Integrated automatic valve control system for ship

Abstract

The invention discloses an integrated automatic valve control system for a ship, which relates to the technical field of ships and comprises a valve frame arranged on the periphery of all valves; the plane moving servo module is arranged at the top of the valve frame and comprises a plane track and a plane moving end; the vertical moving servo module is arranged on the plane moving end and comprises a vertical track and a vertical moving end; the valve gripper is rotationally arranged on the vertical moving end, and the valve gripper is matched with the valve; the opening and closing detection sensor is used for detecting the opening and closing state of the valve; the control unit is connected with each movable servo module, the opening and closing detection sensor and the valve gripper; according to the control system, opening and closing control over a certain valve can be remotely executed through the control unit, the valve gripper can be moved to any valve hand wheel through the movable servo module, control over the valve is achieved by rotating the handle, and therefore the automation rate can be increased, and the control success rate can be guaranteed.

Description

Technical Field

[0001] This invention belongs to the field of marine technology, and more specifically, relates to an integrated automatic valve control system for ships. Background Technology

[0002] Valves on traditional electric ships are mostly controlled by manual handles, which is not only inefficient but also increases labor costs. With the development of automation technology, replacing manual valves with automatic valves has become an industry trend. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of existing technologies by providing an integrated automatic valve control system for ships. This control system can remotely control the opening and closing of a valve through a control unit. The planar motion servo module and the vertical motion servo module can move the valve gripper to the handwheel of any valve, and the valve is controlled by rotating the gripper. This not only improves the automation rate, but also ensures the success rate of mechanical valve opening and closing.

[0004] To achieve the above objectives, the present invention provides an integrated automatic valve control system for ships, comprising:

[0005] Valve frame, located on the outer periphery of all valves;

[0006] A planar motion servo module is disposed on the top of the valve frame, the planar motion servo module including a planar track and a planar moving end;

[0007] A vertical motion servo module is disposed on the planar moving end, and the vertical motion servo module includes a vertical track and a vertical moving end;

[0008] A valve gripper is rotatably mounted on the vertically moving end, and the valve gripper cooperates with the valve;

[0009] An opening / closing detection sensor is used to detect the opening / closing state of the valve;

[0010] The control unit is connected to the opening / closing detection sensor, the planar motion servo module, the vertical motion servo module, and the valve gripper.

[0011] Preferably, the valve frame comprises:

[0012] The main frame is a hollow frame, which is formed by splicing together multiple metal rods;

[0013] A first baffle and a second baffle are parallel to each other, and the first baffle and the second baffle are respectively disposed at the front end and the rear end of the frame body. The pipe with the valve is disposed therethrough passes through the first baffle and the second baffle in sequence.

[0014] The valve is positioned above the height of the first baffle and the second baffle.

[0015] Preferably, the planar track includes a first track and a second track that are perpendicular to each other. The first track is arranged along the width direction of the frame body and one of the first tracks is arranged at each of the top two ends of the frame body. The second track is arranged along the length direction of the frame body. The two ends of the second track are slidably connected to the first track by sliders. The planar moving end is slidably arranged on the second track.

[0016] Preferably, the vertical moving end is slidably disposed on the vertical track. The vertical moving end includes an L-shaped metal base with stiffeners at both ends. A mounting hole is provided on the bottom surface of the metal base. A rotating motor passes through the mounting hole and is disposed on the bottom surface of the metal base. The output end of the rotating motor is connected to the valve gripper.

[0017] Preferably, the valve gripper includes a turntable and multiple vertical rods. The top surface of the turntable is connected to the output end of the rotating motor. The vertical rods are evenly arranged circumferentially on the bottom surface of the turntable, and the vertical rods are correspondingly arranged at the hollowed-out part of the valve's handwheel.

[0018] Preferably, the opening / closing detection sensor is a flow sensor, and the flow sensor is connected to the pipe near the valve.

[0019] Preferably, the opening / closing detection sensor is a torque sensor, which is disposed between the rotating motor and the turntable.

[0020] Preferably, the frame body is a detachable structure, and each metal rod has multiple connecting holes along its length, through which adjacent metal rods are connected and fixed.

[0021] Preferably, all the valves are arranged in a straight line.

[0022] This invention provides an integrated automatic valve control system for ships, which has the following advantages:

[0023] 1. This control system moves the valve gripper to any valve through two mobile servo modules. After the vertical rod is inserted into the hollow part of the valve handwheel, the turntable is rotated, which realizes the opening and closing of the valve through mechanical structure. Compared with the opening and closing control of valve pipeline through electronic control, it is more convenient and stable. Moreover, the manufacturing cost of this control system is lower than that of electronic control.

[0024] 2. When the control system receives a command to close a valve, the control unit sends a command to the plane movement servo module, which in turn moves the valve gripper. Once the valve gripper is above the valve, the vertical movement servo module moves the valve gripper down, so that the vertical rod can contact the valve handwheel. By rotating the motor, the valve handwheel can be rotated, thereby opening or closing the valve. In the entire operation of the control system, no manual intervention is required, which improves the automation rate.

[0025] 3. The valve frame in this control system is a detachable structure. When the number of valves to be controlled changes, the size of the valve frame can be changed, so that the control system can use the changed valves for control, thereby improving the applicability of the control system.

[0026] Other features and advantages of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0027] The above and other objects, features and advantages of the present invention will become more apparent from the more detailed description of exemplary embodiments of the invention in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the invention.

[0028] Figure 1 A schematic diagram of an integrated automatic valve control system for ships according to an embodiment of the present invention is shown.

[0029] Figure 2 It shows Figure 1 The main view.

[0030] Figure 3 A schematic diagram showing the connection between a vertical motion servo module and a valve gripper according to an embodiment of the present invention is shown.

[0031] Figure 4 A schematic diagram of the bottom of the valve gripper is shown according to an embodiment of the present invention.

[0032] Explanation of reference numerals in the attached figures:

[0033] 1. Valve frame; 101. Metal rod; 102. First baffle; 103. Second baffle; 2. Valve; 3. Planar motion servo module; 301. First track; 302. Second track; 4. Vertical motion servo module; 401. Vertical track; 402. Metal base; 403. Rib plate; 5. Valve gripper; 501. Turntable; 502. Vertical rod; 6. Rotary motor. Detailed Implementation

[0034] Preferred embodiments of the invention will now be described in more detail. While preferred embodiments of the invention are described below, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0035] This invention provides an integrated automatic valve control system for ships, comprising:

[0036] Valve frame, located on the outer periphery of all valves;

[0037] A planar motion servo module is installed on top of the valve frame. The planar motion servo module includes a planar track and a planar moving end.

[0038] A vertical motion servo module is mounted on a planar motion end. The vertical motion servo module includes a vertical track and a vertical motion end.

[0039] The valve gripper is rotatably mounted on the vertical moving end and cooperates with the valve.

[0040] Opening / closing detection sensors are used to detect the open or closed state of valves;

[0041] The control unit is connected to the opening / closing detection sensor, the planar motion servo module, the vertical motion servo module, and the valve gripper control.

[0042] Specifically, the control system has a planar motion servo module installed at the top of the valve frame, and a vertical motion servo module installed on the planar motion end. This allows the vertical motion servo module to move arbitrarily on the plane. The valve gripper is then placed on the vertical motion end, and it moves down to engage with the valve. Finally, rotating the valve gripper opens or closes the pipeline. An opening / closing detection sensor can detect the valve's opening / closing status. This sensor can be integrated into the valve, using a valve with opening / closing feedback function, or a separate sensor can be used to determine and provide feedback on the valve's opening / closing status. When the valve gripper rotates the valve's handwheel, if the opening / closing detection sensor detects that the valve has been opened or closed, the valve gripper can be stopped. Then, the vertical motion servo module is activated, separating the valve gripper from the valve, thus ending the entire valve control process. This control system requires no manual intervention; it automatically opens and closes the valves simply by issuing control commands. In this embodiment, the control unit receives the control commands and does not necessarily need to be programmed. Of course, a conventional on / off control program can be programmed, such as automatically stopping the valve handle when the opening / closing detection sensor detects that the valve has finished opening or closing. Furthermore, existing remote opening and closing control of pipelines involves sending electrical signals to the valve core in the pipeline, which then moves. The entire control process depends on the stability of the electrical signal transmission, and the valve core's operating state cannot be observed. However, the control system protected in this application simulates valve opening and closing actions to achieve pipeline opening and closing, resulting in a more stable control process. The rotation of the valve handwheel can also be visually observed, allowing for timely understanding of the pipeline opening and closing status.

[0043] Preferably, the valve frame includes:

[0044] The main frame is a hollow frame, which is formed by splicing together multiple metal rods.

[0045] A first baffle and a second baffle are parallel to each other. The first baffle and the second baffle are respectively set at the front end and the rear end of the frame body. A pipe with a valve passes through the first baffle and the second baffle in sequence.

[0046] The valve is positioned higher than the height of the first and second baffles.

[0047] Specifically, the valve frame adopts a hollow frame design, which is composed of multiple metal rods spliced ​​together to form a cuboid frame structure. A first baffle and a second baffle are installed at the bottom of both ends of the main body of the frame, respectively. The valve pipes set in the valve frame are all passed through the two baffles. In this way, the valve and the valve frame form a relatively stable positional relationship. This allows the planar motion servo module to quickly move the valve gripper to the valve that needs to be controlled.

[0048] In another embodiment, the valve handle is positioned above the overall height of the baffle. When the valve lever operates to open or close the valve, a video capture device is installed above the baffle. This allows for remote confirmation of the valve lever's operation, improving the operational accuracy of the automatic valve control system.

[0049] Preferably, the planar track includes a first track and a second track that are perpendicular to each other. The first track is arranged along the width direction of the frame body and one is arranged at each of the top two ends of the frame body. The second track is arranged along the length direction of the frame body and the two ends of the second track are slidably connected to the first track by sliders. The planar moving end is slidably arranged on the second track.

[0050] Preferably, the vertical moving end is slidably mounted on a vertical track. The vertical moving end includes an L-shaped metal base with stiffeners at both ends. A mounting hole is provided on the bottom surface of the metal base. A rotating motor is mounted through the mounting hole on the bottom surface of the metal base. The output end of the rotating motor is connected to the valve gripper.

[0051] Specifically, a first track and a second track are set perpendicularly to each other at the top of the main frame. Driven by a linear motion motor, the second track can translate along the direction of the first track. Driven by another linear motion motor, the vertical moving end can translate along the direction of the second track. The valve gripper, driven by a linear motor in the vertical direction, can move up and down along the vertical track to avoid the valve. In this way, with the cooperation of the planar motion servo module and the vertical motion servo module, the valve gripper can move to any position within the main frame and control the opening and closing of any valve. The vertical moving end is set as an L-shaped metal base, and stiffening plates are welded to both ends of the metal base to improve the overall strength of the vertical moving end. When the valve gripper rotates, it can stably connect with the valve handwheel.

[0052] Preferably, the valve handle includes a turntable and multiple vertical rods. The top surface of the turntable is connected to the output end of the rotating motor, and the vertical rods are evenly arranged circumferentially on the bottom surface of the turntable. The vertical rods are arranged corresponding to the hollowed-out parts of the valve's handwheel.

[0053] Specifically, the valve gripper uses multiple vertical rods mounted on a turntable. Once the valve gripper moves above the valve, the vertical movement servo module inserts the vertical rods into the valve handwheel. Finally, driven by the rotating motor, the vertical rods rotate the valve handwheel. The vertical rods are spaced apart on the turntable. Inserting the rods into the slots of the valve handwheel completes the rotation control. While the outer dimensions of the valve handwheel may differ for different valve models, the control system protected in this application, by inserting the vertical rods into the valve handwheel and rotating it, eliminates the need to consider different valve models. Only one valve gripper is needed to control the opening and closing of all valve handwheels.

[0054] When the valve gripper moves toward the valve, a probe can be installed at the lower end of the vertical rod. The detection range of the probe is the area directly below the vertical rod. When the valve gripper moves downward, if the probe detects the spokes of the valve handwheel below the vertical rod, the probe will send a rotation signal to the rotary motor. The rotary motor will then drive the vertical rod to rotate at a certain angle, thereby causing the vertical rod to avoid the spokes of the valve handwheel. In this way, the vertical rod can be inserted into the cutout of the valve handwheel.

[0055] Preferably, the opening / closing detection sensor is a flow sensor, which is installed in the pipeline.

[0056] Specifically, when the valve handle drives the valve handwheel to rotate, the flow sensor monitors the flow rate downstream of the pipeline. When the flow rate in the pipeline decreases to zero, the rotating motor can output rotational force again, thus completing the valve handle's closing action. When the flow sensor detects that the flow rate in the pipeline has reached the design limit, the rotating motor will no longer output rotational force, thus completing the valve handle's opening action.

[0057] Preferably, the opening / closing detection sensor is a torque sensor, which is positioned between the rotating motor and the turntable.

[0058] Specifically, when the valve handle drives the valve handwheel to rotate, the torque sensor monitors the resistance of the rotating motor. When the torque sensor detects a sudden change in torque value, it indicates that the valve handwheel has reached the limit of rotation angle in a certain direction, and the rotating motor will no longer output rotational force.

[0059] Preferably, the frame body is a detachable structure, and each metal rod has multiple connection holes along its length, through which adjacent metal rods are connected and fixed.

[0060] Specifically, the valve frame in this control system is a detachable structure. When the number of valves to be controlled changes, the size of the valve frame can be changed to adapt to the changed valve control, thereby improving the applicability of the control system. At the same time, it reduces unnecessary long-distance movement of the valve gripper in the valve frame and improves the efficiency of valve control.

[0061] Preferably, all valves are arranged in a straight line.

[0062] Specifically, the optimal arrangement of the valves is along a straight line. This allows the control system to optimize the track set along the width direction. The valve gripper only needs to move and move up and down along the length of the main frame, which reduces the manufacturing cost of the control system.

[0063] Example

[0064] like Figures 1 to 4 As shown, the present invention provides an integrated automatic valve control system for ships, comprising:

[0065] A valve frame 1 is set on the outer periphery of all valves 2, and all valves 2 are arranged in a straight line.

[0066] A planar motion servo module 3 is disposed on the top of the valve frame 1. The planar motion servo module 3 includes a planar track and a planar motion end.

[0067] The vertical motion servo module 4 is mounted on the planar motion end. The vertical motion servo module 4 includes a vertical track 401 and a vertical motion end.

[0068] Valve gripper 5 is rotatably mounted on the vertical moving end, and valve gripper 5 cooperates with valve 2;

[0069] The control unit is connected to the planar motion servo module 3, the vertical motion servo module 4, and the valve gripper 5. The control unit monitors the on / off status of the pipeline with valves through sensors.

[0070] In this embodiment, the valve frame 1 includes:

[0071] The main frame is a hollow frame, which is formed by splicing together multiple metal rods 101.

[0072] A first baffle 102 and a second baffle 103 are parallel to each other. The first baffle 102 and the second baffle 103 are respectively set at the front end and the rear end of the frame body. A pipe with a valve passes through the first baffle 102 and the second baffle 103 in sequence.

[0073] The handwheel of the valve is positioned higher than the height of the first baffle 102 and the second baffle 103.

[0074] In this embodiment, the planar track 3 includes a first track 301 and a second track 302 that are perpendicular to each other. The first track 301 is arranged along the width direction of the frame body and one is arranged at each of the top two ends of the frame body. The second track 302 is arranged along the length direction of the frame body. The two ends of the second track 302 are slidably connected to the first track 301 by sliders, and the planar moving end is slidably arranged on the second track.

[0075] In this embodiment, the vertical moving end is slidably mounted on the vertical track 401. The vertical moving end includes an L-shaped metal base 402. Ribs 403 are provided at both ends of the metal base 402. Mounting holes are provided on the bottom surface of the metal base 402. The rotating motor 6 is mounted through the mounting holes on the bottom surface of the metal base 402. The output end of the rotating motor 6 is connected to the valve gripper 5.

[0076] In this embodiment, the valve gripper 5 includes a turntable 501 and multiple vertical rods 502. The top surface of the turntable 501 is connected to the output end of the rotating motor 6. The vertical rods 502 are evenly arranged circumferentially on the bottom surface of the turntable 501, and the vertical rods 502 are correspondingly arranged at the handwheel cutout of the valve.

[0077] In this embodiment, the sensor is a torque sensor, which is disposed between the rotating motor 6 and the turntable 501.

[0078] In this embodiment, the frame body is a detachable structure, and each metal rod 101 has multiple connecting holes along its length, and adjacent metal rods 101 are connected and fixed through the connecting holes.

[0079] In summary, when the valve control system receives a command to open a valve on a pipeline, the control unit controls the planar motion servo module 3 to move the valve gripper 5 above the valve 2 on that pipeline. Then, the control unit controls the vertical motion servo module 4 to insert the vertical rod 502 into the cutout of the valve handle. Finally, the control unit sends a start command to the rotary motor 6, allowing the valve gripper 5 to turn the valve handwheel. When the torque sensor detects a sudden increase in the torque value on the valve handle 5, the rotary motor 6 begins to reduce its output power. When the torque sensor detects that the torque value has reached the set value, the rotary motor 6 stops outputting power, and the valve gripper 5 stops turning the valve handwheel. Thus, the opening operation of the pipeline is completed. The valve gripper 5 then rises again and separates from the valve handwheel. Finally, the planar motion servo module 3 moves the valve gripper 5 back to its original position, waiting for the control unit to receive the next command.

[0080] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A marine integrated automatic valve control system, characterized in that, include: Valve frame, located on the outer periphery of all valves; A planar motion servo module is disposed on the top of the valve frame, the planar motion servo module including a planar track and a planar moving end; A vertical motion servo module is disposed on the planar moving end, and the vertical motion servo module includes a vertical track and a vertical moving end; A valve gripper is rotatably mounted on the vertically moving end, and the valve gripper cooperates with the valve; An opening / closing detection sensor is used to detect the opening / closing state of the valve; The control unit is connected to the opening / closing detection sensor, the planar motion servo module, the vertical motion servo module, and the valve gripper.

2. The integrated automatic valve control system for ships according to claim 1, characterized in that, The valve frame includes: The main frame is a hollow frame, which is formed by splicing together multiple metal rods; A first baffle and a second baffle are parallel to each other, and the first baffle and the second baffle are respectively disposed at the front end and the rear end of the frame body. The pipe with the valve is disposed therethrough passes through the first baffle and the second baffle in sequence. The valve is positioned above the height of the first baffle and the second baffle.

3. The integrated automatic valve control system for ships according to claim 2, characterized in that, The planar track includes a first track and a second track that are perpendicular to each other. The first track is arranged along the width direction of the frame body and one of the first tracks is arranged at each of the top two ends of the frame body. The second track is arranged along the length direction of the frame body. The two ends of the second track are slidably connected to the first track by sliders. The planar moving end is slidably arranged on the second track.

4. The integrated automatic valve control system for ships according to claim 3, characterized in that, The vertical moving end is slidably mounted on the vertical track. The vertical moving end includes an L-shaped metal base with stiffeners at both ends. The bottom surface of the metal base has a mounting hole. A rotating motor passes through the mounting hole and is mounted on the bottom surface of the metal base. The output end of the rotating motor is connected to the valve gripper.

5. The integrated automatic valve control system for ships according to claim 1, characterized in that, The valve gripper includes a turntable and multiple vertical rods. The top surface of the turntable is connected to the output end of the rotating motor. The vertical rods are evenly arranged circumferentially on the bottom surface of the turntable, and the vertical rods are correspondingly arranged at the hollowed-out part of the valve's handwheel.

6. The integrated automatic valve control system for ships according to claim 1, characterized in that, The opening / closing detection sensor is a flow sensor, and the flow sensor is connected to the pipe near the valve.

7. The integrated automatic valve control system for ships according to claim 5, characterized in that, The opening / closing detection sensor is a torque sensor, which is located between the rotating motor and the turntable.

8. The integrated automatic valve control system for ships according to claim 2, characterized in that, The main body of the frame is a detachable structure, and each of the metal rods has multiple connecting holes along its length, through which adjacent metal rods are connected and fixed.

9. The integrated automatic valve control system for ships according to claim 1, characterized in that, All the valves are arranged in a straight line.

Images