CN115200558A - A ship-based automatic detection equipment for ocean temperature and salinity profile - Google Patents

Abstract

The invention discloses an automatic detection device for an ocean thermohaline deep profile ship foundation, which comprises a box body, a device chassis, a tray lifting driving mechanism, a launching gun, a detector lifting and transferring mechanism, a plurality of launching tubes and a plurality of thermohaline depth gauges. The automatic detection equipment for the marine thermohaline deep profile ship base utilizes the tray lifting driving mechanism to lift trays filled with the transmitting tubes upwards one by one, so that the trays reach the working position of the detecting instrument lifting transmission mechanism, each transmitting tube is lifted upwards by the detecting instrument lifting transmission mechanism, the transmitting gun grabs the transmitting tube and puts in the thermohaline depth gauge, the automatic putting of the thermohaline depth gauge is realized, the automatic requirements of XCTD and XBT thermohaline deep profile detection are met, and manual detection is replaced; the automatic detection equipment can freely move on the deck by utilizing the equipment chassis, and the height of the box body is adjusted, so that the automatic detection equipment is suitable for different ships, and the universality is enhanced.

Description

A ship-based automatic detection equipment for ocean temperature and salinity profile

technical field

The invention relates to automatic detection equipment, in particular to a ship-based automatic detection equipment for ocean temperature and salt depth profile.

Background technique

The ocean temperature and salinity profile measuring instrument is a measuring instrument that can quickly and conveniently measure seawater conductivity and temperature profile. In recent years, with the advancement of technology, the technical requirements for the instruments are different. Therefore, in order to make the design, production, testing and inspection of the equipment meet the existing technical requirements and better serve the marine scientific investigation and military marine environment Technical support, a ship-based automatic detection equipment for ocean temperature, salt and depth profiles is proposed, which realizes the automation of ship-borne XCTD and XBT temperature and salt depth profile detection, and can replace the current international method of relying on manual XCTD and XBT temperature and salt depth profile detection.

SUMMARY OF THE INVENTION

The purpose of the invention is to provide a ship-based automatic detection equipment for ocean temperature-salt-depth profile, which can meet the automation requirements of XCTD and XBT temperature-salt-depth profile detection.

Technical scheme: The automatic detection equipment for ship-based ocean temperature and salt depth profile according to the present invention includes a box body, an equipment chassis, a tray lift drive mechanism, a launch gun, a detector lift transmission mechanism, a plurality of launch tubes and a plurality of temperature and salt deep instrument;

The box cover is installed on the equipment chassis, and is docked and fixed by the equipment chassis matching the ship sides of different heights; each temperature and salinity instrument is placed in each launch tube; the tray lift drive mechanism is installed in the box, on the tray lift drive mechanism Multiple trays are stacked, the launch tubes are placed on the trays, and the tray lift is driven by the tray lift drive mechanism; the detector lift transfer mechanism and the launch gun are installed in the box, and the detector lift transfer mechanism lifts each launch tube upward. Lift, grab the launch tube by the launch gun and put the thermometer, and then release the empty launch tube in the box.

Further, the equipment chassis includes a bearing base plate, a chassis lifting rod, a chassis lifting motor, a lifting driving screw, a lifting linkage pull rod, a directional caster lifting shaft, two directional casters and two universal casters;

Two swivel casters are respectively installed at the two top corners of the same side of the underside of the bearing base plate; a swivel seat is installed at the other two top corners of the underside of the load-bearing base plate; Installed on two swivel bases; two directional casters are respectively fixed on both ends of the directional caster lifting shaft through the caster mounting rod; the chassis lifting rod is vertically slidable through the bearing bottom plate; the lower end of the lifting driving screw rod is coaxially screwed. It is combined with the upper end of the chassis lifting rod; the chassis lifting motor is used to drive the lifting and driving screw to rotate; two lifting links are hinged on one end of the lifting linkage pull rod; A swing seat is fixed on the lower side surface and the lower end of the chassis lifting rod; a swing seat is fixed on the lifting shaft of the directional caster; the other end of the lifting linkage pull rod is hinged on the swing seat.

Further, the tray lifting drive mechanism includes a tray lifting motor, a lifting spindle, two lifting gears, two lifting racks and two tray lifting forks;

Two rack mounting rods are vertically installed on the front side edge of the left side of the bearing base plate; two lifting racks are respectively mounted on the two rack mounting rods; the pallet lifting fork is L-shaped; The vertical sections are respectively vertically slidably installed on the two rack mounting rods; the left and right ends of the lifting main shaft are respectively rotatably installed on the two pallet lifting forks; the two lifting gears are installed on the lifting main shaft, and the two The lifting gears are meshed with the two lifting racks respectively; the tray lifting motor is used to drive the lifting spindle to rotate; each tray is stacked on the horizontal section of the two tray lifting forks; the left side wall of the box is provided with a tray display The window is hinged on the left side of the box with a watertight door for the storage compartment of the thermosalinity instrument used to close the tray placement window.

Further, the detector lift transmission mechanism includes a tray, a translation drive unit, a detector lift unit, a tray release unit, a Y-shaped support plate, two tray limit guide rails and two tray support plates; the translation drive unit includes a tray transmission. Motor and pallet transfer hook;

The lower edge of the vertical plate of the Y-shaped bracket plate is fixed on the upper side of the bearing base plate; the two tray limit guide rails are respectively fixed on the upper ends of the two branch plates of the Y-shaped bracket plate in parallel and horizontally, and are used to fit the uppermost tray. The front and rear sides of the tray; the two tray support plates are respectively swing-mounted on the tray limit guide rails to support the tray;

Snap holes are arranged at intervals on the front and rear edges of the pallet; the pallet conveying motor is installed on one of the pallet limit guide rails; a hook crank is installed on the output shaft of the pallet conveying motor; A hook rocker is hinged on the end; the middle part of the tray transfer hook is hinged on the end of the hook rocker, and the lower edge of the tray transfer hook is provided with a hook for hooking the snap hole; the tray is released The unit is installed on the Y-shaped support plate, which is used to drive the two tray support plates to swing to make the trays fall; the detector lifting unit is installed on the Y-shaped support plate to lift the launch tube on the tray upwards;

A tray take-out window is provided on the rear side wall of the box body, and a tray storage compartment door for closing the tray take-out window is hinged on the rear side of the box body.

Further, an empty launch tube push plate is hinged on the upper side of the carrying base plate; the tray transfer motor drives the empty launch tube push plate to swing left and right through a crank-rocker mechanism; the right wall of the box is provided with a launch tube take-out window, On the right side of the box is hinged an empty launch tube storage door for closing the launch tube take-out window.

Further, the tray release unit includes a tray release slide rail, a tray release motor and two tray flipping rods;

The tray release slide rail is vertically slidable on the Y-shaped support plate; the tray release motor is installed on the Y-shaped support plate, and drives the tray release slide rail to slide up and down through the crank rocker structure; the lower ends of the two tray flipping rods are both It is hinged on the tray release slide rail, and the upper ends are hinged on the two tray support plates respectively.

Further, the detector lifting unit includes a detector lifting motor and two lifting transfer forks;

Two snap rib plates are horizontally arranged on the tray; a plurality of semicircular snap slots are arranged at intervals on the two snap rib plates; each launch tube is placed in the two corresponding semicircle snap slots at the front and rear respectively on the tray, and the positions of the semicircular card slots correspond to the positions of the respective snap holes; two rows of lifting holes are arranged on the tray, and the positions of the respective lifting holes correspond to the positions of the respective semicircular card slots;

The lifting motor of the detector is installed on the Y-shaped bracket plate, and the lifting motor of the detector is a double output shaft motor; a lifting crank is installed on the two output shafts of the lifting motor of the detector; A lift rocker is hinged on the end; two auxiliary boards are arranged on the Y-shaped bracket plate; the two lift transfer forks are respectively vertically slidably installed on the two auxiliary boards; The upper ends are hinged on the lower ends of the two lift transfer forks respectively, and are used to drive the upper ends of the two lift transfer forks to extend synchronously to the top of the tray through the lift holes corresponding to the two front and rear positions.

Further, the launch gun includes a launch gun shell, a clamping unit and a position adjustment unit; the position adjustment unit includes a swing arm drive motor, a swing arm connecting plate and two parallel swing arms;

A swing arm extension window is arranged on the upper side of the front side of the box body; two support rods are vertically installed on the right edge of the bearing bottom plate; the right ends of the two parallel swing arms are hinged on the two support rods respectively, and the left end Both are hinged on the connecting plate of the swing arm; the swing arm drive motor is used to drive one of the parallel swing arms to swing horizontally and extend out of the box through the swing arm out of the window; the shell of the launch gun is installed on the swing arm connection through the downturn linkage structure On the board, when the parallel swing arm extends out of the box, the downward-turning linkage structure drives the shell of the launch gun to swing downward; the clamping unit is installed on the shell of the launch gun, and is used to clamp the launch tube lifted by the lifting unit of the detector. ; On the front side of the box is hinged a parallel swing arm door of the launch gun for closing the swing arm extension window.

Further, the clamping unit includes a clamping drive motor, two gripping rails and four launch tube grips; the two gripping slides are longitudinally installed on the shell of the launch gun; the four launch tube grips are respectively two-by-two. It is installed on two grip rails, and the two sets of launch tube grips corresponding to the left and right positions are used to hold the launch tube; the upper ends of the two launch tube grips on the same grip rail are connected by a connecting plate ; The clamping drive motor is a dual output shaft motor, and a clamping crank is installed on both output shafts of the clamping drive motor; a clamping rocker is hinged on the end of each clamping crank; The ends of the two clamping rockers are respectively hinged on the two connecting plates; a grip tension spring is connected between the two connecting plates; Limiting grooves are symmetrically arranged on the side edges; an outer spherical roller running along the edge of the limiting plates is rotatably installed on the opposite sides of the two connecting plates; a docking terminal seat is longitudinally slidably arranged on the rear side of the shell of the launching gun; A data transmission docking terminal is arranged on the front side of the docking terminal base; a balance spring is elastically supported between the docking terminal base and the rear side wall of the shell of the launching gun; The data transmission docking interface is conductively connected to the data transmission docking terminal.

Further, the flip-down linkage structure includes a flip shaft, a flip lever and a linkage rod;

The flipping shaft is fixed on the right side of the shell of the launch gun, and the end rotates through the swing arm connecting plate; one end of the flipping lever is fixed on the penetrating end of the flipping shaft; the other end of the flipping lever is connected to the swing arm connecting plate There is an overturning drive tension spring connected between them; both ends of the linkage rod are hinged on two parallel swing arms respectively; a linkage lever used to toggle the flip lever is arranged on the linkage lever, when the linkage lever Swing backwards, squeeze the flip lever to swing back, the front side of the launch gun shell swings down, when the linkage lever swings forward, the flip drive tension spring drives the flip lever to reset, and the launch gun shell resets to a horizontal state .

Compared with the prior art, the present invention has the beneficial effects that the trays filled with the launch tubes are lifted up one by one by the tray lifting and lowering drive mechanism, so that the trays reach the working position of the lifter and transfer mechanism of the detector, and are lifted and transferred by the detector. The mechanism lifts each launch tube upwards, grabs the launch tube by the launch gun and puts it into the thermo-salinity instrument to realize the automatic release of the thermo-salinity instrument, which meets the automatic needs of XCTD and XBT temperature and salinity profile detection, thereby replacing manual detection; Using the equipment chassis allows the automatic detection equipment to move freely on the deck and adjust the height of the box to adapt to different ships and enhance versatility.

Description of drawings

Fig. 1 is the three-dimensional appearance view of the present invention;

Fig. 2 is the three-dimensional appearance view of the present invention;

Fig. 3 is the three-dimensional appearance view of the present invention;

Fig. 4 is the internal structure schematic diagram of the present invention;

Fig. 5 is the internal structure schematic diagram of the present invention;

6 is a schematic structural diagram of a firing gun of the present invention;

7 is a schematic structural diagram of a firing gun of the present invention;

8 is a schematic structural diagram of a firing gun of the present invention;

Fig. 9 is the assembly schematic diagram of the tray lift drive mechanism of the present invention;

Fig. 10 is the assembly schematic diagram of the lifting and transferring mechanism of the detector according to the present invention;

Fig. 11 is the schematic diagram of the equipment chassis of the present invention;

Fig. 12 is a drawing of parts of the tray of the present invention.

Detailed ways

The technical solutions of the present invention will be described in detail below with reference to the accompanying drawings, but the protection scope of the present invention is not limited to the embodiments.

Example 1:

As shown in Figures 1-12, the automatic detection equipment for the marine temperature and salinity profile disclosed by the present invention includes: a box body 1, an equipment chassis, a tray lift drive mechanism, a launch gun, a detector lift transmission mechanism, and a plurality of launch tubes. 48 and a number of thermosalinometers;

The box body 1 is cover-mounted on the equipment chassis, and is docked and fixed by the equipment chassis matching the ship's sides of different heights; It is divided into the storage compartment 5 of the thermohaline and the right side cavity; the empty launch tube storage compartment and the tray storage compartment partition 9 are vertically arranged on the equipment chassis, and the right side cavity is divided into the tray storage compartment 6 and the empty launcher. tube storage compartment 7; each thermo-salinity instrument is placed in each launch tube 48; the tray lift drive mechanism is installed in the thermo-salinity instrument storage compartment 5, and a plurality of trays 45 are stacked on the tray lift drive mechanism, and the launch tube 48 is placed on the tray 45, and the tray 45 is driven up and down by the tray lift drive mechanism; the detector lift transmission mechanism and the launch gun are installed in the box 1, and each launch tube 48 is lifted up by the detector lift transmission mechanism, The launch tube 48 is grabbed by the launch gun and put into the thermometer, and then the empty launch tube 48 is released into the empty launch tube storage compartment 7 .

The trays 45 filled with the launch tubes 48 are lifted up one by one by the tray lift drive mechanism, so that the trays 45 reach the working position of the lifter and transfer mechanism of the detector. The launch gun grabs the launch tube 48 and puts the thermo-salt depth meter into it, realizes the automatic release of the thermo-salt depth meter, and meets the automation requirements of XCTD and XBT temperature and salinity profile detection, thereby replacing manual detection; using the equipment chassis enables automatic detection equipment to be used in It can move freely on the deck and adjust the height of the box 1 to adapt to different boats and enhance the versatility.

Further, the equipment chassis includes a bearing base plate 50, a chassis lifting rod 17, a chassis lifting motor 19, a lifting driving screw 18, a lifting linkage pull rod 16, a directional caster lifting shaft 131, two directional casters 13 and two universal casters 14;

The two swivel casters 14 are respectively installed at the two top corners of the same side of the lower side of the bearing base plate 50; a swivel seat 136 is installed at the other two top corners of the lower side of the bearing base plate 50; The two ends are respectively rotatably mounted on the two swivel bases 136; the two directional casters 13 are respectively fixed on both ends of the directional caster lifting shaft 131 through the caster mounting rods 135; the chassis lifting rod 17 vertically slides through the bearing base plate 50; The lower end of the lift drive screw 18 is coaxially screwed on the upper end of the chassis lift rod 17; the chassis lift motor 19 is used to drive the lift drive screw 18 to rotate; two lift links are hinged on one end of the lift linkage rod 16. Rod 134; the ends of the two lifting links 134 are hinged on the lower side of the bearing base plate 50 and the lower end of the chassis lifting rod 17 respectively; a swing seat 132 is fixed on the directional caster lifting shaft 131; One end is hinged on the swing seat 132 ; the lower end of the chassis lifting rod 17 is provided with a rubber foot pad 15 .

Using two directional casters 13 and two universal casters 14, the carrying base plate 50 can be pushed to move the automatic detection equipment to different positions on the deck; the lifting and lowering driving screw 18 is driven by the chassis lifting motor 19 to rotate, which drives the chassis lifting rod 17 to lift, pull the two lifting links 134 and the lifting linkage rod 16, the directional caster lifting shaft 131 rotates to drive the caster installation rod 135 to swing, and adjust the position of the two directional casters 13 synchronously, so as to realize height adjustment, and the chassis lifting rod 17 The lower end of the device realizes positioning support; the rubber foot pad 15 is used for anti-skid.

Further, the tray lift drive mechanism includes a tray lift motor 40, a lift spindle 42, two lift gears 41, two lift racks 43 and two tray lift forks 39;

Two rack mounting rods 431 are vertically installed on the front side of the bearing base plate 50, and the two rack mounting rods 431 are located in the temperature and salinity instrument storage compartment 5; the two lifting racks 43 are respectively mounted on the two racks On the mounting rod 431; the tray lifting fork 39 is L-shaped; the vertical sections of the two tray lifting forks 39 are respectively vertically slidably installed on the two rack mounting rods 431, and the tray lifting fork 39 is installed with a clamp for clamping. The clamping pulley 432 holding the rack mounting rod 431; the left and right ends of the lifting spindle 42 are respectively rotatably mounted on the two pallet lifting forks 39; the two lifting gears 41 are both mounted on the lifting spindle 42, and the two lifting gears 41 are respectively engaged with two lifting racks 43; the tray lifting motor 40 is used to drive the lifting spindle 42 to rotate; each tray 45 is stacked on the horizontal section of the two tray lifting forks 39; on the left side wall of the box body 1 A tray placement window is provided, and a watertight door 11 of the thermosalinity instrument storage compartment for closing the tray placement window is hinged on the left side of the box body 1 .

The lifting spindle 42 is driven to rotate by the tray lifting motor 40 , so that the two lifting gears 41 move up and down along the two lifting racks 43 , and the two tray lifting forks 39 are moved up and down along the two rack mounting rods 431 , thereby realizing the vertical movement of the tray 45 . The rack mounting rod 431 is clamped by the clamping pulley 432 to enhance the stability of the up and down movement of the pallet lift fork 39; the watertight door 11 of the temperature and salinity instrument storage compartment is used to facilitate placing the fully loaded pallet 45 on the pallet lift on the fork 39, and to a certain degree of waterproof protection for the structure inside the box body 1.

Further, the detector lift transfer mechanism includes a tray 45, a translation drive unit, a detector lift unit, a tray release unit, a Y-shaped support plate 301, two tray limit guide rails 38 and two tray support plates 36; translation drive The unit includes a pallet conveying motor 44 and a pallet conveying hook 46;

The lower edge of the vertical plate of the Y-shaped bracket plate 301 is fixed on the upper side of the bearing bottom plate 50; the two tray limit guide rails 38 are respectively fixed on the upper ends of the two branch plates of the Y-shaped bracket plate 301 in parallel and laterally, for sticking Close the front and rear sides of the uppermost tray 45; the two tray support plates 36 are respectively swing-mounted on the tray limit guide rails 38 for supporting the tray 45;

Snap holes 451 are provided at intervals on both the front and rear edges of the tray 45; the tray conveying motor 44 is installed on one of the tray limit guide rails 38; a hook crank 442 is installed on the output shaft of the tray conveying motor 44 A hook rocker 441 is hinged on the end of the hook handle 442; the middle of the pallet transfer hook 46 is hinged on the end of the hook rocker 441, and the lower edge of the tray transfer hook 46 is provided with a Hook the hook of the snap hole 451, when the pallet conveying hook 46 moves to the left, the hook escapes from the snap hole 451 and moves to the left snap hole 451, and when the pallet conveying hook 46 moves to the right, it bends. The hook is snapped on the snap hole 451 and drives the tray 45 to move to the right; the tray release unit is installed on the Y-shaped bracket plate 301 to drive the two tray support plates 36 to swing, so that the tray 45 falls into the tray storage compartment below 6; the detector lifting unit is installed on the Y-shaped support plate 301 for lifting the launch tube 48 on the tray 45 upward; a tray take-out window is provided on the rear side wall of the box 1, A tray storage compartment door 3 for closing the tray take-out window is hinged on the rear side of the tray.

The two pallet limit guide rails 38 are used to guide the movement of the pallet to ensure accurate cooperation between the pallet transfer hook 46 and the snap hole 451; the pallet transfer motor 44 is used to drive the hook crank 442 to rotate, and the hook rocker 441 drives the pallet transfer The hook 46 moves left and right, when the pallet conveying hook 46 moves to the left, the hook leaves the snap hole 451 and moves to the left snap hole 451. When the pallet conveying hook 46 moves to the right, the hook snaps in The snap hole 451 drives the tray 45 to move to the right, thereby realizing the movement and transmission of the tray 45; the tray storage compartment door 3 is used to facilitate the removal of the empty tray 45, and the internal structure of the box 1 is protected to a certain extent.

Further, an empty launch tube push plate 47 is hinged on the upper side of the carrying base plate 50, and the empty launch tube push plate 47 is located on the left side of the empty launch tube storage compartment 7; the tray transfer motor 44 drives the empty launch tube through the crank rocker mechanism. The launch tube push plate 47 swings left and right; a launch tube take-out window is provided on the right wall of the box 1 , and an empty launch tube storage door 4 for closing the launch tube take-out window is hinged on the right side of the box 1 .

The empty launch tube push plate 47 is driven to swing by the tray conveying motor 44 at the same time, so that the empty launch tubes 48 falling into the empty launch tube storage compartment 7 are arranged; the empty launch tube storage compartment door 4 is used to facilitate the removal of the empty launch tubes 48 , and protect the structure inside the box 1 to a certain extent.

Further, the tray release unit includes a tray release slide rail 37, a tray release motor 34 and two tray flipping rods 35;

The tray release rail 37 is vertically slidably installed on the Y-shaped bracket plate 301; the tray release motor 34 is installed on the Y-shaped bracket plate 301, and drives the tray release rail 37 to slide up and down through the crank-rocker structure; two brackets The lower ends of the overturning rods 35 are hinged on the tray release slide rails 37 , and the upper ends are hinged on the two tray support plates 36 respectively.

The tray release motor 34 is used to drive the tray release slide rail 37 to slide up and down through the crank rocker structure, and the two tray flipping rods 35 are driven to respectively drive the two tray trays 36 to swing downward, so that the empty tray 45 falls into the lower tray storage. Inside bay 6, space is made for the next tray 45 full of launch tubes 48.

Further, the detector lifting unit includes a detector lifting motor 30 and two lifting transfer forks 33;

Two snap rib plates 453 are laterally arranged on the tray 45 ; a plurality of semicircular snap grooves 454 are arranged at intervals on the two snap rib plates 453 ; each launch tube 48 is placed on two corresponding front and rear On the semicircular card slot 454, and the position of the semicircle card slot 454 corresponds to the position of each buckle hole 451; the tray 45 is provided with two rows of lifting holes 452, and the position of each lifting hole 452 is the same as that of each lifting hole 452. The positions of the semicircular card slots 454 are corresponding;

The detector lifting motor 30 is installed on the Y-shaped support plate 301, and the detector lifting motor 30 is a dual output shaft motor; a lifting crank 31 is installed on both output shafts of the detector lifting motor 30; A lift rocker 32 is hinged on the end of the lift crank 31; two auxiliary plates 302 are arranged on the Y-shaped bracket plate 301; On the plate 302, the upper ends of the two lift rockers 32 are respectively hinged on the lower ends of the two lift transfer forks 33; the upper ends of the two lift rockers 32 are respectively hinged on the lower ends of the two lift transfer forks 33, The upper ends used to drive the two lift transfer forks 33 are respectively extended to the top of the tray 45 through the lift holes 452 corresponding to the two front and rear positions; Arc-shaped notch on the circumference of the tube 48.

The semicircular slot 454 is used to place the launch tube 48 stably; the two lift cranks 31 are driven to rotate by the detector lift motor 30, so that the two lift rockers 32 drive the two lift transfer forks 33 to move up and down synchronously , every time the tray 45 moves once, the upper end of the lift transfer fork 33 is simultaneously extended to the top of the tray 45 by the lift holes 452 corresponding to the two front and rear positions, and the corresponding launch tube 48 is lifted up and installed on the launch gun, thereby realizing Automatic reloading of firing guns.

Further, the launch gun includes a launch gun housing 29, a clamping unit and a position adjustment unit; the position adjustment unit includes a swing arm drive motor 49, a swing arm connecting plate 285 and two parallel swing arms 28;

A swing arm extension window is provided on the upper side of the front side of the box body 1; two support rods are vertically installed on the right edge of the bearing bottom plate 50; the right ends of the two parallel swing arms 28 are hinged to the two support rods respectively The left end is hinged on the swing arm connecting plate 285; the swing arm drive motor 49 is used to drive one of the parallel swing arms 28 to swing horizontally and extend out of the box 1 through the swing arm out of the window; The flip-up linkage structure is installed on the swing arm connecting plate 285. When the parallel swing arm 28 extends out of the box 1, the flip-down linkage structure drives the firing gun casing 29 to swing downward; the clamping unit is installed on the firing gun casing 29 for The launch tube 48 held up by the lifting unit of the detector is clamped; on the front side of the box body 1 is hinged a launch gun parallel swing arm door 2 for closing the swing arm extension window.

Using the parallel structure formed between the two parallel swing arms 28, the swing arm connecting plate 285 and the support rod, the swing arm drive motor 49 drives one of the parallel swing arms 28 to swing horizontally, thereby synchronously driving the two parallel swing arms 28 to swing, so that the swing arm 28 swings The arm connecting plate 285 drives the launch gun shell 29 to extend the swing arm out of the window, and at the same time, the downward flip linkage structure drives the launch gun shell 29 to swing downward, so that the temperature and salinity instrument slides out of the launch tube 48 and falls into the sea, so as to realize the temperature measurement. The launch of the salt depth meter.

Further, the clamping unit includes a clamping drive motor 20, an outer spherical roller 27, two grip rails 24 and four launch tube grips 21; the two grip rails 24 are longitudinally mounted on the launch gun housing 29. The four launch tube arms 21 are respectively installed on the two arm slide rails 24, and the launch tube arms 21 corresponding to the left and right positions of the two groups are used to clamp the launch tube 48; the same arm slide rail 24 The upper ends of the two launch tube holders 21 are connected by a connecting plate 211; the clamping drive motor 20 is a dual output shaft motor, and a clamping crank 23 is installed on the two output shafts of the clamping drive motor 20. ; A clamping rocker 22 is hinged on the end of each clamping crank 23; the ends of the two clamping rockers 22 are respectively hinged on two connecting plates 211; A grip tension spring is connected; the limit plate 26 is longitudinally installed on the shell 29 of the launching gun, and limit slots are symmetrically arranged on the left and right edges of the limit plate 26; There is an outer spherical roller 27 running along the edge of the limit plate 26; a docking terminal seat 251 is longitudinally slidable on the rear side of the firing gun shell 29; a data transmission docking terminal 25 is arranged on the front side of the docking terminal seat 251; A balance spring is elastically supported between the docking terminal base 251 and the rear side wall of the firing gun shell 29; a data transmission docking interface for conductive connection with the data transmission docking terminal 25 is provided on the rear end of each launch tube 48 .

The clamping crank 23 is driven to rotate by the clamping driving motor 20, the two clamping rockers 22 synchronously drive the two connecting plates 211 to move back and forth, and the launch tube holder 21 moves back and forth along the holder slide rail 24. When the two outer spherical rollers When 27 walks to the limit slot, the two connecting plates 211 are pulled towards each other by the arm tension spring, and the launch tube arm 21 is opened. When the two outer spherical rollers 27 leave the limit slot, the two sets of launch tubes corresponding to the left and right positions The holding hand 21 clamps the launch tube 48 , so as to achieve stable clamping of the launch tube 48 .

Further, the downward flipping linkage structure includes a flipping shaft 286, a flipping lever 281 and a linkage rod 282;

The turning shaft 286 is fixed on the right side of the shell 29 of the launch gun, and the end of the swing arm connecting plate 285 is rotatably penetrated; one end of the turning lever 281 is fixed on the penetrating end of the turning shaft 286; A flip-driving tension spring 284 is connected between one end and the swing arm connecting plate 285; both ends of the linkage rod 282 are hinged on the two parallel swing arms 28 respectively; The linkage lever 283 of the lever 281, when the linkage lever 283 swings backward, squeezes the flip lever 281 and swings backward, the front side of the launch gun housing 29 swings downward, and when the linkage lever 283 swings forward, The inversion driving tension spring 284 drives the inversion lever 281 to reset, and the gun casing 29 is reset to a horizontal state.

Using the cooperation among the inversion shaft 286 , the inversion lever 281 , the inversion driving tension spring 284 and the linkage lever 282 , when the two parallel swing arms 28 swing out of the box 1 , the linkage lever 282 drives the linkage lever 283 to move toward the outside of the box 1 . Swing backward, squeeze the flip lever 281 to swing backward, and the flip lever 281 drives the front side of the launch gun shell 29 to swing downward. When the temperature and salt depth meter is put in, when the parallel swing arm 28 returns to the box 1, the linkage lever 283 swings forward, the overturning drive tension spring 284 drives the overturn lever 281 to reset, and the firing gun shell 29 is reset to the horizontal state, thereby realizing The downturn linkage between the gun casing 29 and the parallel swing arm 28.

In the automatic detection equipment for marine temperature and salinity profile ship foundation provided by the present invention, the chassis lift motor 19, the tray lift motor 40, the tray transfer motor 44, the tray release motor 34, the detector lift motor 30, the swing arm drive motor 49 and the clamp The holding and driving motors 20 all use existing stepping motors.

When installing and using the automatic detection equipment for marine temperature, salinity and depth profile of the ship base provided by the present invention, the automatic detection equipment is first pushed to the required position, and then the chassis lifting motor 19 drives the lifting driving screw 18 to rotate, and drives the chassis lifting rod 17 to lift. , pull the two lifting links 134 and the lifting linkage rod 16, the directional caster lifting shaft 131 rotates to drive the caster installation rod 135 to swing, and adjust the position of the two directional casters 13 synchronously until the desired height is reached, and the lower end of the chassis lifting rod 17 positioning support;

Stack each tray 45 fully loaded with launch tubes 48 on the horizontal section of the two tray lift forks 39 through the tray placement window, and cover the watertight door 11 of the thermometer storage compartment;

Afterwards, the pallet lift motor 40 drives the lift spindle 42 to rotate, causing the two lift gears 41 to move up along the two lift racks 43, and drive the two pallet lift forks 39 to move up along the two rack mounting rods 431 to move the uppermost pallet 45 is lifted between the two tray limit guide rails 38, and the lower side of the tray 45 is higher than the upper side of the tray support plate 36;

The pallet conveying motor 44 drives the hook crank 442 to rotate, the hook rocker 441 drives the pallet conveying hook 46 to move, and the hook is snapped on the snap hole 451 to drive the pallet 45 to move to the right;

The clamping drive motor 20 drives the clamping crank 23 to rotate, the two clamping rockers 22 synchronously drive the two connecting plates 211 to move back and forth, and the launch tube holder 21 moves along the holder slide rail 24 to make the two outer spherical rollers 27 walk When reaching the limit slot, the two connecting plates 211 are pulled by the holding springs, and the launch tube holding hands 21 are opened;

After each movement of the tray 45, the lift motor 30 of the detector drives the two lift cranks 31 to rotate, so that the two lift rockers 32 drive the two lift transfer forks 33 to move upward synchronously. The lifting holes 452 corresponding to the two front and rear positions are simultaneously extended to the top of the tray 45, and the corresponding launch tubes 48 are lifted upward;

The clamping drive motor 20 drives the two outer spherical rollers 27 to walk away from the limit slot, and the two sets of launch tube holding hands 21 corresponding to the left and right positions clamp the launch tube 48. At this time, the data transmission docking terminal 25 and the data transmission on the launch tube 48 Connect the docking interface to activate the temperature and salt depth meter;

Then the swing arm drive motor 49 rotates to drive the two parallel swing arms 28 to swing, so that the gun shell 29 pushes open the gun parallel swing arm door 2 and extends the swing arm out of the window, and the linkage lever 282 drives the linkage lever 283 backward Swing, squeeze the flip lever 281 to swing backward, and the flip lever 281 drives the front side of the launch gun housing 29 to swing downward, and the thermosalinity instrument slides out and falls into the sea due to the forward tilt of the launch tube 48;

After the delivery is completed, the swing arm drive motor 49 drives the launch gun shell 29 back into the box 1, the linkage lever 283 swings forward, and the overturning drive tension spring 284 drives the overturn lever 281 to drive the launch gun shell 29 to return to the horizontal state, and is driven by The clamping drive motor 20 drives the launch tube holder 21 to loosen, and puts the empty launch tube 48 into the empty launch tube storage compartment 7. The empty launch tube push plate 47 swings left and right under the drive of the tray transfer motor 44 to push the empty launch tube 48 to sort out the empty launch tube. The launch tube 48; then the launch gun housing 29 returns to the initial position;

The pallet conveying motor 44 drives the pallet conveying hook 46 to move to the left again, the hook is separated from the snap hole 451 and reaches the position of the left snap hole 451, drives the pallet 45 to move to the left again, and repeats the above steps;

When all the launch tubes 48 on the tray 45 have been placed, the tray release motor 34 drives the tray release slide rail 37 to slide up and down through the crank-rocker structure, and drives the two tray flipping rods 35 to drive the two tray trays 36 to swing downward respectively. , so that the empty tray 45 falls into the tray storage compartment 6 below, and at the same time the tray lift motor 40 starts again to lift the uppermost tray 45 between the two tray limit guide rails 38;

After all the launch tubes 48 have been put in, the tray storage compartment door 3 and the empty launch tube storage compartment door 4 can be opened, and all the empty trays 45 and the empty launch tubes 48 can be taken out.

As mentioned above, although the present invention has been shown and described with reference to specific preferred embodiments, this should not be construed as limiting the invention itself. Various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the appended claims.

Claims (10)

1. a kind of marine temperature and salinity profile ship base automatic detection equipment, it is characterized in that: comprise box body (1), equipment chassis, tray lift drive mechanism, launch gun, detector lift transfer mechanism, multiple launch tubes (48 ) and a number of thermometers; The box body (1) is cover-mounted on the equipment chassis, and is docked and fixed by the equipment chassis matching the ship's sides of different heights; each temperature and salinity instrument is placed in each launch tube (48) respectively; the tray lift drive mechanism is installed in the box body In (1), a plurality of trays (45) are stacked on the tray lift drive mechanism, the launch tube (48) is placed on the tray (45), and the tray lift drive mechanism drives the tray (45) to lift; the detector lifts The transmission mechanism and the launch gun are installed in the box (1), each launch tube (48) is lifted up by the detector lifting transmission mechanism, and the launch tube (48) is grabbed by the launch gun and put into the thermometer, Then release the empty launch tube (48) in the box (1). 2. The marine temperature-salt-depth profile ship-based automatic detection equipment according to claim 1, characterized in that: the equipment chassis comprises a bearing bottom plate (50), a chassis lift rod (17), a chassis lift motor (19), a lift drive wire a rod (18), a lifting linkage rod (16), a directional caster lifting shaft (131), two directional casters (13) and two universal casters (14); The two swivel casters (14) are respectively installed at two top corners on the same side of the lower side of the bearing base plate (50); a swivel seat (136) is installed on the other two top corners of the lower side of the bearing base plate (50). ); both ends of the directional caster lifting shaft (131) are respectively rotatably mounted on the two swivel seats (136); the two directional casters (13) are respectively fixed on the directional caster lifting shaft (131) through the caster mounting rod (135) The chassis lifting rod (17) vertically slides through the bearing base plate (50); the lower end of the lifting driving screw (18) is screwed on the upper end of the chassis lifting rod (17) by coaxial thread; the chassis lifts The motor (19) is used to drive the lift drive screw (18) to rotate; two lift links (134) are hinged on one end of the lift linkage pull rod (16); the ends of the two lift links (134) are hinged respectively A swing seat (132) is fixed on the lower side of the bearing base plate (50) and the lower end of the chassis lifting rod (17); a swing seat (132) is fixed on the directional caster lifting shaft (131); the other end of the lifting linkage rod (16) is hinged on the swinging on seat (132). 3. The marine temperature-salt-depth profile ship-based automatic detection equipment according to claim 2, wherein the tray lift drive mechanism comprises a tray lift motor (40), a lift spindle (42), two lift gears (41), Two lifting racks (43) and two pallet lifting forks (39); Two rack mounting rods (431) are vertically installed on the front side edge of the left side of the carrying base plate (50); the two lifting racks (43) are respectively mounted on the two rack mounting rods (431); the tray The lift forks (39) are L-shaped; the vertical sections of the two pallet lift forks (39) are respectively vertically slidably mounted on the two rack mounting rods (431); the left and right ends of the lift spindle (42) rotate respectively The two lift forks (39) are mounted on the two pallet lift forks (39); the two lift gears (41) are both mounted on the lift spindle (42), and the two lift gears (41) are meshed with the two lift racks (43) respectively. ; The pallet lift motor (40) is used to drive the lift spindle (42) to rotate; each pallet (45) is stacked on the horizontal section of the two pallet lift forks (39); set on the left side wall of the box (1) There is a tray placement window, and a watertight door (11) for the storage compartment of the thermosalinity instrument for closing the tray placement window is hinged on the left side of the box body (1). 4. The marine temperature and salinity profile ship-based automatic detection equipment according to claim 3, characterized in that: the detector lift transfer mechanism comprises a tray (45), a translational drive unit, a detector lift unit, a tray release unit, Y-shaped bracket plate (301), two tray limit guide rails (38) and two tray support plates (36); the translation drive unit includes a tray transfer motor (44) and a tray transfer hook (46); The lower edge of the vertical plate of the Y-shaped bracket plate (301) is fixed on the upper side of the bearing bottom plate (50); the two tray limit guide rails (38) are respectively fixed in parallel and laterally on the two branches of the Y-shaped bracket plate (301). The upper end of the plate is used to fit the front and rear sides of the uppermost tray (45); the two tray support plates (36) are respectively swing-mounted on the tray limit guide rail (38) for supporting the tray (45); Snap holes (451) are arranged at intervals on both the front and rear edges of the tray (45); the tray conveying motor (44) is installed on one of the tray limit guide rails (38); A hook crank (442) is installed on the output shaft; a hook rocker (441) is hinged on the end of the hook crank (442); the middle part of the pallet conveying hook (46) is hinged on the hook rocker (441), and the lower edge of the tray transfer hook (46) is provided with a hook for hooking the snap hole (451); the tray release unit is installed on the Y-shaped bracket plate (301) for Drive the two tray support plates (36) to swing to make the tray (45) drop down; the detector lifting unit is installed on the Y-shaped bracket plate (301) to lift the launch tube (48) on the tray (45) upwards ; A tray take-out window is arranged on the rear side wall of the box body (1), and a tray storage compartment door (3) for closing the tray take-out window is hinged on the rear side of the box body (1). 5. The marine temperature and salt depth profile ship-based automatic detection equipment according to claim 4, is characterized in that: an empty launch tube push plate (47) is hinged on the upper side of the bearing base plate (50); 44) Drive the empty launch tube push plate (47) to swing left and right through the crank-rocker mechanism; A launch tube take-out window is provided on the right wall of the box body (1), and an empty launch tube storage compartment door (4) for closing the launch tube take-out window is hinged on the right side of the box body (1). 6. The automatic detection equipment for marine temperature and salt depth profile ship base according to claim 4, characterized in that: the pallet release unit comprises a pallet release slide rail (37), a pallet release motor (34) and two pallet overturning rods ( 35); The tray release slide rail (37) is vertically slidably installed on the Y-shaped bracket plate (301); the tray release motor (34) is installed on the Y-shaped bracket plate (301), and drives the tray release slide rail through the crank rocker structure (37) Sliding up and down; the lower ends of the two pallet overturning rods (35) are hinged on the pallet release slide rails (37), and the upper ends are hinged on the two pallet support plates (36) respectively. 7. The marine temperature-salt-depth profile ship-based automatic detection equipment according to claim 4, characterized in that: the detector lifting unit comprises a detector lifting motor (30) and two lifting transfer forks (33); Two snap rib plates (453) are laterally arranged on the tray (45); a plurality of semicircular snap grooves (454) are arranged at intervals on the two snap rib plates (453); 48) are respectively placed on the two semicircular card slots (454) corresponding to the front and rear, and the positions of the semicircular card slots (454) correspond to the positions of the respective snap holes (451); set on the tray (45) There are two rows of lifting holes (452), and the position of each lifting hole (452) corresponds to the position of each semicircular card slot (454); The detector lifting motor (30) is mounted on the Y-shaped support plate (301), and the detector lifting motor (30) is a dual-output shaft motor; both output shafts of the detector lifting motor (30) are A lift crank (31) is installed; a lift rocker (32) is hinged on the end of the lift crank (31); two auxiliary plates (302) are arranged on the Y-shaped bracket plate (301) ; The two lift transfer forks (33) are respectively vertically slidably mounted on the two auxiliary plates (302); the upper ends of the two lift rockers (32) are hinged on the two lift transfer forks (33) respectively. On the lower end, the upper ends used to drive the two lifting transfer forks (33) respectively extend to the top of the tray (45) through two corresponding lifting holes (452) at the front and rear positions respectively. 8. The marine temperature-salt-depth profile ship-based automatic detection equipment according to claim 4, wherein the launch gun comprises a launch gun casing (29), a clamping unit and a position adjustment unit; the position adjustment unit includes a swing arm drive motor (49), a swing arm connecting plate (285) and two parallel swing arms (28); A swing arm extension window is arranged on the upper side of the front side of the box body (1); two support rods are vertically installed on the right edge of the bearing bottom plate (50); the right ends of the two parallel swing arms (28) are respectively It is hinged on two support rods, and the left end is hinged on the swing arm connecting plate (285); the swing arm drive motor (49) is used to drive one of the parallel swing arms (28) to swing horizontally, and the swing arm extends out of the window to extend. out of the box body (1); the launch gun shell (29) is installed on the swing arm connecting plate (285) through the downward turning linkage structure, and when the parallel swing arm (28) extends out of the box body (1), the downward turning linkage structure Drive the firing gun housing (29) to swing downward; the clamping unit is installed on the firing gun housing (29) for holding the firing tube (48) lifted up by the detector lifting unit; The front side is hinged with a parallel swing arm door (2) for closing the swing arm extending window. 9. The ship-based automatic detection equipment for ocean temperature, salinity and depth profile according to claim 8, wherein the clamping unit comprises a clamping drive motor (20), two gripping rails (24) and four launch tubes The arms (21); the two arm slides (24) are longitudinally installed on the gun casing (29); the four launch tube arms (21) are respectively installed on the two arm slides (24) and the two sets of launch tube arms (21) corresponding to the left and right positions are used to hold the launch tube (48); the upper ends of the two launch tube arms (21) on the same arm slide rail (24) pass through the A connecting plate (211) is connected; the clamping drive motor (20) is a dual output shaft motor, and a clamping crank (23) is installed on both output shafts of the clamping drive motor (20); A clamping rocker (22) is hinged on the ends of the clamping crank (23); the ends of the two clamping rockers (22) are hinged on the two connecting plates (211) respectively; A grip tension spring is connected between the plates (211); the limit plate (26) is longitudinally mounted on the shell (29) of the launching gun, and limit slots are symmetrically arranged on the left and right edges of the limit plate (26); An outer spherical roller (27) running along the edge of the limiting plate (26) is rotatably installed on opposite sides of the two connecting plates (211); a butt terminal is longitudinally slidable on the rear side of the launch gun casing (29) A seat (251); a data transmission butt terminal (25) is provided on the front side of the butt terminal seat (251); elastically supported between the butt terminal seat (251) and the rear side wall of the gun shell (29) A balance spring; a data transmission butt interface for conductive connection with the data transmission butt terminal (25) is provided on the rear end of each launch tube (48). 10. The automatic detection equipment for ocean temperature and salt depth profile ship base according to claim 8, characterized in that: the downturn linkage structure comprises a flip shaft (286), a flip lever (281) and a linkage rod (282); The turning shaft (286) is fixed on the right side surface of the shell (29) of the launching gun, and the end of which is rotated through the swing arm connecting plate (285); one end of the turning lever (281) is fixed on the penetration of the turning shaft (286). A flipping driving tension spring (284) is connected between the other end of the flipping lever (281) and the swing arm connecting plate (285); On the arm (28); a linkage lever (283) for squeezing the flip lever (281) is arranged on the linkage lever (282), when the linkage lever (283) swings backward, squeeze the flip lever When the lever (281) swings backwards, the front side of the gun shell (29) swings downwards, and when the linkage lever (283) swings forward, the overturning driving tension spring (284) drives the overturning lever (281) to reset, The gun housing (29) is reset to a horizontal state.

Images