Submarine spray control method and device

Abstract

The present invention relates to the field of submarine spraying technology, and in particular to a submarine spraying control method and device. The submarine spraying device comprises a frame, a human-machine interface, an electric control system, a nozzle, a vertical swing mechanism, a horizontal swing mechanism and a water pump. The human-machine interface, the electric control system and the water pump are fixedly installed in the frame, a support frame is also installed in the middle of the frame, the horizontal swing mechanism is installed on the support frame, the vertical swing mechanism is installed on the horizontal swing mechanism, the nozzle is installed on the vertical swing mechanism, the horizontal swing mechanism drives the vertical swing mechanism and the nozzle to swing in the horizontal direction, and the vertical swing mechanism drives the nozzle to swing in the vertical direction. The process and device provided by the present invention have simple structure, convenient control, flexible use, and accurate spraying.

Description

Technical Field

[0001] The invention relates to the field of submarine spraying technology, and in particular to a submarine spraying control method and device. Background Art

[0002] At present, when spraying and cooling the surface of submarines docked at ports, mainly the anechoic tiles, the spraying is usually done in the form of a pipe network. The disadvantage of the pipe network spraying device is that the equipment is large and the structure is complex. It can only be installed in a fixed position and cannot be flexibly set and sprayed according to the size and position of the submarine. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a submarine spraying control method and device which has a simple structure, is convenient to control, is flexible to use, and can spray accurately.

[0004] The present invention is achieved through the following technical solutions:

[0005] The submarine spray control method comprises the following steps:

[0006] In the first step, the operator sets the parameters through the touch screen, including the length of the submarine and the vertical distance between the nozzle and the submarine, and transmits the information to the PLC, which calculates the horizontal and vertical angular velocity of the nozzle. The calculation process is as follows:

[0007] From H=1 / 2*g*t2, D=2*cosα*v*t, tanα=2H / D;

[0008] Calculate:

[0009] D = 2*sin2α*v2 / g; Formula 1

[0010] Where H is the water spray height, D is the water spray distance, α is the water spray angle, v is the water velocity of the nozzle, t is the time, and g is the acceleration of gravity;

[0011] The horizontal motion control angular velocity of the nozzle is β / T: β=2*arctan((1 / 2*L) / D),

[0012] Then the nozzle horizontal motion control angular velocity β / T = 2*arctan((1 / 2*L) / D) / T; Formula 2

[0013] The angular velocity of the sprinkler head’s vertical motion is controlled by first substituting D1 and D2 into Formula 1 to calculate the corresponding spray angles α1 and α2.

[0014] Then the AC angular velocity is 2(α1-α2) / T; Formula 3

[0015] CB angular velocity is 2(α2-α1) / T; Formula 4

[0016] Among them, O is the nozzle position, line segment AB is the length of the submarine, C is the vertical distance from O to AB, D1 is the water spray distance from O to A, D2 is the water spray distance from O to C, L is the length of the submarine, T is the time for the water spray to go from A to B, and β is the angle of the water spray from A to B;

[0017] The second step is to start the device and the device starts to run;

[0018] The third step is to rotate the nozzle to the initial position, that is, to align it with point A;

[0019] Step 4: The water pump supplies water and the sprinkler starts spraying water;

[0020] Step 5: While spraying water, the nozzle rotates horizontally and vertically according to the calculated horizontal and vertical angular velocities, aiming at the submarine to spray water reciprocatingly periodically;

[0021] Step 6. When the spraying is finished, turn off the power.

[0022] A submarine spray device comprises a frame, a human-machine interface, an electronic control system, a nozzle, a vertical swing mechanism, a horizontal swing mechanism and a water pump. The human-machine interface, the electronic control system and the water pump are fixedly installed in the frame. A support frame is also installed in the middle of the frame. The horizontal swing mechanism is installed on the support frame, the vertical swing mechanism is installed on the horizontal swing mechanism, and the nozzle is installed on the vertical swing mechanism. The horizontal swing mechanism drives the vertical swing mechanism and the nozzle to swing in the horizontal direction, and the vertical swing mechanism drives the nozzle to swing in the vertical direction.

[0023] The optimized horizontal swing mechanism includes a horizontal turntable mounted on a support frame and rotated by a rotating shaft, and a connecting frame fixedly mounted on the horizontal turntable, and the rotating shaft is driven to rotate by a rotating shaft motor.

[0024] The optimized vertical swing mechanism includes a vertical frame fixedly mounted on the connecting frame, a linear motor fixedly mounted on the connecting frame, a vertical slide rail fixedly mounted on the vertical frame, and a nozzle connecting plate. The nozzle connecting plate is slidably mounted on the vertical slide rail and driven by the linear motor to slide up and down along the vertical slide rail.

[0025] Furthermore, a nozzle mounting frame is fixedly mounted on the connecting frame, the front portion of the nozzle is rotatably mounted on the nozzle mounting frame, and the rear portion passes through the nozzle connecting plate and is connected to the water outlet of the water pump through a water hose.

[0026] Furthermore, a horizontal guide rail is fixedly installed at the bottom of the frame, guard plates are fixedly installed on three sides of the frame, the support frame is slidably installed on the horizontal guide rail, a horizontal electric push rod is installed in the frame, and the end of the horizontal electric push rod is fixedly connected to the support frame.

[0027] Optimized, movable casters are installed under the rack.

[0028] Furthermore, a bellows is installed at the water inlet of the water pump, the bellows is connected to the water supply pipe, and a valve is installed on the water supply pipe.

[0029] Beneficial effects of the present invention

[0030] The submarine spray control method and device protected by the present invention have the following advantages:

[0031] 1. Simple structure;

[0032] 2. Easy to control and flexible to use;

[0033] 3. The nozzle can rotate horizontally and vertically during operation, so that water can be accurately sprayed in the rectangular area where the submarine is docked;

[0034] 4. Reduce equipment and spraying costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the spraying side view;

[0036] Figure 2 It is a schematic diagram of spraying from top view;

[0037] Figure 3 A schematic diagram of the control structure of the present invention;

[0038] Figure 4 Schematic diagram of the operation flow of the present invention;

[0039] Figure 5 Schematic diagram of the spray device structure one;

[0040] Figure 6 The second schematic diagram of the spray device structure;

[0041] In the figure, 1. frame, 2. water pump, 3. bellows, 4. valve, 5. movable casters, 6. horizontal electric push rod, 7. electronic control system, 8. water hose, 9. vertical frame, 10. nozzle, 11. nozzle mounting frame, 12. connecting frame, 13. horizontal turntable, 14. supporting frame, 15. horizontal guide rail, 16. nozzle connecting plate, 17. vertical slide rail, 18. linear motor. DETAILED DESCRIPTION

[0042] The submarine spray control method comprises the following steps:

[0043] In the first step, the operator sets the parameters through the touch screen, including the length of the submarine and the vertical distance between the nozzle and the submarine, and transmits the information to the PLC, which calculates the horizontal and vertical angular velocity of the nozzle. The calculation process is as follows:

[0044] like Figure 1As shown, H = 1 / 2*g*t2, D = 2*cosα*v*t, tanα = 2H / D;

[0045] Calculate:

[0046] D = 2*sin2α*v2 / g; Formula 1

[0047] Where H is the water spray height, D is the water spray distance, α is the water spray angle, v is the water velocity of the nozzle, t is the time, and g is the acceleration of gravity;

[0048] It can be seen from formula 1 that the water spray distance is related to the water spray angle.

[0049] The horizontal motion control angular velocity of the nozzle is β / T: β=2*arctan((1 / 2*L) / D),

[0050] Then the nozzle horizontal motion control angular velocity β / T = 2*arctan((1 / 2*L) / D) / T; Formula 2

[0051] The angular velocity of the sprinkler head’s vertical motion is controlled by first substituting D1 and D2 into Formula 1 to calculate the corresponding spray angles α1 and α2.

[0052] Then the AC angular velocity is 2(α1-α2) / T; Formula 3

[0053] CB angular velocity is 2(α2-α1) / T; Formula 4

[0054] like Figure 2 As shown, O is the nozzle position, line segment AB is the length of the submarine, C is the vertical distance from O to AB, D1 is the water spray distance from O to A, D2 is the water spray distance from O to C, L is the submarine length, T is the time for the water spray to go from A to B, and β is the angle of the water spray from A to B;

[0055] The second step is to start the device and the device starts to run;

[0056] The third step is to rotate the nozzle to the initial position, that is, to align it with point A;

[0057] Step 4: The water pump supplies water and the sprinkler starts spraying water;

[0058] Step 5: While spraying water, the nozzle rotates horizontally and vertically according to the calculated horizontal and vertical angular velocities, aiming at the submarine to spray water reciprocatingly periodically;

[0059] Step 6. When the spraying is finished, turn off the power.

[0060] The submarine spray control method provided by the present invention controls the horizontal and vertical rotation of the spray head during spraying through precise calculation, so that the water landing point is always on the submarine, and water is sprayed periodically and reciprocally at the submarine, thereby realizing precise spray cooling of the submarine at a relatively low cost.

[0061] The submarine spray device includes a frame 1, a human-machine interface (not shown), an electronic control system 7, a nozzle 10, a vertical swing mechanism, a horizontal swing mechanism and a water pump 2. The human-machine interface, the electronic control system and the water pump are fixedly installed in the frame. A support frame 14 is also installed in the middle of the frame. The horizontal swing mechanism is installed on the support frame, the vertical swing mechanism is installed on the horizontal swing mechanism, and the nozzle is installed on the vertical swing mechanism. The horizontal swing mechanism drives the vertical swing mechanism and the nozzle to swing in the horizontal direction, and the vertical swing mechanism drives the nozzle to swing in the vertical direction.

[0062] The electronic control system connects the human-machine interface with the water pump, the vertical swing mechanism and the horizontal swing mechanism. The water pump, the vertical swing mechanism and the horizontal swing mechanism can be automatically controlled through the human-machine interface, so that the sprinkler can swing horizontally under the action of the horizontal swing mechanism and vertically under the action of the vertical swing mechanism while spraying water, so that the water falling point of the sprinkler is a rectangular area, always falling on the submarine, and spraying water periodically back and forth along the submarine, so as to realize precise spray cooling of the submarine. In addition, it is simpler than the pipe network structure, more flexible to use, easier to control and has a lower investment cost.

[0063] The optimized horizontal swing mechanism includes a horizontal turntable 13 installed on a support frame and rotated by a rotating shaft, and a connecting frame 12 fixedly installed on the horizontal turntable. The rotating shaft is driven to rotate by a rotating shaft motor (not shown). The rotating shaft motor drives the horizontal turntable to rotate via the rotating shaft, thereby driving the vertical swing mechanism and the nozzle above to swing back and forth horizontally at a set angle through the connecting frame.

[0064] The optimized vertical swing mechanism includes a vertical frame 9 fixedly mounted on the connecting frame, a linear motor 18 fixedly mounted on the connecting frame, a vertical slide rail 17 fixedly mounted on the vertical frame, and a nozzle connecting plate 16. The nozzle connecting plate is slidably mounted on the vertical slide rail and driven by the linear motor to slide up and down along the vertical slide rail. The nozzle connecting plate is driven by the linear motor to slide up and down along the vertical slide rail, so that the nozzle swings back and forth vertically at a set angle along the vertical direction with the front connection point as the axis.

[0065] Furthermore, a nozzle mounting frame 11 is fixedly mounted on the connecting frame, and the front part of the nozzle is rotatably mounted on the nozzle mounting frame, which can be hinged by a hinge shaft or connected by a bearing, and the rear part passes through the nozzle connecting plate and is connected to the water outlet of the water pump through a water hose 8. It is convenient for the nozzle to swing back and forth vertically with the hinge shaft or the bearing as the axis under the drive of the linear motor.

[0066] Furthermore, a horizontal guide rail 15 is fixedly installed at the bottom of the frame, and guard plates (not shown) are fixedly installed on three sides of the frame. The support frame is slidably installed on the horizontal guide rail, and a horizontal electric push rod 6 is installed in the frame, and the end of the horizontal electric push rod is fixedly connected to the support frame. Before spraying, the support frame and the equipment on it can be pushed out of the frame by the horizontal electric push rod, and then water can be sprayed. This can make the equipment smaller and more flexible to use, and prevent the nozzle or other equipment from touching the frame or the enclosure on it during rotation. After the spraying is completed, the electric push rod will pull the support frame back into the frame and protect it with the outer guard plate to prevent the equipment from being damaged.

[0067] Optimally, movable casters 5 are installed under the frame, making the entire spraying equipment easy to move and transport.

[0068] Furthermore, a bellows 3 is installed at the water inlet of the water pump, the bellows is connected to a water supply pipe (not shown), and a valve 4 is installed on the water supply pipe to facilitate connection with the water supply pipe.

[0069] In summary, the submarine spray control method and device protected by the present invention only requires the operator to set the length of the submarine and the vertical distance from the device, and the device automatically completes the periodic spraying from the head to the tail of the submarine. The device uses a nozzle spraying form instead of a pipe network. During operation, the nozzle can rotate in both horizontal and vertical directions to accurately spray water in the rectangular area where the submarine is docked. The device has a simple structure, is easy to operate, flexible to use, and low cost.

[0070] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A submarine spray control method, characterized in that: The submarine spray control method is performed by a submarine spray device, the submarine spray device includes a frame, a human-machine interface, an electric control system, a nozzle, a vertical swing mechanism, a horizontal swing mechanism and a water pump, the human-machine interface, the electric control system and the water pump are fixedly installed in the frame, a support frame is also installed in the middle of the frame, the horizontal swing mechanism is installed on the support frame, the vertical swing mechanism is installed on the horizontal swing mechanism, the nozzle is installed on the vertical swing mechanism, the horizontal swing mechanism drives the vertical swing mechanism and the nozzle to swing in the horizontal direction, and the vertical swing mechanism drives the nozzle to swing in the vertical direction, the human-machine interface includes a touch screen, and the submarine spray control method includes the following operating steps: In the first step, the operator sets the parameters through the touch screen, including the length of the submarine and the vertical distance between the nozzle and the submarine, and transmits the information to the PLC. The PLC calculates the horizontal and vertical angular velocity of the nozzle. The calculation process is as follows: , , Calculate: ; Formula 1 in is the water spray height, is the water spray distance, is the water spray angle, is the water outlet speed of the nozzle, For time, is the acceleration due to gravity; The angular velocity of the nozzle horizontal motion control is : , then the horizontal motion of the nozzle controls the angular velocity ;Formula 2 The nozzle vertical motion controls the angular velocity: First, according to formula 1, substitute and , calculate the corresponding water spray angle and ; Then the AC angular velocity is ; Formula 3 The angular velocity of CB is ;Formula 4 Among them, O is the nozzle position, line segment AB is the length of the submarine, and C is the vertical distance from O to AB. is the water spray distance from O to A, is the water spray distance from O to C, L is the length of the submarine, T is the time for the water spray to go from A to B, and β is the angle of the water spray from A to B; The second step is to start the submarine spray device, and the submarine spray device begins to operate; The third step is to rotate the nozzle to the initial position, that is, to align it with point A; Step 4: The water pump supplies water and the sprinkler starts spraying water; Step 5: While spraying water, the nozzle rotates horizontally and vertically according to the calculated horizontal and vertical angular velocities, aiming at the submarine to spray water reciprocatingly periodically; Step 6. When the spraying is finished, turn off the power.

2. The submarine spray control method according to claim 1, characterized in that: The horizontal swing mechanism comprises a horizontal turntable installed on a support frame and rotated by a rotating shaft, and a connecting frame fixedly installed on the horizontal turntable. The rotating shaft is driven to rotate by a rotating shaft motor.

3. The submarine spray control method according to claim 2, characterized in that: The vertical swing mechanism includes a vertical frame fixedly mounted on the connecting frame, a linear motor fixedly mounted on the connecting frame, a vertical slide rail fixedly mounted on the vertical frame, and a nozzle connecting plate. The nozzle connecting plate is slidably mounted on the vertical slide rail and driven by the linear motor to slide up and down along the vertical slide rail.

4. The submarine spray control method according to claim 3, characterized in that: A nozzle mounting frame is fixedly mounted on the connecting frame, the front portion of the nozzle is rotatably mounted on the nozzle mounting frame, and the rear portion passes through the nozzle connecting plate and is connected to the water outlet of the water pump through a water hose.

5. The submarine spray control method according to claim 1, characterized in that: A horizontal guide rail is fixedly installed at the bottom of the frame, guard plates are fixedly installed on three sides of the frame, the support frame is slidably installed on the horizontal guide rail, a horizontal electric push rod is installed in the frame, and the end of the horizontal electric push rod is fixedly connected to the support frame.

6. The submarine spray control method according to claim 1, characterized in that: Movable casters are installed under the rack.

7. The submarine spray control method according to claim 1, characterized in that: A bellows is installed at the water inlet of the water pump. The bellows is connected to a water supply pipe, and a valve is installed on the water supply pipe.

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