Interlocking device for lifting and locking equipment

Abstract

The invention discloses an interlocking device for lifting and locking equipment, and relates to the technical field of mechanical engineering, the interlocking device comprises a supporting column, a support, a lifting mechanism and a locking mechanism, the support is arranged on the supporting column, the lifting mechanism and the locking mechanism are both arranged in the support, and the interlocking device further comprises an interlocking mechanism, the interlocking mechanism is arranged between the lifting mechanism and the locking mechanism and used for monitoring the running states of the lifting mechanism and the locking mechanism in real time and forbidding conflict execution of lifting and locking operation according to preset interlocking logic. The interlocking mechanism comprises a controller and a sensor, the controller controls the operation of the lifting mechanism and the locking mechanism, the sensor monitors the operation states of the lifting mechanism and the locking mechanism in real time, the operation conflict between lifting and locking is eliminated through interlocking control, and the safety and reliability of equipment operation are guaranteed; on the premise of ensuring the operation precision, the overall working efficiency is improved, and safe, accurate and efficient multi-dimensional collaborative optimization is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical engineering, and more particularly to an interlocking device for lifting and locking equipment. Background Art

[0002] In the fields of automation and mechanical equipment, lifting and locking functions are key technologies for lifting, conveying, and positioning objects. Motor-driven lifting mechanisms precisely adjust the height of objects, while locking or clamping devices ensure the stability of the objects in the target position. However, coordinated control of lifting and locking operations has always been challenging, especially in complex operating environments.

[0003] Traditional lifting and locking control methods mostly regard the two as independent processes and lack an effective interlocking mechanism. In a multi-tasking operation environment, how to ensure the orderly and coordinated execution of lifting and locking operations has become a difficulty in control system design.

[0004] Based on this, we provide an interlocking device for equipment lifting and locking. Summary of the Invention

[0005] In order to solve the problems raised in the above background technology, the present invention provides an interlocking device for equipment lifting and locking, which eliminates the operational conflicts between lifting and locking through interlocking control, ensures the safety and reliability of equipment operation, improves overall work efficiency while ensuring operational accuracy, and realizes safe, precise and efficient multi-dimensional collaborative optimization.

[0006] The present invention provides an interlocking device for lifting and locking equipment, which adopts the following technical solutions:

[0007] An interlocking device for lifting and locking equipment includes a pillar, a bracket, a lifting mechanism and a locking mechanism, the bracket is arranged on the pillar, and the lifting mechanism and the locking mechanism are both arranged in the bracket. It also includes an interlocking mechanism, which is arranged between the lifting mechanism and the locking mechanism and is used to monitor the operating status of the lifting mechanism and the locking mechanism in real time, and prohibit the conflicting execution of lifting and locking operations according to a preset interlocking logic; the interlocking mechanism includes a controller and a sensor, the controller controls the operation of the lifting mechanism and the locking mechanism, and the sensor monitors the operating status of the lifting mechanism and the locking mechanism in real time.

[0008] Preferably, the lifting mechanism includes two sets of tracks fixedly arranged in the bracket, each set of tracks has two tracks, a walking wheel is commonly arranged between the two tracks, and a motor for driving the walking wheel to rotate is arranged on the side of the track; the locking mechanism includes two electric push cylinders fixedly arranged on both sides of the bracket, and the output ends of the two electric push cylinders are provided with extrusion frames.

[0009] Preferably, the sensor, the motor, and the electric push cylinder are all electrically connected to the controller.

[0010] Preferably, a protective member is provided between the walking wheel and the extrusion frame for separating the walking wheel from the support column.

[0011] Preferably, a C-shaped plate is slidably arranged between the two tracks, the walking wheel is rotatably connected inside the C-shaped plate, and a travel hole for the movement of the motor is further opened on the side surface of the track; the protective member includes a toothed shaft rotatably arranged inside the bracket, and the toothed shaft passes through the C-shaped plate, and a toothed groove is opened on the inner wall of the C-shaped plate, and the toothed groove is meshed with the toothed shaft; a toothed plate is assembled on the extrusion frame, the toothed plate is meshed with the toothed shaft, and the toothed plate and the toothed groove are symmetrically distributed relative to the toothed shaft.

[0012] Preferably, after the toothed plate moves a certain distance, it drives the toothed shaft to rotate, and an extrusion member is arranged on the side surface of the C-shaped plate, and when the toothed shaft rotates, the extrusion member operates.

[0013] Preferably, it further includes an interlock control mechanism, and the interlock control mechanism includes:

[0014] An operation state detection module, which is used to monitor the working state of the motor in real time through a sensor, including obtaining the current position p lift (t), speed V lift (t), acceleration A lift (t), the clamping force F of the electric push cylinder lock (t) and the clamping state S of the electric push cylinder lock , S lock ∈ {loose, clamp}, obtain real-time data through the sensor, and judge whether the lifting or locking operation can be started currently.

[0015] Ⅰ. Operation state detection module:

[0016] Input: Real-time acquisition of the motor position p lift (t), speed Acceleration The clamping force F of the electric push cylinder (400) lock (t) and state S lock ∈ {loose, clamp};

[0017] Algorithm: Perform noise suppression on the sensor data through a Kalman filter, and output the state vector X(t) = [P lift (t), V lift (t), A lift (t), F lock (t)] T , satisfying (σ [[ID=5۹]] max is the preset error threshold).

[0018] II. Safety interlock logic module:

[0019] Locking test before lifting: If S lock ≠Release or Make F lock (t)>F min , then the lifting operation is prohibited and the alarm command is triggered;

[0020] Lift detection before locking: When |p lift (t)-p target ΔP or V lift (t)≠0, the locking operation enters the waiting queue until (ε pos is the integral error tolerance);

[0021] Parallel execution constraints: defining mutually exclusive functions The system state machine satisfies M(t)·(V lift (t)+F lock (t))=0.

[0022] III. Priority Management Module:

[0023] Trigger condition: When (θ priority is the conflict detection threshold), and the conflict detection threshold (Weight coefficients k1 and k2 are adjustable) and execute the following logic:

[0024] Priority of up and down: If |p lift (t)-p target ∣>ΔP urgent (emergency deviation threshold), the locking operation delay is <1s, and the locking operation is suspended;

[0025] Locking priority: If (Safety pressure change rate), forcibly terminate lifting and start locking.

[0026] IV. Position feedback and safety monitoring module:

[0027] Target position convergence condition: lim t→T P lift (t) = P target , and satisfies

[0028] Abnormal shutdown conditions: When the motor load L lift (t)>k·L max (k = 1.2 is the safety factor) or ||X(t)|| exceeds the preset envelope Γ(t), the power source is immediately cut off.

[0029] Locking delay and buffer control model:

[0030] Delay algorithm: start the timer after the lifting is completed (α is the damping coefficient);

[0031] Buffer control: Clamping force press F lock (t)=F min+β·(1-e -t / τ ) Gradual pressurization (β is the pressure gradient, τ is the time constant).

[0032] The Kalman filter uses the state transfer matrix The process noise covariance matrix Q is dynamically adjusted according to the motor type.

[0033] In the priority management algorithm, θ priority Through the dynamic calculation of the fuzzy logic controller, the input variable is |p lift (t)-p target ∣ and F lock The membership function of (t).

[0034] The buffer control stage introduces a pressure gradient limiting algorithm: in (t press is the maximum allowable pressurization time).

[0035] The envelope Γ(t) in the abnormal shutdown condition is generated by the LSTM network prediction obtained by historical data training, and the network input includes X(t) and environmental parameters (water temperature, flow rate).

[0036] p lift (t): The real-time position of the bracket motor (unit: mm or m), representing the current height of the bracket.

[0037] V lift (t): The real-time speed of the motor (unit: m / s), determined by Calculated.

[0038] A lift (t): Real-time acceleration of the motor (unit: m / s 2 ),Depend on Calculation is used to determine the stability of movement.

[0039] F lock (t): The real-time clamping force of the electric push cylinder (unit: N), measured by the pressure sensor, reflects the stress state of the clamping structure.

[0040] S lock : Locking state discrete variable, the value is {release, clamp}, used for interlocking logic judgment.

[0041] Control parameters and thresholds

[0042] ΔP: Allowable position deviation (typical value 0.5-2mm), when |P lift (t)-P target When |≤ΔP, it is determined that the target position has been reached.

[0043] t stable : Stable time threshold (typical value 3-5s), ensures that locking is allowed only after the position fluctuation lasts within ΔP for this time.

[0044] L max : Maximum safe load of the motor (unit: kN). If the load exceeds this value (such as L lift >1.2L max ) triggers shutdown protection.

[0045] γ max : Locking pressure gradient upper limit (typical value 50-200N / s), used to buffer the control stage to avoid impact.

[0046] Algorithm core model parameters

[0047] σ max : Maximum error tolerance of the Kalman filter (typical value 0.1-0.3mm), used to verify the reliability of the state vector X(t).

[0048] θ priority : Priority conflict detection threshold, when Priority arbitration is triggered when

[0049] τ: Locking buffer time constant (unit: s), controls the clamping force progressive curve F lock (t)=F min+β·(1-e -t / τ )’s response speed.

[0050] ε pos : Integral error tolerance (unit: mm·s), used for position cumulative error judgment in lifting detection before locking (∫|P lift (t)-P target |dt≤ε pos ).

[0051] Control logic function

[0052] Mutex Function Ensure that lifting and locking operations are mutually exclusive.

[0053] Reference torque model: The feedforward control torque calculation of the locking actuator, the input includes wheel speed, bracket position and acceleration, and the output is the reference torque and the feedback correction is superimposed.

[0054] Envelope function Γ(t): A dynamic safety boundary generated by the LSTM network that triggers a protective shutdown when the state vector ||X(t)|| exceeds it.

[0055] Application scenario association

[0056] p target :The target position is dynamically set according to the ship's navigation mode (such as wing navigation mode and body navigation mode) and needs to be adjusted in combination with the wave interference model.

[0057] t delay : Locking delay time (typical value 0.5-2s), through the damping coefficient α and acceleration A lift (t) Calculation to ensure the stability of the bracket position.

[0058] Preferably, the interlock control mechanism further comprises:

[0059] Safety interlock logic module, which includes:

[0060] Locking test before lifting: Before starting the lifting operation, check the status of the electric push cylinder. If it is not released or is in the locking operation, that is, S lock ≠"Release", the motor will not start, and the controller will issue an alarm and lock command;

[0061] Lift detection before locking: Before the locking operation begins, confirm whether the motor is in the target position p target , if p lift (t)≠p target , the controller suspends the locking operation until p lift (t) = p target ;

[0062] Parallel execution constraint: When the motor is working, that is, V lift (t)≠0, the electric cylinder is disabled, and vice versa.

[0063] Preferably, the interlock control mechanism further comprises:

[0064] The priority management module is used to determine the execution order based on task priority and working status when the lifting and locking operations are triggered at the same time:

[0065] Lifting priority: Usually the lifting operation has a higher priority. During the lifting process, V lift (t)≠0, the locking operation is suspended;

[0066] Locking priority: After the lifting is completed and stopped, V lift (t)=0 and A lift (t) = 0, the controller automatically switches to locking mode.

[0067] Preferably, the interlock control mechanism further comprises:

[0068] Position feedback and safety monitoring module, which real-time feedbacks the current position p of the motor through sensors lift (t), the controller calculates whether the target position is reached. When ∣p lift (t)-p target ∣≤ΔP; where ΔP is the allowable position deviation, and after stabilizing for a certain time t stable , it is only allowed to switch to the locking mode;

[0069] Meanwhile, when it is detected that the load of the motor is too large during the lifting process, that is, the load L lift (t)>L max , the position deviation is too large, that is, ∣p lift (t)-p target ∣>Δp max or other abnormal states, the motor automatically stops the lifting operation, and the locking operation also pauses.

[0070] Preferably, the motor is a servo motor.

[0071] Preferably, the electric push cylinder is a hydraulic electric push cylinder.

[0072] In summary, the present invention includes the following beneficial technical effects:

[0073] 1. By means of interlock control, the operation conflict between lifting and locking is eliminated, ensuring the safety and reliability of the equipment operation; by using the abnormal response mechanism and real-time monitoring function, active intervention and shutdown are carried out when the equipment is abnormal, significantly improving the system safety; through the position closed-loop feedback and locking buffer control technology, the actions of the executing components are accurately positioned, avoiding clamping failure or structural damage caused by errors; at the same time, relying on the intelligent priority management and task adaptation switching strategy, the resource allocation and action timing are optimized, and the overall working efficiency is improved on the premise of ensuring the operation accuracy, realizing the multi-dimensional collaborative optimization of safety, precision and efficiency.

[0074] 2. When the bracket is locked, the electric push cylinder drives the extrusion frame to move. At this time, the toothed plate on the extrusion frame will drive the toothed shaft to rotate. The rotation of the toothed shaft makes the tooth groove drive the C-shaped plate to move, so that the walking wheel is separated from the pillar and no longer presses and contacts. Similarly, when the extrusion frame is separated from the pillar, the walking wheel can press and contact the pillar again. Through this structural design, the walking wheel only forms necessary contact with the pillar during the lifting stage of the equipment, effectively reducing the mechanical wear in the non-working state and extending the service life of the walking wheel and the pillar; through the mechanical self-locking characteristics of the toothed shaft transmission and the displacement of the C-shaped plate, it is ensured that the walking wheel completely脱离支柱表面,消除残留摩擦力对定位精度的影响,提升升降程序的运动稳定性;可避免锁紧过程中行走轮受压变形风险,同时减少支撑结构在静止状态承受的持续性载荷,增强系统整体结构可靠性。 需要注意的是,原文中“消除残留摩擦力对定位精度的影响,提升升降程序的运动稳定性;可避免锁紧过程中行走轮受压变形风险,同时减少支撑结构在静止状态承受的持续性载荷,增强系统整体结构可靠性。”这部分内容的英文翻译似乎不完整,我按照字面意思翻译为“脱离支柱表面,消除残留摩擦力对定位精度的影响,提升升降程序的运动稳定性;可避免锁紧过程中行走轮受压变形风险,同时减少支撑结构在静止状态承受的持续性载荷,增强系统整体结构可靠性。”,你可以检查一下原文内容是否准确,或者补充完整这部分的英文翻译需求,以便我为你提供更准确的翻译。

[0075] 3. After the extrusion frame moves to contact the pillar (to ensure that the bracket does not drop on the pillar), the tooth plate contacts the gear shaft, and then the extrusion frame continues to extrusion, thereby rotating the gear shaft to separate the travel wheel from the pillar. This design can avoid the problem of the bracket dropping. That is, the extrusion frame first completes the fixed locking of the pillar to ensure that the bracket obtains stable support, and then the travel wheel is disengaged through the rotation of the gear shaft, eliminating the support vacuum period that exists in the traditional switching process.

[0076] The above summary is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present invention will be readily apparent by reference to the accompanying drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] Figure 1 This is a schematic structural diagram of an interlocking device for lifting and locking equipment in an embodiment of the present invention;

[0078] Figure 2 This is a schematic diagram of the internal structure of an interlocking device for lifting and locking equipment in an embodiment of the present invention;

[0079] Figure 3 This is a schematic cross-sectional structural diagram of an interlocking device for lifting and locking equipment in an embodiment of the present invention;

[0080] Figure 4 2 is a schematic structural diagram of a travel hole in an embodiment of the present invention;

[0081] Figure 5 Schematic diagram of the structure of the shaped plate and the track in an embodiment of the present invention;

[0082] Figure 6 is a flow chart of lifting control in an embodiment of the present invention;

[0083] Figure 7 4 is a flowchart of locking control in an embodiment of the present invention.

[0084] Explanation of the accompanying drawings: 1. Pillar; 2. Bracket; 3. Lifting mechanism; 300. Track; 301. Travel wheel; 302. Motor; 303. Gear plate; 304. Tooth groove; 4. Locking mechanism; 400. Electric push cylinder; 401. Extrusion frame; 402. Tooth plate; 5. Controller; 6. Sensor; 7. Gear shaft; 8. Extrusion part. DETAILED DESCRIPTION

[0085] The following is combined with Figures 1 to 7 The present invention is described in further detail.

[0086] It should be noted that the drawings are schematic and not drawn to scale. For clarity and convenience, the relative sizes and proportions of parts shown in the drawings may be exaggerated or reduced in size. Any dimensions are illustrative only and are not intended to be limiting. Identical structures, elements, or components appearing in two or more drawings are denoted by the same reference numerals to indicate similar features.

[0087] Example 1

[0088] The embodiment of the present invention discloses an interlocking device for lifting and locking equipment. Figures 1 to 5 , an interlocking device for equipment lifting and locking, including a pillar 1, a bracket 2, a lifting mechanism 3 and a locking mechanism 4, the bracket 2 is arranged on the pillar 1, the lifting mechanism 3 and the locking mechanism 4 are both arranged in the bracket 2, and also includes an interlocking mechanism, which is arranged between the lifting mechanism 3 and the locking mechanism 4, and is used to monitor the operating status of the lifting mechanism 3 and the locking mechanism 4 in real time, and prohibit the conflicting execution of lifting and locking operations according to a preset interlocking logic; the interlocking mechanism includes a controller 5 and a sensor 6, the controller 5 controls the operation of the lifting mechanism 3 and the locking mechanism 4, and the sensor 6 monitors the operating status of the lifting mechanism 3 and the locking mechanism 4 in real time.

[0089] Specifically, the controller 5 is a PLC controller, and the sensor 6 includes a distance sensor, a pressure sensor, and the like.

[0090] like Figure 2 、 Figure 3 、 Figure 4 and Figure 5 As shown, the lifting mechanism 3 includes two groups of rails 300 fixedly arranged in the bracket 2, and the number of each group of rails 300 is two. A walking wheel 301 is commonly arranged between the two rails 300, and a motor 302 for driving the walking wheel 301 to rotate is arranged on the side of the rail 300; the locking mechanism 4 includes two electric push cylinders 400 fixedly arranged on both sides of the bracket 2, and the output ends of the two electric push cylinders 400 are provided with extrusion frames 401.

[0091] Specifically, the sensor 6 , the motor 302 and the electric push cylinder 400 are all electrically connected to the controller 5 .

[0092] Specifically, the motor 302 drives the walking wheel 301 to rotate, whereby the two walking wheels 301 rotate on the pillar 1, and the bracket 2 is driven up and down by friction, and the extrusion frame 401 is driven to move by the electric push cylinder 400, and the extrusion frame 401 squeezes and clamps the pillar 1, thereby completing the locking of the bracket 2.

[0093] like Figure 3 、 Figure 4 and Figure 5As shown, a protective member is provided between the walking wheel 301 and the extrusion frame 401 for separating the walking wheel 301 from the support column 1.

[0094] As Figure 4 shown, a U-shaped plate 303 is slidably arranged between two tracks 300. The walking wheel 301 is rotatably connected inside the U-shaped plate 303. A travel hole for the movement of the motor 302 is also provided on the side surface of the track 300. The protective member includes a tooth shaft 7 rotatably arranged inside the bracket 2, and the tooth shaft 7 passes through the U-shaped plate 303. Tooth grooves 304 are provided on the inner wall of the U-shaped plate 303, and the tooth grooves 304 are meshed with the tooth shaft 7. A tooth plate 402 is assembled on the extrusion frame 401, and the tooth plate 402 is meshed with the tooth shaft 7. The tooth plate 402 and the tooth grooves 304 are symmetrically distributed relative to the tooth shaft 7.

[0095] Specifically, when the bracket 2 is locked, the electric push cylinder 400 drives the extrusion frame 401 to move. At this time, the tooth plate 402 on the extrusion frame 401 will drive the tooth shaft 7 to rotate. The rotation of the tooth shaft 7 causes the tooth grooves 304 to drive the U-shaped plate 303 to move, thereby separating the walking wheel 301 from the support column 1 and no longer squeezing and contacting. Similarly, when the extrusion frame 401 is separated from the support column 1, the walking wheel 301 can squeeze and contact the support column 1 again. Through this structural design, the walking wheel 301 only forms necessary contact with the support column 1 during the lifting stage of the equipment, effectively reducing mechanical wear in the non-working state and prolonging the service life of the walking wheel 301 and the support column 1. Through the mechanical self-locking characteristics of the transmission of the tooth shaft 7 and the displacement of the U-shaped plate 303, it is ensured that the walking wheel 301 is completely separated from the surface of the support column 1 in the locked state, eliminating the influence of residual friction on the positioning accuracy and improving the motion stability of the lifting program. It can avoid the risk of the walking wheel 301 being deformed under pressure during the locking process, and at the same time reduce the continuous load borne by the support structure in the static state, enhancing the reliability of the overall structure of the system.

[0096] As <​​​​​​​​​​​After the extrusion frame 401 moves to contact the pillar 1 (to ensure that the bracket 2 does not drop on the pillar 1), the tooth plate 402 contacts the gear shaft 7, and then the extrusion frame 401 continues to extrusion, thereby rotating the gear shaft 7 to separate the walking wheel 301 from the pillar 1. This design can avoid the problem of the bracket 2 dropping, that is, the extrusion frame 401 first completes the fixed locking of the pillar 1 to ensure that the bracket 2 obtains stable support, and then the walking wheel 301 is disengaged through the rotation of the gear shaft 7, eliminating the support vacuum period that exists in the traditional switching process.

[0100] Specifically, the motor 302 is a servo motor.

[0101] Specifically, the electric push cylinder 400 is a hydraulic electric push cylinder.

[0102] Specifically, the control method of the present invention is controlled by a controller, and the control circuit of the controller can be implemented by simple programming by those skilled in the art, and the control method and circuit connection will not be explained in detail here.

[0103] Example 2

[0104] An interlocking device for lifting and locking equipment, such as Figure 6 and Figure 7 , also includes an interlocking control mechanism, the interlocking control mechanism includes:

[0105] The operating state detection module is used to monitor the working state of the motor 302 in real time through the sensor 6, including obtaining the current position p of the motor 302. lift (t), speed V lift (t), acceleration A lift (t), electric push cylinder 40) clamping force F lock (t) and the clamping state S of the electric push cylinder 400 lock , S lock ∈{loosen, clamp}, obtain real-time data through sensors to determine whether lifting or locking operations can be started at present.

[0106] Ⅰ. Operation status detection module:

[0107] Input: Real-time acquisition of the motor 302 position p lift (t), speed acceleration Electric push cylinder 400 clamping force F lock (t) and state S lock ∈{loosen, clamp};

[0108] Algorithm: The sensor data is noise-reduced by the Kalman filter, and the output state vector X(t) = [P lift (t),V lift (t),A lift (t),Flock (t)] T ,satisfy (σ max is the preset error threshold).

[0109] II. Safety interlock logic module:

[0110] Locking test before lifting: If S lock ≠Release or Make F lock (t)>F min , then the lifting operation is prohibited and the alarm command is triggered;

[0111] Lift detection before locking: When |p lift (t)-p target ΔP or V lift (t)≠0, the locking operation enters the waiting queue until (ε pos is the integral error tolerance);

[0112] Parallel execution constraints: defining mutually exclusive functions The system state machine satisfies M(t)·(V lift (t)+F lock (t))=0.

[0113] III. Priority Management Module:

[0114] Trigger condition: When (θ priority is the conflict detection threshold), and the conflict detection threshold (Weight coefficients k1 and k2 are adjustable) and execute the following logic:

[0115] Priority of up and down: If |p lift (t)-p target ∣>ΔP urgent (emergency deviation threshold), the locking operation delay is <1s, and the locking operation is suspended;

[0116] Locking priority: If (Safety pressure change rate), forcibly terminate lifting and start locking.

[0117] IV. Position feedback and safety monitoring module:

[0118] Target position convergence condition: lim t→T P lift (t) = P target , and satisfies

[0119] Abnormal stop condition: When the motor (302) load L lift (t)>k·Lmax (k = 1.2 is the safety factor) or ||X(t)|| exceeds the preset envelope Γ(t), the power source is immediately cut off.

[0120] Locking delay and buffer control model:

[0121] Delay algorithm: start the timer after the lifting is completed (α is the damping coefficient);

[0122] Buffer control: Clamping force press F lock (t) = Fmin + β·(1-e -t / τ ) Gradual pressurization (β is the pressure gradient, τ is the time constant).

[0123] The Kalman filter uses the state transition matrix The process noise covariance matrix Q is dynamically adjusted according to the motor type.

[0124] Priority management algorithm θ priority Through the dynamic calculation of the fuzzy logic controller, the input variable is |p lift (t)-p target ∣ and F lock The membership function of (t).

[0125] The pressure gradient limiting algorithm is introduced in the buffer control stage: in (t press is the maximum allowable pressurization time).

[0126] The envelope Γ(t) under abnormal shutdown conditions is generated by the LSTM network prediction obtained by training historical data. The network input includes X(t) and environmental parameters (water temperature, flow rate).

[0127] p lift (t): The real-time position of the support motor 302 (unit: mm or m), representing the current height of the support.

[0128] V lift (t): real-time speed of motor 302 (unit: m / s), given by Calculated.

[0129] A lift (t): Real-time acceleration of motor 302 (unit: m / s 2 ),Depend on Calculation is used to determine the stability of movement.

[0130] F lock (t): The real-time clamping force of the electric push cylinder 400 (unit: N), measured by the pressure sensor, reflects the stress state of the clamping structure.

[0131] S lock : Locking state discrete variable, the value is {release, clamp}, used for interlocking logic judgment.

[0132] Control parameters and thresholds

[0133] ΔP: Allowable position deviation (typical value 0.5-2mm), when |P lift (t)-P target When |≤ΔP, it is determined that the target position has been reached.

[0134] t stable : Stable time threshold (typical value 3-5s), ensures that locking is allowed only after the position fluctuation lasts within ΔP for this time.

[0135] L max : Maximum safe load of motor 302 (unit: kN), if it exceeds this value (such as L lift >1.2L max ) triggers shutdown protection.

[0136] γ max : Locking pressure gradient upper limit (typical value 50-200N / s), used to buffer the control stage to avoid impact.

[0137] Algorithm core model parameters

[0138] σ max : Maximum error tolerance of the Kalman filter (typical value 0.1-0.3mm), used to verify the reliability of the state vector X(t).

[0139] θ priority : Priority conflict detection threshold, when Priority arbitration is triggered when

[0140] τ: Locking buffer time constant (unit: s), controls the clamping force progressive curve F lock (t)=F min+β·(1-e -t / τ )’s response speed.

[0141] ε pos : Integral error tolerance (unit: mm·s), used for position cumulative error judgment in lifting detection before locking (∫|P lift (t)-P target |dt≤ε pos ).

[0142] Control logic function

[0143] Mutex Function Ensure that lifting and locking operations are mutually exclusive.

[0144] Reference torque model: The feedforward control torque calculation of the locking actuator, the input includes wheel speed, bracket position and acceleration, and the output is the reference torque and the feedback correction is superimposed.

[0145] Envelope function Γ(t): A dynamic safety boundary generated by the LSTM network that triggers a protective shutdown when the state vector ||X(t)|| exceeds it.

[0146] Application scenario association

[0147] p target :The target position is dynamically set according to the ship's navigation mode (such as wing navigation mode and body navigation mode) and needs to be adjusted in combination with the wave interference model.

[0148] t delay : Locking delay time (typical value 0.5-2s), through the damping coefficient α and acceleration A lift (t) Calculation to ensure the stability of the bracket position.

[0149] Specifically, the interlocking control mechanism also includes:

[0150] Safety interlock logic module, which includes:

[0151] Locking test before lifting: Before starting the lifting operation, check the status of the electric push cylinder 400. If the release is not completed or the locking operation is in progress, that is, S lock ≠ “Release”, the motor 302 will not start, and the controller 5 will issue an alarm and lock command;

[0152] Lift detection before locking: Before the locking operation begins, confirm whether the motor 302 is in the target position p target , if p lift (t)≠p target , the controller 5 suspends the locking operation until p lift (t) = p target ;

[0153] Parallel execution constraint: When the motor 302 is working, that is, V lift (t)≠0, the electric push cylinder 400 is disabled, and vice versa.

[0154] Specifically, the interlocking control mechanism also includes:

[0155] The priority management module is used to determine the execution order based on task priority and working status when the lifting and locking operations are triggered at the same time:

[0156] Lifting priority: Usually the lifting operation has a higher priority. During the lifting process, V lift (t)≠0, the locking operation is suspended;

[0157] Locking priority: After the lifting is completed and stopped, V lift (t)=0 and A lift (t)=0, the controller 5 automatically switches to the locking mode.

[0158] Specifically, the interlocking control mechanism also includes:

[0159] Position feedback and safety monitoring module, real-time feedback of the current position of motor 302 p through sensor 6 lift (t), the controller 5 calculates whether it has reached the target position, when |p lift (t)-p target |≤ΔP; where ΔP is the allowable position deviation and is stable for a certain time t stable Only after that can it be switched to locking mode;

[0160] At the same time, when it is detected that the motor load is too large during the lifting process, that is, the load L lift (t)>L max , the position deviation is too large, that is, |p lift (t)-p target ∣>Δp max Or in other abnormal states, the motor 302 automatically stops the lifting operation and the locking operation is also suspended.

[0161] The standard parts used in the present invention can all be purchased from the market, and special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, etc. in the existing technology. The machinery, parts and equipment all adopt conventional models in the existing technology, and the circuit connection adopts the conventional connection method in the existing technology, which will not be described in detail here.

[0162] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. "Multiple" means two or more, unless otherwise specifically defined.

[0163] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0164] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0165] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0166] In the drawings of the embodiments disclosed in the present invention, only the structures related to the embodiments disclosed in the present invention are involved. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of the present invention can be combined with each other.

[0167] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An interlocking device for lifting and locking equipment, comprising a support (1), a bracket (2), a lifting mechanism (3) and a locking mechanism (4), wherein the bracket (2) is arranged on the support (1), and the lifting mechanism (3) and the locking mechanism (4) are both arranged in the bracket (2), characterized in that: It also includes: An interlock mechanism, which is arranged between the lifting mechanism (3) and the locking mechanism (4), is used to monitor the operating states of the lifting mechanism (3) and the locking mechanism (4) in real time, and prohibits the conflicting execution of lifting and locking operations according to the preset interlock logic; The interlock mechanism includes a controller (5) and sensors (6). The controller (5) controls the operations of the lifting mechanism (3) and the locking mechanism (4), and the sensors (6) monitor the operating states of the lifting mechanism (3) and the locking mechanism (4) in real time.

2. An interlocking device for lifting and locking equipment according to claim 1, characterized in that: The lifting mechanism (3) includes two sets of tracks (300) fixedly arranged in the bracket (2). The number of each set of tracks (300) is two. A walking wheel (301) is jointly arranged between the two tracks (300), and a motor (302) for driving the walking wheel (301) to rotate is arranged on the side of the track (300); The locking mechanism (4) includes two electric push cylinders (400) fixedly arranged on both sides of the bracket (2), and extrusion frames (401) are arranged at the output ends of the two electric push cylinders (400).

3. An interlocking device for lifting and locking equipment according to claim 2, characterized in that: The sensors (6), the motor (302), and the electric push cylinders (400) are all electrically connected to the controller (5).

4. The interlocking device for lifting and locking equipment according to claim 2, characterized in that: A protection member is arranged between the walking wheel (301) and the extrusion frame (401) for separating the walking wheel (301) from the support column (1).

5. The interlocking device for lifting and locking equipment according to claim 4, characterized in that: A U-shaped plate (303) is slidably arranged between the two tracks (300). The walking wheel (301) is rotatably connected inside the U-shaped plate (303), and a travel hole for the movement of the motor (302) is also opened on the side of the track (300); The protection member includes a toothed shaft (7) rotatably arranged inside the bracket (2), and the toothed shaft (7) passes through the U-shaped plate (303). Tooth grooves (304) are opened on the inner wall of the U-shaped plate (303), and the tooth grooves (304) are meshed with the toothed shaft (7); A toothed plate (402) is assembled on the extrusion frame (401), and the toothed plate (402) is meshed with the toothed shaft (7). The toothed plate (402) and the tooth grooves (304) are symmetrically distributed relative to the toothed shaft (7).

6. An interlocking device for lifting and locking equipment according to claim 5, characterized in that: After the toothed plate (402) moves a certain distance, it drives the toothed shaft (7) to rotate. An extrusion member (8) is arranged on the side of the U-shaped plate (303), and when the toothed shaft (7) rotates, the extrusion member (8) operates.

7. The interlocking device for lifting and locking equipment according to claim 1, characterized in that: It also includes an interlock control mechanism, which includes: An operating state detection module is used to monitor the operating state of the motor (302) in real time through a sensor (6), including obtaining the current position p of the motor (302) lift (t), speed V lift (t), acceleration A lift (t), electric push cylinder (400) clamping force F lock (t) and the clamping state S of the electric push cylinder (400) lock , S lock ∈{loosen, clamp}, obtain real-time data through sensors to determine whether lifting or locking operations can be started at present; Ⅰ. Operating state detection module: Input: Real-time acquisition of motor (302) position p lift (t), speed Acceleration Electric cylinder (400) clamping force F lock (t) and state S lock ∈{loosen, clamp}; Algorithm: The sensor data is noise-reduced by using a Kalman filter, and the output state vector X(t) = [P lift (t),V lift (t),A lift (t),F lock (t)] T ,satisfy (σ max is the preset error threshold); Ⅱ. Safety interlock logic module: Locking test before lifting: If S lock ≠Release or Make F lock (t)>F min , the lifting operation is prohibited and the alarm command is triggered; Lift detection before locking: When |p lift (t)-p target ∣>ΔP or V lift (t)≠0, the locking operation enters the waiting queue until (εpos is the integral error tolerance); Parallel Execution Constraints: Defining Mutually Exclusive Functions The system state machine satisfies M(t)·(V lift (t)+F lock (t)) = 0; Ⅲ. Priority management module: Trigger condition: When (θpriority is the conflict detection threshold), and the conflict detection threshold (weight coefficients k1 and k2 are adjustable), and the following logic is executed: Up and down priority: if |p lift (t)-p target ∣>ΔP urgent (emergency deviation threshold), the locking operation delay is <1s, and the locking operation is suspended; Locking priority: If (Safety pressure change rate), forcibly terminate lifting and start locking; Ⅳ. Position feedback and safety monitoring module: Target position convergence condition: lim t→T P lift (t) = P target , and satisfies Abnormal stop condition: When the motor (302) load L lift (t)>k·L max (k=1.2 is the safety factor) or ||X(t)|| exceeds the preset envelope Γ(t), the power source is immediately cut off; Locking delay and buffer control model: Delay algorithm: start the timer after the lifting is completed (α is the damping coefficient); Buffer control: Clamping force press F lock (t) = Fmin + β·(1-e -t / τ ) Gradual pressurization (β is the pressure gradient, τ is the time constant); The Kalman filter uses a state transfer matrix The process noise covariance matrix Q is dynamically adjusted according to the motor type; In the priority management algorithm, θ priority Through the dynamic calculation of the fuzzy logic controller, the input variable is |p lift (t)-p target ∣ and F lock (t) membership function; The buffer control stage introduces a pressure gradient limiting algorithm: in (t press is the maximum allowable pressurization time); The envelope Γ(t) in the abnormal shutdown condition is predicted and generated by an LSTM network trained with historical data. The network input includes X(t) and environmental parameters (water temperature, flow rate); p lift (t): real-time position of the support motor (302) (unit: mm or m), representing the current height of the support; V lift (t): real-time speed of the motor (302) (unit: m / s), given by Calculated; A lift (t): real-time acceleration of the motor (302) (unit: m / s 2 ),Depend on Calculation, used to determine the stability of movement; F lock (t): real-time clamping force of the electric push cylinder (400) (unit: N), measured by a pressure sensor, reflecting the stress state of the clamping structure; S lock : Locking state discrete variable, the value is {release, clamp}, used for interlocking logic judgment. Control parameters and thresholds ΔP: Allowable position deviation (typical value 0.5-2mm), when |P lift (t)-P target When |≤ΔP, it is determined that the target position has been reached; t stable : Stable time threshold (typical value 3-5s), to ensure that locking is allowed only after the position fluctuation lasts within ΔP for this time; L max : Maximum safe load of the motor (302) (unit: kN), exceeding this value (such as L lift >1.2L max ) triggers shutdown protection; γ max : Locking pressure gradient upper limit (typical value 50-200N / s), used to buffer control stage to avoid impact; Algorithm core model parameters σ max : Kalman filter maximum error tolerance (typical value 0.1-0.3mm), used to verify the reliability of the state vector X(t); θ priority : Priority conflict detection threshold, when Priority arbitration is triggered when τ: Locking buffer time constant (unit: s), controls the clamping force progressive curve F lock (t) = Fmin + β·(1-e -t / τ )’s response speed; ε pos : Integral error tolerance (unit: mm·s), used for position cumulative error judgment in lifting detection before locking (∫|P lift (t)-P target |dt≤ε pos ); Control logic function Mutex Functions Ensure that lifting and locking operations are mutually exclusive; Reference torque model: The feedforward control torque of the locking driver is calculated. The input includes wheel speed, bracket position, and acceleration, and the output is the reference torque with feedback correction superimposed; Envelope function Γ(t): a dynamic safety boundary generated by the LSTM network, which triggers a protective shutdown when the state vector ||X(t)|| exceeds the limit; Application scenario association p target :The target position is dynamically set according to the ship's navigation mode (such as wing navigation mode and body navigation mode), and needs to be adjusted in combination with the wave interference model; t delay : Locking delay time (typical value 0.5-2s), through the damping coefficient α and acceleration A lift (t) Calculation to ensure the stability of the bracket position.

8. An interlocking device for lifting and locking equipment according to claim 7, characterized in that: The interlock control mechanism also includes: Safety interlock logic module, which includes: Locking test before lifting: Before the lifting operation is started, check the state of the electric push cylinder (400). If the release is not completed or the locking operation is in progress, S lock ≠"Release", the motor (302) will not start, and the controller (5) will issue an alarm and a locking command; Lifting detection before locking: Before the locking operation begins, confirm whether the motor (302) is in the target position p target , if p lift (t)≠p target , the controller (5) suspends the locking operation until p lift (t) = p target ; Parallel execution constraint: When the motor (302) is working, that is, V lift (t)≠0, the electric push cylinder (400) is disabled, and vice versa.

9. An interlocking device for lifting and locking equipment according to claim 8, characterized in that: The interlock control mechanism also includes: The priority management module is used to determine the execution order according to the task priority and working status when the lifting and locking operations are triggered at the same time: Lifting priority: Usually the lifting operation has a higher priority. During the lifting process, V lift (t)≠0, the locking operation is suspended; Locking priority: After the lifting is completed and stopped, V lift (t) = 0 and A lift (t) = 0, the controller (5) automatically switches to the locking mode.

10. An interlocking device for lifting and locking equipment according to claim 9, characterized in that: The interlock control mechanism also includes: The position feedback and safety monitoring module provides real-time feedback of the current position of the motor (302) through the sensor (6). lift (t), the controller (5) calculates whether the target position has been reached, when |p lift (t)-p target ∣≤ΔP; where ΔP is the allowable position deviation and is stable for a certain time t stable After that, it is allowed to switch to locking mode; At the same time, when it is detected that the motor load is too large during the lifting process, that is, the load L lift (t)>L max , the position deviation is too large, that is, |p lift (t)-p target ∣>Δp max Or in other abnormal conditions, the motor (302) automatically stops the lifting operation and the locking operation is also suspended.

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