Anchoring system capable of automatically loading and unloading and automatic gravity center adjusting method thereof

Abstract

The invention relates to an anchoring system capable of automatically loading and unloading and an automatic gravity center adjusting method thereof.The anchoring system is supported on a chassis, the two sides of the chassis are each provided with two horizontal telescopic beams, and each horizontal telescopic beam is rotationally provided with a hydraulic supporting leg; the anchoring system is supported on the chassis, the anchoring system is supported on the ground through the hydraulic supporting legs, the hydraulic supporting legs are in an extension state, the horizontal telescopic beams are also in an extension state, a transport vehicle backs up to enter the hydraulic supporting legs, and the hydraulic supporting legs and the horizontal telescopic beams are in an extension state. Then the hydraulic supporting legs contract, the chassis is pressed on the vehicle, the hydraulic supporting legs are manually rotated to be in a horizontal state and positioned, the horizontal telescopic beams contract, and when loading and unloading are completed, the horizontal telescopic beams extend, the hydraulic supporting legs are manually rotated to be in a vertical state and positioned, the hydraulic supporting legs extend to be supported on the ground, the chassis is lifted, the vehicle is driven out, unloading is completed, and loading and unloading are convenient.

Description

Technical Field

[0001] The invention relates to an anchoring system, in particular to an anchoring system capable of automatic loading and unloading. The invention also relates to an automatic center of gravity adjustment method of the anchoring system, and belongs to the field of moored airships. Background Art

[0002] The mooring technology of tethered airships is increasingly widely used in modern industry. For smaller tethered airships, the corresponding mooring system is relatively small. However, for large-load mooring systems, the volume is often large and inconvenient to transport. The existing technology often integrates the mooring system with the transport vehicle for easy transportation. However, in actual production, tethered airships are not frequently used. The integrated design with the transport vehicle increases the production cost. In view of the above problems, a mooring system that is easy to transport and low in cost is designed. An automatic loading and mooring system can be realized. Summary of the invention

[0003] The purpose of the present invention is to provide an anchoring system which can be automatically loaded and unloaded, so as to solve the problem that the anchoring system in the prior art is large in size and inconvenient to transport.

[0004] In order to solve the above problems, the automatic loading and unloading anchoring system involved in the present invention adopts the following technical scheme: an automatic loading and unloading anchoring system, including an anchoring system, the anchoring system is supported on a chassis, and two horizontal telescopic beams are provided on each side of the chassis, and the free end of each horizontal telescopic beam is rotatably provided with a hydraulic support leg, and a positioning structure is provided between the hydraulic support leg and each horizontal telescopic beam, which can position and disassemble both, and the horizontal telescopic beam and the hydraulic support leg are driven to extend and retract by a hydraulic cylinder.

[0005] The positioning structure is a threaded structure.

[0006] The thread structure comprises a bolt rod passing through through holes on the hydraulic support leg and the horizontal telescopic beam and a nut screwed on the bolt rod.

[0007] The free end of the hydraulic support leg is fixed with a base.

[0008] The method for automatically adjusting the center of gravity of an anchoring system capable of automatic loading and unloading according to the present invention adopts the following technical solution:

[0009] A method for automatically adjusting the center of gravity of an anchoring system capable of automatic loading and unloading, the anchoring system comprising an anchoring system, the anchoring system being supported on a chassis, two horizontal telescopic beams being provided on each side of the chassis, a hydraulic support leg being rotatably provided at the free end of each horizontal telescopic beam, a positioning structure being provided between the hydraulic support leg and the respective horizontal telescopic beam, the horizontal telescopic beam and the hydraulic support leg being driven to extend and retract by a hydraulic cylinder, the method for automatically adjusting gravity comprising the following steps:

[0010] Step 1: An inclination sensor is arranged at the free end of the hydraulic outrigger, and the inclination sensor is connected to a control system, and the control system controls the extension and retraction of the hydraulic cylinder of the hydraulic outrigger;

[0011] Step 2: Solve the unknown quantity based on the moment balance equation

[0012] Assuming that the system rotates around its center of gravity, the moment balance equation can be expressed as: ∑(Wi*ΔFi)=0, where:

[0013] ΔFi is the difference between the support force generated by the i-th hydraulic outrigger and the support force in the initial state, which can be expressed as:

[0014] ΔFi=kiΔLi-Mg(θWi / L 总 )

[0015] ki is the stiffness coefficient of the hydraulic outrigger (constant)

[0016] L 总 Is the average horizontal distance from the center of gravity of the system to the hydraulic outriggers

[0017] θ: the tilt angle of the system, in radians;

[0018] ΔLi: extension and retraction of the ith hydraulic outrigger;

[0019] Li0: length of the i-th hydraulic outrigger in the initial state (system horizontal);

[0020] Wi: distance from the ith hydraulic outrigger to the center of gravity of the system;

[0021] M: total mass of the system;

[0022] g: acceleration due to gravity;

[0023] Step 3:

[0024] The control system receives the inclination data θ from the inclination sensor, and calculates each ΔLi according to θ and the moment balance equation, and adjusts the extension and retraction amount of the hydraulic cylinder of each hydraulic leg according to the obtained ΔLi, and determines whether the center of gravity position meets the required conditions.

[0025] If it is not satisfied, continue to receive the inclination data θ from the inclination sensor and perform a new round of calculation and adjustment.

[0026] The free end of the hydraulic support leg is fixed with a base, and the inclination sensor in step one is arranged on the base.

[0027] The mooring system of the present invention is supported on a chassis, and two horizontal telescopic beams are provided on each side of the chassis. The free end of each horizontal telescopic beam is rotatably provided with a hydraulic leg. The mooring system is supported on the ground by the hydraulic legs, and the hydraulic legs are in an extended state, and the horizontal telescopic beam is also in an extended state. The transport vehicle reverses into between the hydraulic legs, and then the hydraulic legs are retracted, the chassis is pressed on the vehicle, the hydraulic legs are manually turned into a horizontal state and positioned, the horizontal telescopic beam is retracted, and loading and unloading are completed, when the horizontal telescopic beam is extended, the hydraulic legs are manually turned into a vertical state and positioned, the hydraulic legs are extended and supported on the ground, the chassis is raised, and the vehicle drives out, thereby completing the unloading, and loading and unloading are convenient. The problem of the large size of the mooring system in the prior art and inconvenience in transportation is solved.

[0028] The invention calculates the telescopic beam of the hydraulic outriggers by the inclination angle of the hydraulic outriggers, thereby adjusting the center of gravity position to prevent the problem of hydraulic system imbalance caused by the change of the center of gravity during the loading and unloading process. By adjusting the center of gravity, the stability of the mooring system during the loading and unloading process is maintained, ensuring the safety of the mooring system and personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the following briefly introduces the drawings required for use in the embodiment:

[0030] Figure 1 It is a structural schematic diagram of an embodiment of an anchoring system capable of automatic loading and unloading of the present invention;

[0031] Figure 2 A diagram showing the loading and unloading process of an embodiment of an automatic loading and unloading anchoring system of the present invention;

[0032] Figure 3 A schematic diagram of an embodiment of an anchoring system capable of automatic loading and unloading according to the present invention after loading;

[0033] Figure 4 It is a schematic diagram of an embodiment of the mooring system capable of automatic loading and unloading of the present invention after unloading;

[0034] Figure 5 The present invention is a flow chart of a method for automatically adjusting the center of gravity of an anchoring system capable of automatic loading and unloading. DETAILED DESCRIPTION

[0035] In order to make the technical purpose, technical solution and beneficial effects of the present invention clearer, the technical solution of the present invention is further described below in conjunction with the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention, that is, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0036] The specific embodiment of the mooring system capable of automatic loading and unloading of the present invention is as follows: Figure 1-Figure 4 In the embodiment, the anchoring system 1 is supported on the chassis 2, and the two are fixedly assembled, and two horizontal telescopic beams 3 are provided on each side of the chassis 2. A hydraulic leg 4 is rotatably provided at the free end of each horizontal telescopic beam 3, and a positioning structure that can position and disassemble the two is provided between the hydraulic leg 4 and the respective horizontal telescopic beam 3. The positioning structure here is a bolt assembly, and the bolt rod passes through the through holes on the hydraulic leg 4 and the horizontal telescopic beam 3 and then is screwed with a nut to position the hydraulic leg 4 and the horizontal telescopic beam 3. The horizontal telescopic beam 3 and the hydraulic leg 4 are both driven to telescope by a hydraulic cylinder, and the hydraulic cylinder is arranged inside to form a part of the horizontal telescopic beam 3 and the hydraulic leg 4. This is a conventional telescopic rod structure and will not be described in detail here.

[0037] The positioning structure in the above embodiment can also be a set screw or a pin, because the horizontal telescopic beam 3 and the hydraulic support leg 4 only need to be positioned at two places, that is, when the hydraulic support leg is horizontally coplanar and vertically coplanar with the horizontal telescopic beam, the pin can be used to cooperate with the positioning hole for positioning. The two pins passing through the horizontal telescopic beam can block the hydraulic support legs on both sides.

[0038] An embodiment of a method for automatically adjusting the center of gravity of an anchoring system capable of automatic loading and unloading, wherein Figure 5 In combination Figure 1-4 The mooring system to which the automatic center of gravity adjustment method is applicable is the mooring system gravity automatic adjustment method in the specific embodiment of the above-mentioned mooring system capable of automatic loading and unloading, and has the following steps:

[0039] Step 1: An inclination sensor is arranged at the free end of the hydraulic outrigger, and the inclination sensor is connected to a control system, and the control system controls the extension and retraction of the hydraulic cylinder of the hydraulic outrigger;

[0040] Step 2: Solve the unknown quantity based on the moment balance equation

[0041] Assuming that the system rotates around its center of gravity, the moment balance equation can be expressed as: ∑(Wi*ΔFi)=0, where:

[0042] ΔFi is the difference between the support force generated by the i-th hydraulic outrigger and the support force in the initial state, which can be expressed as:

[0043] ΔFi=kiΔLi-Mg(θWi / L 总 )

[0044] ki is the stiffness coefficient of the hydraulic outrigger (a constant) determined by the material.

[0045] L 总It is the average horizontal distance from the center of gravity of the system to the hydraulic outriggers and can be obtained by geometric calculation when the inclination angle of the system is known.

[0046] θ: The tilt angle of the system, in radians; measured

[0047] ΔLi: extension and retraction of the ith hydraulic outrigger;

[0048] Li0: length of the i-th hydraulic outrigger in the initial state (system horizontal);

[0049] Wi: The distance from the i-th hydraulic outrigger to the center of gravity of the system; it can be obtained by geometric calculation when the inclination angle of the system is known.

[0050] M: total mass of the system; known

[0051] g: acceleration due to gravity;

[0052] Step 3:

[0053] The control system receives the inclination data θ from the inclination sensor, and calculates each ΔLi according to θ and the moment balance equation, and adjusts the extension and contraction amount of the hydraulic cylinder of each hydraulic leg according to the obtained ΔLi, and judges whether the center of gravity position meets the required conditions. If not, it continues to receive the inclination data θ from the inclination sensor and performs a new round of calculation and adjustment. Whether the center of gravity position meets the required conditions when the position of the hydraulic hydraulic leg in the initial state is on the same vertical straight line.

[0054] Specifically, a base is fixed to the free end of the hydraulic support leg, and the inclination sensor in step one is arranged on the base.

[0055] The positioning structure here is a bolt assembly, and the bolt rod passes through the through holes on the hydraulic support leg 4 and the horizontal telescopic beam 3 and then is screwed with a nut to position the hydraulic support leg 4 and the horizontal telescopic beam 3.

[0056] Note: The term Mg(θ*Wi / Ltotal) in this embodiment is an approximation used to represent the additional pressure on the hydraulic legs caused by the gravity component generated by the platform tilt. This approximation is reasonable when θ is small. Therefore, the present invention is an engineering method.

[0057] In the vertical direction, the displacement of the platform should be determined by the extension and retraction of all hydraulic outriggers. However, in balance adjustment, we are more concerned with the correction of the tilt angle rather than the vertical displacement. Therefore, the displacement balance equation is usually used to describe the relationship between the extension and retraction of the hydraulic outriggers and the tilt angle of the platform, rather than being directly used for balance adjustment.

[0058] The anchoring device in the above embodiment is designed separately; it is not integrated with the vehicle and is easy to use.

[0059] The hydraulic telescopic mechanism is adopted to realize automatic loading and unloading functions, reducing manual intervention during unloading;

[0060] The center of gravity of the mooring system can be automatically adjusted to ensure the stability and safety of the loading and unloading process.

[0061] Finally, it should be noted that the above embodiments are only used to illustrate but not limit the technical solutions of the present invention, and any equivalent substitutions of the present invention and any modifications or partial substitutions that do not depart from the spirit and scope of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. An anchoring system capable of automatic loading and unloading, comprising an anchoring system, characterized in that: The mooring system is supported on a chassis, and two horizontal telescopic beams are provided on each side of the chassis. A hydraulic support leg is rotatably provided at the free end of each horizontal telescopic beam. A positioning structure that can position and disassemble the hydraulic support legs and their respective horizontal telescopic beams is provided. The horizontal telescopic beams and the hydraulic support legs are both driven to extend and retract by hydraulic cylinders.

2. The automatic loading and unloading anchoring system and the automatic center of gravity adjustment method thereof according to claim 1, characterized in that: The positioning structure is a threaded structure.

3. The automatic loading and unloading anchoring system and the automatic center of gravity adjustment method thereof according to claim 2, characterized in that: The thread structure comprises a bolt rod passing through through holes on the hydraulic support leg and the horizontal telescopic beam and a nut screwed on the bolt rod.

4. The automatic loading and unloading anchoring system and the automatic center of gravity adjustment method thereof according to claim 1, 2 or 3, characterized in that: The free end of the hydraulic support leg is fixed with a base.

5. A method for automatically adjusting the center of gravity of an anchoring system capable of automatic loading and unloading, the anchoring system comprising an anchoring system, characterized in that: The mooring system is supported on a chassis, and two horizontal telescopic beams are provided on each side of the chassis. The free end of each horizontal telescopic beam is rotatably provided with a hydraulic support leg. A positioning structure capable of positioning and disassembling the hydraulic support leg and the respective horizontal telescopic beam is provided between the hydraulic support leg and the respective horizontal telescopic beam. The horizontal telescopic beam and the hydraulic support leg are driven to extend and retract by a hydraulic cylinder. The automatic gravity adjustment method comprises the following steps: Step 1: An inclination sensor is arranged at the free end of the hydraulic outrigger, and the inclination sensor is connected to a control system, and the control system controls the extension and retraction of the hydraulic cylinder of the hydraulic outrigger; Step 2: Solve the unknown quantity based on the moment balance equation Assuming that the system rotates around its center of gravity, the moment balance equation can be expressed as: ∑(Wi*ΔFi)=0, where: ΔFi is the difference between the support force generated by the i-th hydraulic outrigger and the support force in the initial state, which can be expressed as: ΔFi=kiΔLi-Mg(θWi / L 总 ) ki is the stiffness coefficient of the hydraulic outrigger (constant) L 总 Is the average horizontal distance from the center of gravity of the system to the hydraulic outriggers θ: the tilt angle of the system, in radians; ΔLi: extension and retraction of the ith hydraulic outrigger; Li0: length of the i-th hydraulic outrigger in the initial state (system horizontal); Wi: distance from the ith hydraulic outrigger to the center of gravity of the system; M: total mass of the system; g: acceleration due to gravity; Step 3: The control system receives the inclination data θ from the inclination sensor, and calculates each ΔLi based on θ and the torque balance equation, and adjusts the extension and retraction amount of the hydraulic cylinder of each hydraulic leg according to the obtained ΔLi, and determines whether the center of gravity position meets the required conditions. If not, it continues to receive the inclination data θ from the inclination sensor and performs a new round of calculation and adjustment.

6. The automatic loading and unloading anchoring system and the automatic center of gravity adjustment method thereof according to claim 5, characterized in that: The free end of the hydraulic support leg is fixed with a base, and the inclination sensor in step one is arranged on the base.

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