Reversible mast stable lifting device and control method

Abstract

The invention discloses a collapsible mast stable lifting device, belongs to the technical field of ship masts, and solves the problems that an existing mast is low in lifting automation degree and inconvenient to lift. The device comprises a mast, a mast base and a driving mechanism, the top of the mast is provided with a mounting bracket, and the top of the mounting bracket is respectively provided with a first distance measuring sensor for detecting the distance of a height-limited object and a second distance measuring sensor for detecting the height of the mast; the lifting device further comprises a controller, an alarm, a display screen and a third distance measuring sensor used for detecting the height of the height limiting object, the third distance measuring sensor is installed on a deck of the ship bow, and the first distance measuring sensor, the second distance measuring sensor, the third distance measuring sensor, the driving mechanism, the alarm and the display screen are all electrically connected with the controller. The lifting device is higher in automation degree and more stable in lifting. The invention further discloses a control method of the collapsible mast stable lifting device, the operation is more convenient, and the working intensity is effectively reduced.

Description

Technical Field

[0001] This invention relates to the field of ship mast technology, and more specifically, to a device and control method for the smooth raising and lowering of a tilting mast. Background Technology

[0002] When ships pass through height-restricted bridges, overhead facilities, shipyard docks, narrow port channels, and other height-restricted areas, they must lower their masts to pass smoothly due to the height limitations of the area. Therefore, tilting masts are widely used on ships. However, if the mast cannot be raised and lowered at a uniform speed and smoothly during the raising and lowering process, it will adversely affect the functionality of the equipment on the mast, the stability of the ship, and the strength of the deck.

[0003] Existing tiltable masts, such as the applicant's prior patent application (authorization announcement number CN119527479B), disclose a tiltable small mast, belonging to the field of marine mast technology, which solves the problem of inconvenient height adjustment of existing masts. It includes a mast body and a mast base. The mast base is fixed to the ship's roof deck, and a rotating shaft is rotatably installed inside the mast base. One end of the mast body is connected to the rotating shaft. A support assembly for supporting the mast body in an inclined state is provided between one side of the mast body and the mast base, and a locking device for locking the mast body in an upright state is provided between the other side of the mast body and the mast base. This invention's small mast can be tilted down to reduce its height, facilitating passage over narrow bridges. This invention also discloses a method for operating the tiltable small mast, which enables rapid reduction of mast height.

[0004] While the aforementioned existing tilting mast can achieve smooth take-off and landing, in actual operation, it still requires manual observation of whether there is a height restriction area and operation to pull out the switch before the take-off and landing operation can be carried out. The degree of automation is not high, the operation is very inconvenient, and there is no limit to the range of motion on both sides of the mast. There is also a risk of swaying during take-off and landing, which puts a greater load on the worm gear and affects the service life of the entire mast.

[0005] Therefore, there is an urgent need to develop and design a new type of tiltable mast smooth lifting and lowering device and control method to solve the above problems. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to address the above-mentioned shortcomings of the prior art. The purpose of the present invention is to provide a tiltable mast smooth lifting and lowering device with a higher degree of automation, smoother lifting and lowering, and effectively extended service life.

[0007] The second objective of this invention is to provide a control method for a tiltable mast smooth lifting and lowering device, which is more convenient to operate and effectively reduces workload.

[0008] To achieve the aforementioned objective, this invention provides a tiltable mast smooth take-off and landing device, comprising a mast, a mast base, and a drive mechanism. The mast base is fixed to the ship's deck, and the mast is hinged to the top of the mast base. A semi-circular counterweight is provided below the hinge point between the mast and the mast base, and the center of the semi-circular counterweight is fixedly connected to the bottom of the mast. The output end of the drive mechanism is connected to the outer edge of the semi-circular counterweight. A guide mechanism and a self-locking mechanism are also provided between the mast base and the semi-circular counterweight. A mounting bracket is provided at the top of the mast, and the top part of the mounting bracket... The vessel is equipped with a first ranging sensor for detecting the distance to height-restricted objects and a second ranging sensor for detecting the height of the mast. The heights of the first and second ranging sensors are aligned with the highest point of the mast. The landing device also includes a controller, an alarm, a display screen, and a third ranging sensor for detecting the height of height-restricted objects. The third ranging sensor is installed on the deck at the bow of the vessel. The alarm and display screen are both installed in the bridge of the vessel. The first, second, and third ranging sensors, the drive mechanism, the alarm, and the display screen are all electrically connected to the controller.

[0009] As a further improvement, the guiding mechanism includes two ball bearing rows arranged in an arc, which are symmetrically installed on the inner walls of both sides of the mast base. Each ball bearing row consists of multiple balls, and each ball bearing is movably embedded in the inner wall of the mast base. The side of the semi-circular counterweight is tangent to the balls.

[0010] Furthermore, the mast and the mast base are hinged together by a hinge shaft, and a clamping nut is threaded onto the hinge shaft on both sides of the mast base.

[0011] Furthermore, a cotter pin is also installed on the hinge shaft on the outside of the clamping nut.

[0012] Furthermore, a bushing is rotatably fitted onto the outer wall of the hinge shaft, and the bushing is fixed in the mast.

[0013] Furthermore, the drive mechanism includes a hydraulic cylinder and a fixed base. The fixed base is fixed to the deck on one side of the mast base. The hydraulic cylinder is hinged to the top of the fixed base. A clearance groove is provided at the bottom of the semi-circular counterweight. The output end of the hydraulic cylinder is hinged to the clearance groove. The hydraulic cylinder is electrically connected to the controller.

[0014] Furthermore, the self-locking mechanism is located directly below the hinge point between the mast and the mast base. The self-locking mechanism includes two elastic components, which are symmetrically installed on both sides of the mast base. Each elastic component consists of a fixed cylinder, a return spring, an electromagnet, and a limiting block. The fixed cylinder is vertically fixed to the outside of the mast base, the electromagnet is fixed inside the fixed cylinder, the return spring is installed inside the fixed cylinder on one side of the electromagnet, and the limiting block is slidably installed inside the fixed cylinder on the side away from the electromagnet. A limiting groove is formed on the semi-circular counterweight directly below the hinge point between the mast and the mast base. In the initial state, the return spring presses the limiting block against the limiting groove to keep the mast in a vertical, upright state. The electromagnet is electrically connected to the controller.

[0015] Furthermore, the end of the limiting block away from the reset spring has a spherical structure.

[0016] To achieve the second objective mentioned above, the present invention provides a control method for a tiltable mast smooth take-off and landing device, characterized in that it includes the aforementioned tiltable mast smooth take-off and landing device, and the control method includes the following steps: S1: During the ship's operation, the first distance sensor detects that the distance to the height restriction object is less than or equal to the set threshold and transmits the detection signal to the controller. The controller then activates the alarm and issues an alarm. S2: The driver controls the electromagnet to be energized through the controller. The electromagnet generates a magnetic force to attract the limiting iron block. The limiting iron block slides along one side of the electromagnet, causing the limiting iron block to disengage from the limiting groove, while compressing the return spring. S3: The second distance sensor detects the height of the top of the mast in real time, and the third distance sensor detects the height of the height restriction object in real time, and feeds the detection data back to the display screen; S4: Based on the data displayed on the screen, the operator controls the output end of the hydraulic cylinder to retract via the controller, causing the semi-circular counterweight to rotate, thus lowering the mast to the designated height and completing the mast lowering operation. S5: After the ship has passed through the height restriction, the helmsman controls the electromagnet to de-energize via the controller. The limiting block is pushed back by the elastic force of the return spring. At the same time, the controller controls the output end of the hydraulic cylinder to extend, driving the semi-circular counterweight to rotate and reset until the limiting block is inserted into the limiting groove, completing the mast erection operation.

[0017] Furthermore, a contact sensor is installed at the bottom of the limiting groove, and an indicator light is installed on the display screen. The contact sensor and the indicator light are electrically connected to the controller. In step S5, when the limiting block is inserted into the limiting groove, the limiting block makes contact with the contact sensor, and the indicator light lights up.

[0018] Beneficial effects Compared with the prior art, the advantages of this invention are as follows: 1. The tiltable mast smooth take-off and landing device of the present invention, through the setting of three distance measuring sensors, can automatically monitor the distance and height of height restriction objects and the height of the mast during actual navigation. This allows the driver to control the mast to be tilted and raised based on the detected signals in the cockpit, without having to go to the deck to operate the mast. Compared with existing mast take-off and landing devices, it has a higher degree of automation, is more convenient to operate, and effectively reduces the workload.

[0019] 2. The tiltable mast smooth lifting and lowering device of the present invention has a semi-circular counterweight block set at the bottom of the mast, which not only facilitates the setting of the guide mechanism and the self-locking mechanism, but also increases the weight at the bottom of the mast, which can stabilize the mast. At the same time, in conjunction with the guiding function of the guide mechanism, the mast lifting and lowering is more stable, reduces the lateral force at the mast hinge, and effectively extends the service life. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the main structure of the present invention; Figure 2 for Figure 1 Enlarged structural diagram at point A; Figure 3 This is an enlarged schematic diagram of the structure inside the mast base in this invention; Figure 4 This is a side view of the structure of the present invention; Figure 5 For this Figure 4 Enlarged structural diagram at point B; Figure 6 For this Figure 4 Enlarged schematic diagram of the structure at point C; Figure 7 This is a schematic diagram of the main structure of the mast when it is lowered in this invention; Figure 8 This is a signal block diagram of the present invention.

[0021] The components are as follows: 1-Mast, 2-Mast base, 3-Deck, 4-Semi-circular counterweight, 5-Mounting bracket, 6-First distance sensor, 7-Second distance sensor, 8-Controller, 9-Alarm, 10-Display screen, 11-Third distance sensor, 12-Ball bearing, 13-Hinge shaft, 14-Pressure nut, 15-Cotter pin, 16-Bushing, 17-Hydraulic cylinder, 18-Fixed seat, 19-Leaning groove, 20-Fixed cylinder, 21-Reset spring, 22-Electromagnet, 23-Limiting block, 24-Limiting groove, 25-Contact sensor, 26-Indicator light. Detailed Implementation

[0022] The present invention will be further described below with reference to specific embodiments shown in the accompanying drawings.

[0023] See Figure 1-8 This invention discloses a tiltable mast smooth take-off and landing device, comprising a mast 1, a mast base 2, and a drive mechanism. The mast base 2 is composed of two symmetrical support plates and is fixed to the ship's deck 3. The mast 1 is hinged to the top of the mast base 2. A semi-circular counterweight 4 is provided below the hinge point between the mast 1 and the mast base 2. The center of the semi-circular counterweight 4 is fixedly connected to the bottom of the mast 1, making the bottom of the mast 1 heavier and increasing the stability of the mast 1 in the upright state. In this embodiment, the semi-circular counterweight 4 at the bottom of the mast 1 not only facilitates the setting of the guide mechanism and the self-locking mechanism, but also stabilizes the mast by increasing the weight at the bottom of the mast 1. Combined with the guiding action of the guide mechanism, this makes the take-off and landing of the mast 1 smoother, reduces the lateral force at the hinge point of the mast 1, and effectively extends its service life.

[0024] In this embodiment, the drive mechanism is mounted on the deck 3, and its output end is connected to the outer edge of the semi-circular counterweight 4, enabling the semi-circular counterweight 4 to rotate. A guide mechanism and a self-locking mechanism are also provided between the mast base 2 and the semi-circular counterweight 4. The guide mechanism guides the semi-circular counterweight 4 during rotation, and the self-locking mechanism locks the mast 1 in an upright position. A mounting bracket 5 is provided at the top of the mast 1. A first ranging sensor 6 for detecting the distance to height-restricted objects and a second ranging sensor 7 for detecting the height of the mast 1 are respectively mounted on the top of the mounting bracket 5. The first ranging sensor 6 can be a millimeter-wave radar with a detection range of up to 200 meters and strong penetration capability in rain and fog. The second ranging sensor 7 can be an ultrasonic sensor or an infrared sensor. The heights of the first ranging sensor 6 and the second ranging sensor 7 are flush with the highest point of the mast 1, ensuring that the first ranging sensor 6 can detect height-restricted objects and the second ranging sensor 7 can detect the height of the highest point of the mast 1. The lifting and lowering device also includes a controller 8, an alarm 9, and a display screen 10. The third distance sensor 11 is used to detect the height of the height restriction object. The third distance sensor 11 can also be an ultrasonic sensor or an infrared sensor. The third distance sensor 11 is installed on the deck 3 at the bow of the ship, which can realize the height detection of the height restriction object in advance in the direction of the ship's travel. The alarm 9 and the display screen 10 are both installed in the ship's wheelhouse, so that the driver can keep abreast of the detection information. The first distance sensor 6, the second distance sensor 7, the third distance sensor 11, the drive mechanism, the alarm 9, and the display screen 10 are all electrically connected to the controller 8, so that the driver can control the lowering and raising of the mast 1 in the wheelhouse according to the detection information, making the operation more convenient.

[0025] Preferably, the guiding mechanism includes two ball bearing rows arranged in an arc, which are arranged around the hinge between the mast 1 and the mast base 2. The two ball bearing rows are symmetrically installed on the inner walls of both sides of the mast base 2. Each ball bearing row consists of multiple balls 12, and each ball 12 is movably embedded in the inner wall of the mast base 2. Specifically, multiple grooves are opened in the inner wall of the support plate of the mast base 2, and the balls 12 are movably placed in the grooves. The width of the outermost groove is smaller than the diameter of the ball 12 to prevent it from falling out. The side of the semi-circular counterweight 4 is tangent to the ball 12. During the rotation of the semi-circular counterweight 4, its side contacts the ball 12 to form a guide, making the rotation of the semi-circular counterweight 4 and the mast 1 smoother and more stable.

[0026] Preferably, the mast 1 and the mast base 2 are hinged together by a hinge shaft 13. The hinge shaft 13 is movably inserted between the mast 1 and the mast base 2, and a clamping nut 14 is threaded onto the hinge shaft 13 on both sides of the mast base 2. The clamping nut 14 clamps the mast base 2 to form a limit, allowing the mast 1 to rotate while facilitating disassembly and maintenance. Furthermore, a cotter pin 15 is installed on the hinge shaft 13 outside the clamping nut 14 to prevent the clamping nut 14 from loosening. Even further, a bushing 16 is rotatably fitted onto the outer wall of the hinge shaft 13. The bushing 16 is made of a wear-resistant material, such as a copper bushing or a diamond bushing, and is fixed in the mast 1. The mast 1 uses the bushing 16 to contact the hinge shaft 13, improving wear resistance and extending service life. Lubricating oil can be injected into the bushing 6.

[0027] Preferably, the drive mechanism includes a hydraulic cylinder 17 and a fixed base 18. The fixed base 18 is fixed to the deck 3 on one side of the mast base 2. The hydraulic cylinder 17 is hinged to the top of the fixed base 18. A clearance groove 19 is provided at the bottom of the semi-circular counterweight 4. The output end of the hydraulic cylinder 17 is hinged to the clearance groove 19. The hydraulic cylinder 17 is electrically connected to the controller 8 for easy control. The retraction or extension of the hydraulic cylinder 17 drives the semi-circular counterweight 4 to rotate. Using the hydraulic cylinder 17 to lower or raise the mast 1 results in smoother movement.

[0028] Preferably, the self-locking mechanism is located directly below the hinge joint between the mast 1 and the mast base 2. The self-locking mechanism includes two elastic components, which are symmetrically installed on both sides of the mast base 2. The two self-locking mechanisms lock together, resulting in a better locking effect. Each elastic component consists of a fixed cylinder 20, a return spring 21, an electromagnet 22, and a limiting block 23. The fixed cylinder 20 is vertically fixed to the outside of the mast base 2. The electromagnet 22 is fixed inside the fixed cylinder 20. The return spring 21 is installed inside the fixed cylinder 20 on one side of the electromagnet 22. The limiting block 23 is slidably installed inside the fixed cylinder 20 on the side away from the electromagnet 22. Both ends of the return spring 21 can be connected to the electromagnet 22 and the limiting block 23. A limiting groove 24 is provided on the semi-circular counterweight 4 directly below the hinge point between the mast 1 and the mast base 2. In its initial state, the return spring 21 presses the limiting block 23 against the limiting groove 24 to keep the mast 1 in a vertical, upright position, forming a lock. The electromagnet 22 is electrically connected to the controller 8 for convenient control. In this embodiment, the controller 8 controls the on / off state of the electromagnet 22 to allow the limiting block 23 to be pulled out or inserted into the limiting groove 24, making operation more convenient. Furthermore, the end of the limiting block 23 furthest from the return spring 21 is a spherical structure, which serves as a guide and makes it easier for the limiting block 23 to be inserted into the limiting groove 24.

[0029] The tiltable mast smooth take-off and landing device of this embodiment, through the setting of three distance measuring sensors, can automatically monitor the distance and height of height restrictions and the height of the mast during actual navigation. This allows the driver to control the mast to be tilted and raised from the cockpit based on the detected signals, without having to go to the deck to operate the mast. Compared with existing mast take-off and landing devices, it has a higher degree of automation, is more convenient to operate, and effectively reduces the workload.

[0030] This embodiment also provides a control method for a tilting mast smooth take-off and landing device, including the aforementioned tilting mast smooth take-off and landing device, and the control method includes the following steps: S1: During the ship's operation, the first distance sensor 6 detects that the distance to the height restriction object is less than or equal to the set threshold and transmits the detection signal to the controller 8. The controller 8 controls the alarm 9 to be activated, issuing an alarm prompt and prompting the driver to take the next step. S2: The driver controls the electromagnet 22 to be energized through the controller 8. The electromagnet 22 generates a magnetic force to attract the limiting iron block 23. The limiting iron block 23 slides along one side of the electromagnet 22, causing the limiting iron block 23 to disengage from the limiting groove 24. At the same time, the return spring 21 is compressed (when the attraction force of the electromagnet 22 and the elastic force of the return spring 21 are balanced, the limiting iron block 23 has disengaged from the limiting groove 24 and stops). S3: The second distance sensor 7 detects the height of the top of the mast 1 in real time, and the third distance sensor 11 detects the height of the height restriction object in real time, and feeds back the detection data to the display screen 10 for the driver to observe; S4: Based on the data displayed on the screen 10, the driver controls the output end of the hydraulic cylinder 17 to retract via the controller 8, causing the semi-circular counterweight 4 to rotate, thus lowering the mast 1 to the designated height position, completing the mast 1 lowering operation (the driver controls the mast 1 to lower until the distance detected by the second distance sensor 7 is less than the distance detected by the third distance sensor 11): S5: After the ship has passed through the height restriction, the helmsman controls the electromagnet 22 to be de-energized via the controller 8. The limiting block 23 is pushed back by the elastic force of the return spring 21. At the same time, the controller 8 controls the output end of the hydraulic cylinder 17 to extend, driving the semi-circular counterweight 4 to rotate and reset until the limiting block 23 is inserted into the limiting groove 24, completing the mast 1 erection operation.

[0031] In this embodiment, the mast is lowered or raised by the driver's operating controller 8. This not only meets the need for convenient operation, but also avoids the problem of the mast 1 being mistakenly lowered due to the first ranging sensor 6 detecting a ship in front, compared to a fully automated control method. At the same time, the mast 1 can be lowered to a reasonable position according to the actual height restriction of the object, without having to be completely lowered, which can effectively reduce energy consumption.

[0032] Preferably, a contact sensor 25 is also installed at the bottom of the limiting groove 24, and an indicator light 26 is also installed on the display screen 10. The contact sensor 25 and the indicator light 26 are both electrically connected to the controller 8. In step S5, when the limiting block 23 is inserted into the limiting groove 24, the limiting block 23 makes contact with the contact sensor 25. At this time, the indicator light 26 lights up to let the driver know that the mast 1 has been erected.

[0033] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make several modifications and improvements without departing from the structure of the present invention, and these will not affect the effectiveness of the implementation of the present invention or the practicality of the patent.

Claims

1. A tiltable mast smooth take-off and landing device, comprising a mast (1), a mast base (2), and a drive mechanism, wherein the mast base (2) is fixed to the ship's deck (3), and the mast (1) is hinged to the top of the mast base (2), characterized in that, A semi-circular counterweight (4) is provided below the hinge joint between the mast (1) and the mast base (2). The center of the semi-circular counterweight (4) is fixedly connected to the bottom of the mast (1). The output end of the drive mechanism is connected to the outer edge of the semi-circular counterweight (4). A guide mechanism and a self-locking mechanism are also provided between the mast base (2) and the semi-circular counterweight (4). A mounting bracket (5) is provided on the top of the mast (1). A first distance sensor (6) for detecting the distance to the height limit object and a second distance sensor (7) for detecting the height of the mast (1) are respectively installed on the top of the mounting bracket (5). The height of the first distance sensor (6) and the second distance sensor (7) is level with the highest point of the mast (1); the landing device also includes a controller (8), an alarm (9), a display screen (10) and a third distance sensor (11) for detecting the height of the height restriction object. The third distance sensor (11) is installed on the deck (3) at the bow of the ship. The alarm (9) and the display screen (10) are both installed in the bridge of the ship. The first distance sensor (6), the second distance sensor (7), the third distance sensor (11), the drive mechanism, the alarm (9), and the display screen (10) are all electrically connected to the controller (8).

2. The tiltable mast smooth lifting and lowering device according to claim 1, characterized in that, The guiding mechanism includes two ball bearing rows arranged in an arc. The two ball bearing rows are symmetrically installed on the inner walls of both sides of the mast base (2). Each ball bearing row is composed of multiple balls (12), and each ball (12) is movably embedded in the inner wall of the mast base (2). The side of the semi-circular counterweight (4) is tangent to the ball (12).

3. The tiltable mast smooth lifting and lowering device according to claim 1, characterized in that, The mast (1) and the mast base (2) are hinged together by a hinge shaft (13), and a clamping nut (14) is threaded onto the hinge shaft (13) on both sides of the mast base (2).

4. The tiltable mast smooth lifting and lowering device according to claim 3, characterized in that, A cotter pin (15) is also installed on the hinge shaft (13) on the outside of the clamping nut (14).

5. The tiltable mast smooth lifting and lowering device according to claim 3, characterized in that, The outer wall of the hinge shaft (13) is also rotatably fitted with a bushing (16), which is fixed in the mast (1).

6. A tilting mast smooth lifting and lowering device according to any one of claims 1-5, characterized in that, The drive mechanism includes a hydraulic cylinder (17) and a fixed seat (18). The fixed seat (18) is fixed on the deck (3) on one side of the mast base (2). The hydraulic cylinder (17) is hinged to the top of the fixed seat (18). The bottom of the semi-circular counterweight (4) is provided with a clearance groove (19). The output end of the hydraulic cylinder (17) is hinged to the clearance groove (19). The hydraulic cylinder (17) is electrically connected to the controller (8).

7. A tiltable mast smooth lifting and lowering device according to claim 6, characterized in that, The self-locking mechanism is located directly below the hinge point between the mast (1) and the mast base (2). The self-locking mechanism includes two elastic components, which are symmetrically installed on both sides of the mast base (2). Each elastic component consists of a fixed cylinder (20), a return spring (21), an electromagnet (22), and a limiting block (23). The fixed cylinder (20) is vertically fixed to the outside of the mast base (2), the electromagnet (22) is fixed inside the fixed cylinder (20), and the return spring (21) is installed inside the fixed cylinder (20). Inside the fixed cylinder (20) on one side of the electromagnet (22), the limiting iron block (23) is slidably installed in the fixed cylinder (20) on the side away from the electromagnet (22). A limiting groove (24) is opened on the semi-circular counterweight (4) directly below the hinge of the mast (1) and the mast base (2). In the initial state, the reset spring (21) presses the limiting iron block (23) against the limiting groove (24) so ​​that the mast (1) is kept in a vertical standing state. The electromagnet (22) is electrically connected to the controller (8).

8. A tiltable mast smooth lifting and lowering device according to claim 7, characterized in that, The end of the limiting block (23) away from the reset spring (21) has a spherical structure.

9. A control method for a tiltable mast smooth lifting and lowering device, characterized in that, Including the tiltable mast smooth lifting and lowering device as described in claim 7, the control method includes the following steps: S1: During the ship's operation, the first distance sensor (6) detects that the distance to the height restriction object is less than or equal to the set threshold and transmits the detection signal to the controller (8). The controller (8) controls the alarm (9) to start and issue an alarm prompt. S2: The driver controls the electromagnet (22) to be energized through the controller (8). The electromagnet (22) generates magnetic force to attract the limiting iron block (23). The limiting iron block (23) slides along one side of the electromagnet (22), causing the limiting iron block (23) to disengage from the limiting groove (24) and compress the return spring (21) at the same time. S3: The second distance sensor (7) detects the height of the top of the mast (1) in real time, and the third distance sensor (11) detects the height of the height restriction object in real time and feeds back the detection data to the display screen (10); S4: Based on the data in the display screen (10), the driver controls the output end of the hydraulic cylinder (17) to retract via the controller (8), causing the semi-circular counterweight (4) to rotate, so that the mast (1) is lowered to the specified height position, completing the mast (1) lowering operation: S5: After the ship passes through the height restriction, the driver controls the electromagnet (22) to de-energize through the controller (8). The limiting block (23) is pushed back by the elastic force of the reset spring (21). At the same time, the output end of the hydraulic cylinder (17) is extended through the controller (8), which drives the semi-circular counterweight (4) to rotate and reset until the limiting block (23) is inserted into the limiting groove (24), thus completing the mast (1) erection operation.

10. The control method for a reversible mast smooth lifting and lowering device according to claim 9, characterized in that, A contact sensor (25) is also installed at the bottom of the limiting groove (24), and an indicator light (26) is also installed on the display screen (10). The contact sensor (25) and the indicator light (26) are both electrically connected to the controller (8). In step S5, when the limiting iron block (23) is inserted into the limiting groove (24), the limiting iron block (23) makes contact with the contact sensor (25), and the indicator light (26) lights up.

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