, so that the three walking support legs on the upper bottom plate are suspended, and the displacement sensor detects that the displacement of the landing leg oil cylinders of the walking support legs on the lower bottom plate reaches the design value to stop; the steering proportion multi-way valve is switched to lower position to work, and the steering oil cylinder drives the upper bottom 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 0 degree 90 degrees and 180 degrees 270 degrees, the lower support leg proportional multi-way valve I is reversed to the lower position to work, so that three walking support legs on the lower bottom plate are grounded, the pressure sensor detects that the pressure reaches a design value to stop, the upper support leg proportional multi-way valve I is reversed to the upper position to work, so that the three walking support legs on the upper bottom plate are suspended, and the displacement sensor detects that the support leg oil cylinder displacement of the walking support legs on the lower bottom plate reaches the design value to stop; the steering proportional multi-way valve is switched to lower position to work, the steering oil cylinder drives the upper base plate to rotate to the limit position, the upper support leg proportional multi-way valve I is switched to lower position to enable three walking support legs on the upper base plate to land, the pressure sensor detects that the pressure reaches a design value to stop, the lower support leg proportional multi-way valve I is switched to upper position to work, the three walking support legs on the lower base plate are suspended, and the displacement sensor detects that the support leg oil cylinder displacement of the walking support legs on the lower base plate reaches the design value to stop; the steering proportion multi-way valve is switched to work to an upper position, and the steering oil cylinder drives the lower bottom plate to rotate;
the moving operation comprises the following specific steps:
the translation proportional multi-way valve is switched to an upper position to work, the upper bottom plate is driven to move towards the target point, the position tracking sensor detects the relative displacement between the upper bottom plate and the target point, and the PLC control device calculates the number of moving step sizes according to the maximum displacement of the translation cylinder; when the relative displacement is 0, the lower support leg proportional multi-way valve I is reversed to work in a lower position, so that three walking support legs on the lower bottom plate are grounded, the pressure sensor detects that the pressure reaches a design value and stops, the upper support leg proportional multi-way valve I is reversed to work in an upper position, so that the three walking support legs on the upper bottom plate are suspended, and the displacement sensor detects that the displacement of support leg oil cylinders of the walking support legs on the lower bottom plate reaches the design value and stops; the steering proportional multi-way valve is reversed to work at the lower position, the steering oil cylinder drives the upper base plate to rotate and reset, the upper support leg proportional multi-way valve I is reversed to work at the lower position, so that a walking support leg on the upper base plate is grounded, the pressure sensor detects that the pressure reaches a design value and stops, the lower support leg proportional multi-way valve I is reversed to work at the upper position, so that the walking support leg on the lower base plate is suspended, and the displacement sensor detects that the support leg oil cylinder displacement of the walking support leg on the lower base plate reaches the design value and stops;
the specific steps of the leveling operation are as follows:
when the walking support legs on the lower bottom plate are grounded and the walking support legs on the upper bottom plate are suspended, the lower leg proportional multi-way valve I is closed, the lower leg proportional multi-way valve II is switched to an upper position to work, and the levelness of the machine body is accurately leveled;
when the walking supporting legs on the upper bottom plate are grounded and the walking supporting legs on the lower bottom plate are suspended, the upper supporting leg proportional multi-way valve I50 is closed, the upper supporting leg proportional multi-way valve II is switched to upper working position, and the levelness of the machine body is accurately leveled.
In the above-mentioned method for realizing the movable type seat bottom device, in the 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:
wherein: x is the elongation of the steering cylinder, and the unit is mm; alpha is the steering angle of the bottom plate.
In the above implementation method of the movable seat bottom device, the movable seat bottom device must not be blown away by ocean currents, and the condition that the movable seat bottom device is not blown away by ocean currents is as follows: the friction force of the ground grabbing toe generated by the self weight and the lifting force of the movable seat bottom device is larger than the fluid resistance: namely:
wherein: m is the mass of the movable seat bottom device, g is the gravitational acceleration, B is the buoyancy of the movable seat bottom device, fF is the ground grabbing friction force of the seabed surface of the movable seat bottom device, fD is the fluid resistance, fE is other external force components besides the fluid resistance, mu is the ground grabbing friction coefficient, and fL is the lifting force acting on the seat bottom device. In equation 2, since fD and fE are functions of the flow rate and the posture of the mobile seat bottom apparatus, the posture can be compensated so as to satisfy the inequality of equation 2, thereby overcoming the ocean current.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention adopts a walking mechanism, provides a submarine base device which is formed by six legs and has a new concept completely different from propeller propulsion and crawler walking and a realization method thereof, can be better adapted to the irregular topography of the seabed, can move in a manner of being clung to the seabed, maintains the posture and overcomes ocean currents by using a posture and motion detection sensor, walks on the seabed, carries a submarine drilling system, and transmits submarine data to a command boat by a wired/wireless communication unit, thereby having the effect of being capable of carrying out submarine detection in shallow sea and deep sea.
2. The invention adopts a three-point parallel diagonal bracing system, can carry a large-tonnage submarine drilling device and a detection system, and can quickly realize balance control and leveling of the system.
3. The hydraulic pump is arranged in the oil tank, the hydraulic control element is arranged on the oil tank through the oil circuit integrated plate, the upper supporting leg and the lower supporting leg can be retracted and extended, the space is compact, the requirement of a mother ship on the space limitation of a seat bottom device is met, and the adaptability is strong.
Drawings
Fig. 1 is a schematic perspective view of the whole 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 view of the invention in a retracted state.
Fig. 5 is a schematic view of the steering mechanism of the present invention.
Fig. 6 is a control flow diagram of the present invention.
Fig. 7 is a schematic view of the hydraulic and electric control structure of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, 2 and 3, the movable seat bottom device of the present invention comprises an upper bottom plate 16, a support plate 9 and a lower bottom plate 1; the upper bottom plate 16 and the lower bottom plate 1 are of an octagonal frame structure, and three support leg seats 5 and three support leg seat ear plates 4 are respectively arranged at the upper edges of the upper bottom plate 16 and the lower bottom plate 1. The leg seat 5 and the leg seat ear plate 4 are used for installing the walking support leg 10. The walking support leg 10 comprises a support leg oil cylinder 14, a support plate 11, a support lug 13, a support leg foot plate universal joint 12 and a support rod; one end of the supporting rod is hinged with the bracket lug 13, and the other end is hinged with the supporting leg seat lug plate 4 on the upper bottom plate or the lower bottom plate. The support lug 13 is connected with the support oil cylinder 14 and the support foot plate universal joint 12 through a pin shaft, the support foot plate universal joint 12 is connected with the support plate 11 through a pin shaft, and the other end of the support oil cylinder 14 is hinged with the upper end of the support foot seat 5 on the upper bottom plate or the lower bottom plate. The leg cylinder is provided with a pressure sensor 43 and a displacement sensor 44, and the leg cylinder 14 drives the walking support leg 10 to rotate.
As shown in fig. 5, the bottom of the upper bottom plate 16 is provided with an upper bottom plate supporting seat 18, the upper bottom plate supporting seat 18 is mounted on the supporting plate 9 through a slewing bearing 8, a steering cylinder 25 and a sliding guide rail 26 are mounted at the bottom of the upper bottom plate supporting seat 18, the steering cylinder 25 is connected with a sliding block 27 through a pin shaft, and the sliding block 27 is arranged on the sliding guide rail 26 and can slide along the sliding guide rail 26. The sliding block 27 is connected with the push rod 28 through a pin shaft, the push rod 28 is connected with the supporting plate 9 through a pin shaft to form a crank rocker mechanism, and the steering oil cylinder 25 drives the upper bottom plate 16 to rotate.
Four wheel mounting seats 7 are symmetrically arranged at the bottom of the supporting plate 9, a pair of wheels 6 are arranged at the bottom of each wheel mounting seat 7, the wheels are supported on the guide frame 3 on the lower base plate 1, the supporting plate 9 is provided with a push rod connecting seat 24, two ends of the walking oil cylinder 2 are respectively connected with the push rod connecting seat 24 and the wheel mounting seats 7 through pin shafts, and the supporting plate 9 drives the wheels 6 through the walking oil cylinder 2 to realize translation in the guide frame 3. The travel cylinder 2 is provided with a displacement sensor 42 and a travel switch 41.
The upper base 16 is provided with a horizontal inclination sensor 51 for detecting the posture of the body. A position tracking sensor 46 for tracking and detecting the horizontal position of the movable type seat bottom apparatus is installed on the lower floor 1 in real time.
As shown in fig. 7, the control unit includes a hydraulic control device and a PLC control device; the hydraulic control device comprises a hydraulic pump 32, a pressure compensator 30, a main oil inlet pipe and a main oil return pipe, wherein an inlet of the hydraulic pump 32 is communicated with an oil tank through a pipeline, a filter 31 is arranged on the pipeline, and a pollution and dyeing device 54 is arranged on the filter 31. The inlet of the pressure compensator 30 is connected with the outlet of the hydraulic pump 32, and the outlet of the pressure compensator 30 is connected with an oil tank through a pipeline.
The outlet of the hydraulic pump is communicated with a main oil inlet pipe, and a main oil return pipe is connected with an oil tank; the P port of the steering proportion multi-way valve 35, the P port of the balance valve 34, the P port of the pressure reducing valve 36, the P port of the translation proportion multi-way valve 40, the P port of the lower support leg proportion multi-way valve I45, the P port of the lower support leg proportion multi-way valve II 47, the P port of the upper support leg proportion multi-way valve I50 and the P port of the upper support leg proportion multi-way valve II 52 are respectively connected with a main oil inlet pipe; the T port of the steering proportion 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 proportion multi-way valve 40, the T port of the lower support leg proportion multi-way valve I45, the T port of the lower support leg proportion multi-way valve II 47, the T port of the upper support leg proportion multi-way valve I50 and the T port of the upper support leg proportion multi-way valve II 52 are respectively connected with a main oil return pipe; the steering proportion multi-way valve 35, the translation proportion multi-way valve 40, the lower support leg proportion multi-way valve I45, the lower support leg proportion multi-way valve II 47, the upper support leg proportion multi-way valve I50, the upper support leg proportion multi-way valve II 52 and the pressure compensator 30 are connected with 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, the signal output end of the displacement sensor 44, the signal output end of the pressure sensor 49, the signal output end of the displacement sensor 48, the signal output end of the horizontal tilt sensor 51, the signal output end of the position tracking sensor 46, the signal output end of the pollution transmitter 54, and the travel switch 41.
The rodless cavity of the steering cylinder 25 is connected with the port B of the hydraulic control one-way valve I38, the port A of the hydraulic control one-way valve I38 is connected with the port A of the steering electromagnetic directional valve 35, and the port B of the steering proportional multi-way valve 35 is connected with the rod cavity of the steering cylinder 25.
The rodless cavity of the translation cylinder 2 is connected with the port B of the hydraulic control one-way valve II, the port A of the hydraulic control one-way valve II is connected with the port A of the translation proportional multi-way valve 40, and the port B of the translation proportional multi-way valve 40 is connected with the rod cavity of the steering cylinder 25.
The rodless cavity of the leg oil cylinder of the three walking legs on the upper bottom plate 16 is connected with the port B of the upper leg proportional multi-way valve I50 and the port A of the upper leg proportional multi-way valve II 52; the rod cavity of the leg cylinders of the three walking legs on the upper bottom plate 16 is connected with the port A of the upper leg proportional multi-way valve I50 and the port B of the upper leg proportional multi-way valve II 52.
The rodless cavity of the leg oil cylinders of the three walking legs on the lower bottom plate 1 is connected with the port B of the lower leg proportional multi-way valve I45 and the port A of the lower leg proportional multi-way valve II 47; the rod cavity of the leg oil cylinders of the three walking legs on the lower bottom plate 1 is connected with the port A of the lower leg proportional multi-way valve I45 and the port B of the lower leg proportional multi-way valve II 47.
As shown in fig. 6, the implementation method of the movable type seat bottom apparatus includes a steering operation, a moving operation, and a leveling operation.
The specific steps of the steering operation are as follows:
1. the PLC control device 53 controls the hydraulic pump 32 to be started, the upper supporting leg proportional multi-way valve I50 is reversed to work in the lower position, the supporting leg oil cylinders 14 of the walking supporting legs 10 on the upper bottom plate 16 stretch out and draw back, and the pressure sensor 49 detects that the pressure reaches a design value and stops; the position tracking sensor 46 starts to detect the relative angle of 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 degree 90 degrees and 180 degrees 270 degrees, the steering proportional multi-way valve 35 is reversed to work at the upper position, the steering oil cylinder 25 drives the lower base plate 1 to rotate, when the position tracking sensor 46 detects that the target point is collinear with the guide frame 3, the lower leg proportional multi-way valve 45 is reversed to work at the lower position, the walking support leg 10 (abbreviated as lower support leg in the figure) on the lower base plate 1 is grounded, the pressure sensor 43 detects that the pressure reaches a designed value and stops, and the upper leg proportional multi-way valve I50 is reversed to work at the upper position, so that the walking support leg 10 (abbreviated as upper support leg in the figure) on the upper base plate 16 is suspended; the displacement sensor 48 detects that the displacement of the leg cylinder of the walking support leg 10 on the lower base plate 1 stops when the displacement reaches a design value; the steering proportion multi-way valve 35 is switched to the lower position for working, and the steering oil cylinder 25 drives the upper bottom 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, the lower base plate 1 rotates to the limit position, the lower support leg proportional multi-way valve 45 is switched to the lower position to work, so that three walking support legs 10 on the lower base plate 1 are grounded, the pressure sensor 43 detects that the pressure reaches a design value to stop, the upper support leg proportional multi-way valve I50 is switched to the upper position to work, so that three walking support legs 10 on the upper base plate 16 are suspended, and the displacement sensor 48 detects that the displacement of the lower support leg oil cylinder reaches the design value to stop. The steering proportional multi-way valve 35 is switched to work at the lower position, the steering oil cylinder 25 drives the upper base plate 16 to rotate to the limit position, the upper support leg proportional multi-way valve I50 is switched to work at the lower position, the three walking support legs 10 on the upper base plate 16 are grounded, the pressure sensor 49 detects that the pressure reaches the design value and stops, the lower support leg proportional multi-way valve I45 is switched to work at the upper position, the three walking support legs 10 on the lower base plate 1 are suspended, and the displacement sensor 44 detects that the displacement of the lower support leg oil cylinder reaches the design value and stops. The steering cylinder 25 drives the lower base plate 1 to rotate, when the position tracking sensor 46 detects that the target point is collinear with the guide frame 3, the lower leg proportional multi-way valve I45 is switched to the lower position to work, so that three walking support legs 10 on the lower base plate 1 are grounded, the pressure sensor 43 detects that the pressure reaches a design value to stop, the upper leg proportional multi-way valve I50 is switched to the upper position to work, so that three walking support legs 10 on the upper base plate 16 are suspended, and the displacement sensor 48 detects that the leg cylinder displacement of the walking support legs 10 on the lower base plate 1 reaches the design value to stop. The steering proportion multi-way valve 35 is switched to the lower position for working, and the steering oil cylinder 25 drives the upper bottom 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 in [0 DEG 90 DEG ] and [180 DEG 270 DEG ], the lower leg proportional multi-way valve I45 is reversed to the lower position to work so that the three walking support legs 10 on the lower base plate 1 are grounded, the pressure sensor 43 detects that the pressure reaches the design value to stop, the upper leg proportional multi-way valve I50 is reversed to the upper position to work so that the three walking support legs 10 on the upper base plate 16 are suspended, and the displacement sensor 48 detects that the leg cylinder displacement of the walking support legs 10 on the lower base plate 1 reaches the design value to stop. The steering proportional multi-way valve 35 is switched to work in a lower position, the steering oil cylinder 25 drives the upper base plate 16 to rotate to a limiting position, the upper support leg proportional multi-way valve I50 is switched to work in a lower position, the three walking support legs 10 on the upper base plate 16 are grounded, the pressure sensor 49 detects that the pressure reaches a design value and stops, the lower support leg proportional multi-way valve I45 is switched to work in an upper position, the three walking support legs 10 on the lower base plate 1 are suspended, and the displacement sensor 44 detects that the support leg oil cylinder displacement of the walking support legs 10 on the lower base plate 1 reaches the design value and stops. The steering proportion multi-way valve 35 is switched to work at the upper position, and the steering oil cylinder 25 drives the lower bottom plate 1 to rotate.
The calculation formula of the elongation of the steering cylinder and the steering angle of the bottom plate is as follows:
wherein X is the elongation of the steering cylinder, and the unit is mm; alpha is the steering angle of the bottom plate.
The specific steps of the moving operation are as follows:
the translation proportional multi-way valve 40 is switched to an upper position to work, the upper base plate 16 is driven to move towards the target point, the position tracking sensor 46 detects the relative displacement amount with the target point, and the PLC control device 53 calculates the number of moving step sizes according to the relative displacement amount minus the maximum displacement amount of the translation cylinder 2. When the relative displacement is 0, the lower leg proportional multi-way valve I45 is switched to the lower position to work, so that three walking support legs 10 on the lower base plate 1 are grounded, the pressure sensor 43 detects that the pressure reaches a design value to stop, the upper leg proportional multi-way valve I50 is switched to the upper position to work, so that three walking support legs 10 on the upper base plate 16 are suspended, and the displacement sensor 48 detects that the leg cylinder displacement of the walking support legs 10 on the lower base plate 1 reaches the design value to stop. The steering proportional multi-way valve 35 is switched to work at the lower position, the steering oil cylinder 25 drives the upper base plate 16 to rotate and reset, the upper leg proportional multi-way valve I50 is switched to work at the lower position, the leg oil cylinders 14 of the walking support legs 10 on the upper base plate 16 drive the upper legs 10 to land, the pressure sensor 49 detects that the pressure reaches a design value and stops, the lower leg proportional multi-way valve I45 is switched to work at the upper position, the walking support legs 10 on the lower base plate 1 are suspended, and the displacement sensor 44 detects that the leg oil cylinder displacement of the walking support legs 10 on the lower base plate 1 reaches the design value and stops.
The specific steps of the leveling operation are as follows:
when the walking support legs 10 on the lower base plate 1 are grounded and the walking support legs 10 on the upper base plate 16 are suspended, the lower leg proportional multi-way valve I45 is closed, the lower leg proportional multi-way valve II 47 is switched to an upper position to work, and the levelness of the machine body is accurately leveled;
when the walking support leg 10 on the upper bottom plate 16 lands, and the walking support leg 10 on the lower bottom plate 1 is suspended, the upper support leg proportional multi-way valve I50 is closed, the upper support leg proportional multi-way valve II 52 is switched to an upper position to work, and the levelness of the machine body is accurately leveled.
The method for realizing the movable type seat bottom device of the invention is used for maintaining the overturned or not blown away due to the ocean current and maintaining the stable posture in the ocean current, the movable type seat bottom device is not blown away by the ocean current, and the condition that the movable type seat bottom device is not blown away by the ocean current is as follows: the friction force of the ground grabbing toe generated by the self weight and the lifting force of the movable seat bottom device is larger than the fluid resistance: namely:
where m is the mass of the mobile seat bottom device, g is the gravitational acceleration, B is the buoyancy of the mobile seat bottom device, fF is the sea floor ground grabbing friction of the mobile seat bottom device, fD is the fluid resistance, fE is other external force components besides that, μ is the ground grabbing friction coefficient, fL is the lifting force acting on the seat bottom device. In equation 2, since fD and fE are functions of the flow rate and the posture of the mobile seat bottom apparatus, the posture can be compensated so as to satisfy the inequality of equation 2, thereby overcoming the ocean current.
Claims (4)
1. A movable seat bottom device, characterized in that: the upper bottom plate, the supporting plate and the lower bottom plate are respectively provided with three walking supporting legs on the top surfaces of the upper bottom plate and the lower bottom plate; the upper bottom plate is arranged on the supporting plate through a slewing bearing, and a slewing driving mechanism is arranged between the upper bottom plate and the supporting plate; the bottom of the supporting plate is provided with a wheel mounting seat, the bottom of the wheel mounting seat is provided with wheels, the wheels are supported on a guide frame on the lower bottom plate through the wheels, and a traveling driving mechanism is arranged between the wheel mounting seat and the lower bottom plate; the rotary driving mechanism and the walking driving mechanism are respectively connected with the control unit;
the control unit is respectively connected with the walking support legs of the upper bottom plate and the lower bottom plate and can drive the walking support legs of the upper bottom plate and the lower bottom plate to hang or land; the upper base is provided with a horizontal inclination sensor for detecting the posture of the body; the lower bottom plate is provided with a position tracking sensor for tracking and detecting the position of the movable seat bottom device in water in real time; the horizontal inclination angle sensor and the position tracking sensor are respectively connected with the control unit;
the walking supporting leg comprises a supporting leg oil cylinder, a supporting plate, a supporting leg ear, a supporting leg foot plate universal joint and a supporting rod; one end of the supporting rod is hinged with the bracket lug, and the other end is hinged with the supporting leg seat lug plate on the upper bottom plate or the lower bottom plate; the support lug is connected with the support oil cylinder and the support foot plate universal joint through a pin shaft, the support foot plate universal joint is connected with the support plate through a pin shaft, and the other end of the support oil cylinder is hinged with the upper end of the support foot seat on the upper bottom plate or the lower bottom plate; the support leg oil cylinder is provided with a pressure sensor and a displacement sensor, and the pressure sensor, the displacement sensor and the support leg oil cylinder are respectively connected with the control unit;
the walking driving mechanism comprises a walking oil cylinder, and two ends of the walking oil cylinder are respectively hinged with the wheel mounting seat and the lower bottom plate; the travel oil cylinder is provided with a displacement sensor and a travel switch, and the travel oil cylinder, the displacement sensor and the travel switch are respectively connected with the control unit;
the rotary driving mechanism comprises a steering oil cylinder, a sliding guide rail, a sliding block and a push rod; the steering cylinder and the sliding guide rail are arranged at the bottom of the upper bottom plate, the steering cylinder is hinged with the sliding block, the sliding block is arranged on the sliding guide rail and can move along the sliding guide rail, the sliding block is connected with one end of the push rod, and the other end of the push rod is connected with the supporting plate; the steering oil cylinder is connected with the control unit;
the control unit comprises a hydraulic control device and a PLC control device; the hydraulic control device comprises a hydraulic pump, a main oil inlet pipe and a main oil return pipe, wherein an inlet of the hydraulic pump is communicated with the oil tank through a pipeline, an outlet of the hydraulic pump is communicated with the main oil inlet pipe, and the main oil return pipe is connected with the oil tank; the P port of the steering proportion multi-way valve, the P port of the translation proportion multi-way valve, the P port of the lower support leg proportion multi-way valve I, the P port of the lower support leg proportion multi-way valve II, the P port of the upper support leg proportion multi-way valve I and the P port of the upper support leg proportion multi-way valve II are respectively connected with a main oil inlet pipe; the T port of the steering proportion multi-way valve, the T port of the translation proportion multi-way valve, the T port of the lower support leg proportion multi-way valve I, the T port of the lower support leg proportion multi-way valve II, the T port of the upper support leg proportion multi-way valve I and the T port of the upper support leg proportion multi-way valve II are respectively connected with a main oil return pipe; the steering proportion multi-way valve, the translation proportion multi-way valve, the lower support leg proportion multi-way valve I, the lower support leg proportion multi-way valve II, the upper support leg proportion multi-way valve I and the upper support leg proportion multi-way valve II are connected with the output end of the PLC control device; the input end of the PLC control device is connected with the signal output end of the displacement sensor on the supporting leg oil cylinder, the signal output end of the pressure sensor on the supporting leg oil cylinder, the signal output end of the displacement sensor on the traveling oil cylinder, the signal output end of the horizontal inclination sensor, the signal output end of the position tracking sensor and the travel switch;
the rodless cavity of the steering cylinder is connected with the port B of the hydraulic control one-way valve I, the port A of the hydraulic control one-way valve I is connected with the port A of the steering electromagnetic directional valve, and the port B of the steering proportional multi-way valve is connected with the rod cavity of the steering cylinder;
the rodless cavity of the translation oil cylinder is connected with the port B of the hydraulic control one-way valve II, the port A of the hydraulic control one-way valve II is connected with the port A of the translation proportional multi-way valve, and the port B of the translation proportional multi-way valve is connected with the rod cavity of the steering oil cylinder;
the rodless cavity of the leg oil cylinders of the three walking legs on the upper bottom plate is connected with the port B of the upper leg proportional multi-way valve I and the port A of the upper leg proportional multi-way valve II; the rod cavity of the leg oil cylinder of the three walking legs on the upper bottom plate is connected with the port A of the upper leg proportional multi-way valve I and the port B of the upper leg proportional multi-way valve II;
the rodless cavity of the leg oil cylinders of the three walking legs on the lower bottom plate is connected with the port B of the lower leg proportional multi-way valve I and the port A of the lower leg proportional multi-way valve II; the rod cavity of the leg oil cylinder of the three walking legs on the lower bottom plate is connected with the port A of the lower leg proportional multi-way valve I and the port B of the lower leg proportional multi-way valve II;
the hydraulic control device also comprises a pressure compensator, wherein an inlet of the pressure compensator is connected with an outlet of the hydraulic pump, and an outlet of the pressure compensator is connected with the oil tank through a pipeline;
the hydraulic control device also comprises a balance valve and a pressure reducing valve, wherein the P ports of the balance valve and the pressure reducing valve are respectively connected with the main oil inlet pipe, and the T ports of the balance valve and the pressure reducing valve are respectively connected with the main oil return pipe.
2. A method of implementing the mobile seating unit of claim 1, comprising a steering operation, a movement operation, and a leveling operation,
the steering operation comprises the following specific steps:
1) The PLC control device controls the hydraulic pump to be started, the upper supporting leg proportional multi-way valve I is reversed to work in a lower position, supporting leg oil cylinders of three walking supporting legs on the upper bottom plate stretch out and draw back, and the pressure sensor detects that the pressure reaches a design value and stops; the position tracking 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 degree 90 degrees and 180 degrees 270 degrees, the steering proportional multi-way valve is reversed to work at an upper position, the steering oil cylinder drives the lower base plate to rotate, when the position tracking sensor detects that the target point and the guide frame are collinear, the lower support leg proportional multi-way valve is reversed to work at a lower position, the walking support leg on the lower base plate is grounded, the pressure sensor detects that the pressure reaches a design value and stops, and the upper support leg proportional multi-way valve I is reversed to work at an upper position, so that three walking support legs on the upper base plate are suspended; the displacement sensor detects that the displacement of the landing leg oil cylinder of the walking supporting leg on the lower bottom plate is stopped when the displacement reaches a design value; the steering proportion multi-way valve is switched to lower position to work, and the steering oil cylinder drives the upper bottom plate to rotate and reset;
when the position tracking sensor detects that the target point is not collinear with the guide frame, the lower bottom plate rotates to the limit position, the lower landing leg proportional multi-way valve is reversed to work in the lower position, so that the walking support legs on the lower bottom plate are grounded, the pressure sensor detects that the pressure reaches a design value and stops, the upper landing leg proportional multi-way valve I is reversed to work in the upper position, so that three walking support legs on the upper bottom plate are suspended, and the displacement sensor detects that the displacement of the lower landing leg oil cylinder reaches the design value and stops; the steering proportional multi-way valve is switched to lower position to work, the steering oil cylinder drives the upper base plate to rotate to the limit position, the upper support leg proportional multi-way valve I is switched to lower position to enable three walking support legs on the upper base plate to land, the pressure sensor detects that the pressure reaches a design value to stop, the lower support leg proportional multi-way valve I is switched to upper position to work, the three walking support legs on the lower base plate are suspended, and the displacement sensor detects that the displacement of the lower support leg oil cylinder reaches the design value to stop; the steering oil cylinder drives the lower bottom plate to rotate, when the position tracking sensor detects that the target point is collinear with the guide frame, the lower landing leg proportional multi-way valve I is reversed to work in a lower position, so that three walking support legs on the lower bottom plate are grounded, the pressure sensor detects that the pressure reaches a design value to stop, the upper landing leg proportional multi-way valve I is reversed to work in an upper position, so that the three walking support legs on the upper bottom plate are suspended, and the displacement sensor detects that the displacement of the landing leg oil cylinders of the walking support legs on the lower bottom plate reaches the design value to stop; the steering proportion multi-way valve is switched to lower position to work, and the steering oil cylinder drives the upper bottom 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 0 degree 90 degrees and 180 degrees 270 degrees, the lower support leg proportional multi-way valve I is reversed to the lower position to work, so that three walking support legs on the lower bottom plate are grounded, the pressure sensor detects that the pressure reaches a design value to stop, the upper support leg proportional multi-way valve I is reversed to the upper position to work, so that the three walking support legs on the upper bottom plate are suspended, and the displacement sensor detects that the support leg oil cylinder displacement of the walking support legs on the lower bottom plate reaches the design value to stop; the steering proportional multi-way valve is switched to lower position to work, the steering oil cylinder drives the upper base plate to rotate to the limit position, the upper support leg proportional multi-way valve I is switched to lower position to enable three walking support legs on the upper base plate to land, the pressure sensor detects that the pressure reaches a design value to stop, the lower support leg proportional multi-way valve I is switched to upper position to work, the three walking support legs on the lower base plate are suspended, and the displacement sensor detects that the support leg oil cylinder displacement of the walking support legs on the lower base plate reaches the design value to stop; the steering proportion multi-way valve is switched to work to an upper position, and the steering oil cylinder drives the lower bottom plate to rotate;
the moving operation comprises the following specific steps:
the translation proportional multi-way valve is switched to an upper position to work, the upper bottom plate is driven to move towards the target point, the position tracking sensor detects the relative displacement between the upper bottom plate and the target point, and the PLC control device calculates the number of moving step sizes according to the maximum displacement of the translation cylinder; when the relative displacement is 0, the lower support leg proportional multi-way valve I is reversed to work in a lower position, so that three walking support legs on the lower bottom plate are grounded, the pressure sensor detects that the pressure reaches a design value and stops, the upper support leg proportional multi-way valve I is reversed to work in an upper position, so that the three walking support legs on the upper bottom plate are suspended, and the displacement sensor detects that the displacement of support leg oil cylinders of the walking support legs on the lower bottom plate reaches the design value and stops; the steering proportional multi-way valve is reversed to work at the lower position, the steering oil cylinder drives the upper base plate to rotate and reset, the upper support leg proportional multi-way valve I is reversed to work at the lower position, so that a walking support leg on the upper base plate is grounded, the pressure sensor detects that the pressure reaches a design value and stops, the lower support leg proportional multi-way valve I is reversed to work at the upper position, so that the walking support leg on the lower base plate is suspended, and the displacement sensor detects that the support leg oil cylinder displacement of the walking support leg on the lower base plate reaches the design value and stops;
the specific steps of the leveling operation are as follows:
when the walking support legs on the lower bottom plate are grounded and the walking support legs on the upper bottom plate are suspended, the lower leg proportional multi-way valve I is closed, the lower leg proportional multi-way valve II is switched to an upper position to work, and the levelness of the machine body is accurately leveled;
when the walking supporting legs on the upper bottom plate are grounded and the walking supporting legs on the lower bottom plate are suspended, the upper supporting leg proportional multi-way valve I is closed, the upper supporting leg proportional multi-way valve II is switched to upper working position, and the levelness of the machine body is accurately leveled.
3. The method for implementing a movable seat bottom device according to claim 2, wherein in the 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:
X＝450×(cos5°-cos(α+5°)) (1)
wherein: x is the elongation of the steering cylinder, and the unit is mm; alpha is the steering angle of the bottom plate.
4. The implementation method of the movable seat bottom device according to claim 2, wherein the condition that the movable seat bottom device must not be blown away by ocean currents is that: the friction force of the ground grabbing toe generated by the self weight and the lifting force of the movable seat bottom device is larger than the fluid resistance: namely:
mg+B+fF＜＜fD+fE (2)
fF＝μfL (3)
wherein: m is the mass of the movable seat bottom device, g is the gravitational acceleration, B is the buoyancy of the movable seat bottom device, fF is the ground grabbing friction force of the seabed surface of the movable seat bottom device, fD is the fluid resistance, fE is other external force components except the fluid resistance, mu is the ground grabbing friction coefficient, and fL is the lifting force acting on the seat bottom device; in equation 2, since fD and fE are functions of the flow rate and the posture of the mobile seat bottom apparatus, the posture can be compensated so as to satisfy the inequality of equation 2, thereby overcoming the ocean current.
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| CN2704680Y (en) * | 2004-06-25 | 2005-06-15 | 长沙矿山研究院 | Automatic posture adjusting and stabilizing device for telescopic supporting legs of deep sea drilling machine |
| CN202248029U (en) * | 2011-05-19 | 2012-05-30 | 徐工集团工程机械股份有限公司科技分公司 | Walking type engineering machinery and leveling device thereof |
| CN102383723B (en) * | 2011-07-12 | 2013-06-19 | 中国地质大学（武汉） | Seabed type conical investigating and drilling integrated machine |
| WO2013089442A1 (en) * | 2011-12-15 | 2013-06-20 | 한국해양연구원 | Multi-joint underwater robot having complex movement functions of walking and swimming and underwater exploration system using same |
| KR101327975B1 (en) * | 2012-05-17 | 2013-11-13 | 한국해양과학기술원 | Test bed for testing function of underwater robot |
| CN204002851U (en) * | 2014-08-15 | 2014-12-10 | 山东科技大学 | With the shotcrete robot of six sufficient running gears |
| WO2016033706A1 (en) * | 2014-09-03 | 2016-03-10 | 杨一男 | Walker-type traveling base apparatus |
| CN105781410B (en) * | 2016-03-30 | 2019-04-05 | 湖南新天和工程设备有限公司 | A kind of long-spiral drilling machine |
| CN108457326B (en) * | 2016-06-20 | 2021-02-19 | 靖江市闻达机械有限公司 | Working method for hydraulic control loop of excavator supporting leg structure |
| CN206600313U (en) * | 2017-01-21 | 2017-10-31 | 三一汽车制造有限公司 | Support leg hydraulic system, anchoring car and engineering machinery |
| WO2018162988A2 (en) * | 2017-03-10 | 2018-09-13 | Cellula Robotics, Ltd. | Drilling devices and methods of operating the same |
| KR101850247B1 (en) * | 2017-05-26 | 2018-04-20 | 한국해양과학기술원 | Drilling apparatus of submarine core |
| CN108468513A (en) * | 2018-04-24 | 2018-08-31 | 湖南普力海洋科技有限公司 | Complicated landform self-propelled deep-sea core sampler drill |
| CN109025824A (en) * | 2018-08-16 | 2018-12-18 | 招远市铱璐光电科技有限公司 | Drilling machine people is surveyed in a kind of armor crab seabed |
| CN209581820U (en) * | 2019-01-23 | 2019-11-05 | 湖南科技大学 | A kind of mobile base bottom device |
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