Swinging frame and control method based on synchronous motion

Abstract

The invention discloses a swinging frame and control method based on synchronous motion. The swinging frame comprises a swinging arm, a connecting rod mechanism, a rotating synchronous device and a telescopic arm frame. The control method includes the steps that a connecting rod driving device works, and the connecting rod driving device drives the swinging arm to swing through a first connecting rod and a second connecting rod; oil pressure of rotating synchronous drive is removed, a rotating synchronous shaft is in a state of free rotation, and the telescopic arm frame is vertical; and the oil pressure is loaded on the rotating synchronous drive, the rotating synchronous shaft is actively driven to rotate through the rotating synchronous drive, the telescopic arm frame is controlled to be at any angle, and the angle of telescopic arm frame is detected through an encoder, so that telescopic swing arm frame and the swinging arm are in synchronous motion. According to the swinging frame and control method based on synchronous motion, the overturning angle of the swinging arm is large for being convenient for placing and recovering a bathyscaph; the telescopic arm is moved under a guiding function of a main arm, the motion of the telescopic arm is smooth and stable, and the function of protecting telescopic driving is achieved; and the swinging arm and the telescopic arm frame of the swinging frame can realize synchronous motion.

Description

technical field [0001] The invention relates to a swing frame and a control method based on synchronous motion. Background technique [0002] Deep submersible is an active deep diving device with underwater observation and operation capabilities. It is mainly used to perform tasks such as underwater investigation, seabed exploration, seabed development and salvage, lifesaving, etc., and can be used as an underwater operation base for divers. [0003] The vast majority of deep submersibles currently in use are operated by cables connected to ships. The advantages of using cables to remotely control the deep submersible are: [0004] (1) It can provide power for a long time. [0005] (2) High-speed data transmission capability. [0006] (3) The communication with auxiliary ships is reliable and will not be interfered by radio or other signals. [0007] In the patent literature with the Chinese patent application number 200810048696.X, a general-purpose deployment and reco...

AI Technical Summary

Problems solved by technology

Although this structure can deploy and recover the submersible, the system cannot automatically rotate the submersible guide head according to the position of the submersible, causing the position of the submersible to be uncertain during the recovery process. In addition, when the submersible is connected to the submersible guide When the joint is on, there is only the pulling force and the thrust of the submersible’s guide head, but the submersible cannot be clamped, so the submersible is easy to shake; and although the anti-roll damper is set in the system, the anti-roll damper is Hinged on the submersible guide head, the force can only be exerted on the submersible through the submersible guide head, and the overall structure of the submersible guide head, therefore, the force of the anti-roll damper on the submersible has no variability

In addition, the A-frame and the swing frame cannot realize synchronous movement

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