CN115200558B - Marine temperature salt deep profile ship base automatic detection equipment - Google Patents

Abstract

The invention discloses a ship-based automatic detection equipment for ocean temperature, salt and depth profiles, which includes a box body, an equipment chassis, a tray lifting drive mechanism, a launch gun, a detector lifting transmission mechanism, multiple launch tubes, and multiple temperature, salt and depth instruments. . The marine temperature, salt and deep profile ship-based automatic detection equipment uses the tray lifting drive mechanism to lift the trays filled with launch tubes one by one, so that the trays reach the working position of the detector lifting transfer mechanism, and the detector lifting transfer mechanism lifts each The launch tube is lifted upwards, and the launch gun grabs the launch tube and puts the temperature, salt and depth instrument to realize the automatic release of the temperature, salt and depth instrument, which meets the automation requirements of XCTD and XBT temperature, salt and depth profile detection, thereby replacing manual detection; using the equipment chassis The automatic detection equipment can move freely on the deck, and the height of the box can be adjusted to adapt to different ships and enhance the versatility.

Description

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

technical field

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

Background technique

The ocean temperature, salinity and depth profile measuring instrument is a measuring instrument that can quickly and conveniently measure the conductivity and temperature profile of seawater. It provides a quick way to obtain temperature and salinity profile data for marine surveys, scientific research, and military applications. In recent years, with the advancement of technology, the technical requirements for instruments are different. Therefore, in order to make the design, production, test and inspection of the equipment meet the existing technical requirements, and better serve the marine scientific investigation and military marine environment Technical guarantee, 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

Contents of the invention

Purpose of the invention: To provide a ship-based automatic detection equipment for ocean temperature, salt and depth profiles, which can meet the automation requirements of XCTD and XBT temperature and salt depth profiles.

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

The box cover is installed on the equipment chassis, and the equipment chassis is matched with different heights of the ship's side for docking and fixing; each temperature, salt and depth instrument is placed in each launch tube; the tray lifting drive mechanism is installed in the box, on the tray lifting drive mechanism There are multiple trays stacked, the launch tube is placed on the tray, and the tray is driven up and down by the tray lifting drive mechanism; the detector lifting transfer mechanism and the launching gun are installed in the box, and the detector lifting transfer mechanism lifts each launch tube upwards. Lifting, the launch gun grabs the launch tube and puts the temperature, salinity and depth instrument, and then releases the empty launch tube into the box.

Further, the equipment chassis includes a load-bearing base plate, a chassis lifting rod, a chassis lifting motor, a lifting drive 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 two corners on the same side of the lower side of the load-bearing base; a swivel seat is installed at the other two corners of the lower side of the load-bearing base; Installed on two swivel bases; two directional casters are respectively fixed on both ends of the lifting shaft of the directional casters through the caster mounting rod; the chassis lifting rod vertically slides through the load-bearing bottom plate; It is connected to 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 connecting rods are hinged on one end of the lifting linkage rod; the ends of the two lifting connecting rods are respectively hinged on the bottom plate On the lower side and the lower end of the chassis lifting rod; a swing seat is fixed on the directional caster lifting shaft; the other end of the lifting linkage pull rod is hinged on the swing seat.

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

Two rack installation rods are vertically installed on the front edge of the left side of the load-bearing base plate; two lifting racks are respectively installed on the two rack installation rods; the pallet lifting fork is L-shaped; the two pallet lifting forks The vertical sections are 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 respectively meshed with two lifting racks; the pallet lifting motor is used to drive the lifting spindle to rotate; each pallet is stacked on the horizontal section of the two pallet lifting forks; a pallet is placed on the left wall of the box. The window is hinged on the left side of the casing with a watertight door for the storage compartment of the temperature, salinity and depth instrument for closing the tray placement window.

Further, the detector lifting transfer mechanism includes a tray, a translational drive unit, a detector lifting unit, a tray release unit, a Y-shaped bracket plate, two tray limit guide rails, and two tray pallets; the translation drive unit includes a tray transmission Motor and pallet transfer hook;

The lower edge of the vertical plate of the Y-shaped support plate is fixed on the upper side of the load-bearing bottom plate; the two pallet limit guide rails are respectively fixed in parallel and transversely on the upper ends of the two branch plates of the Y-shaped support plate, which are used to fit the uppermost pallet The front and rear sides of the pallet; the two pallet pallets are respectively swing-mounted on the pallet limit guide rails to support the pallet;

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

A tray take-out window is arranged on the rear side wall of the box body, and a tray storage hatch for closing the tray take-out window is hinged on the back side of the box body.

Further, an empty launch tube push plate is hinged on the upper side of the bearing base plate; the tray transmission motor drives the empty launch tube push plate to swing left and right through the crank rocker mechanism; a launch tube take-out window is arranged on the right wall of the box body, An empty launch tube storage hatch for sealing the launch tube take-out window is hinged on the right side of the casing.

Further, the pallet releasing unit includes a pallet releasing slide rail, a pallet releasing motor and two pallet turning rods;

The tray release slide rail is vertically slidably installed 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 pallet turning rods are Hinged on the pallet release slide rail, the upper ends are respectively hinged on the two pallet support plates.

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

Two buckle ribs are arranged horizontally on the tray; multiple semicircular slots are arranged at intervals on the two buckle ribs; each launch tube is placed in the corresponding two semicircular slots at the front and back and the position of the semicircular card slot corresponds to the position of each buckle hole; there are two rows of lifting holes on the tray, and the position of each lifting hole corresponds to the position of each semicircular card slot;

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; There is a lifting rocker hinged on the end; two auxiliary plates are arranged on the Y-shaped bracket plate; the two lifting transfer forks are vertically slidably installed on the two auxiliary plates; The upper ends are respectively hinged on the lower ends of the two lifting transmission forks, and are used to drive the upper ends of the two lifting transmission forks to extend synchronously above the pallet through the lifting holes corresponding to the two front and rear positions.

Further, the firing gun includes a firing 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 protruding 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 load-bearing bottom plate; the right ends of the two parallel swing arms are respectively hinged on the two support rods, and the left end They are all hinged on the connecting plate of the swing arm; the drive motor of the swing arm is used to drive one of the parallel swing arms to swing horizontally, and extend out of the box through the window of the swing arm; On the board, when the parallel swing arm extends out of the box, the downturn 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 up by the lifting unit of the detector ; On the front side of the casing, there is hinged a parallel swing arm door for the firing gun that is used to close the swing arm and stretches out the window.

Further, the clamping unit includes a clamping drive motor, two grip rails and four launch tube grips; the two grip rails are longitudinally installed on the shell of the firing gun; the four launch tube grips are arranged in pairs Installed on two hand holding slide rails, and the two sets of launch tube holding hands corresponding to the left and right positions are used to clamp the launch tube; the upper ends of the two launching tube holding hands on the same holding hand slide rail are connected by a connecting plate The clamping drive motor is a double output shaft motor, and a clamping crank is installed on the two 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 two connecting plates; a hand extension spring is connected between the two connecting plates; Limiting grooves are arranged symmetrically on the side edges; an outer spherical roller that walks along the edge of the limiting plate 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 firing gun; On the front side of the docking terminal block, a data transmission docking terminal is provided; a balance spring is elastically supported between the docking terminal block and the rear side wall of the gun shell; The data transmission docking interface for the conductive connection of the data transmission docking terminal.

Further, the downward turning linkage structure includes a turning shaft, a turning lever and a linkage rod;

The turning shaft is fixed on the right side of the gun shell, and the end rotates through the connecting plate of the swing arm; one end of the turning lever is fixed on the penetrating end of the turning shaft; There is a flip drive tension spring connected between them; the two ends of the linkage rod are respectively hinged on two parallel swing arms; Swing backwards, when the flipping lever is squeezed to swing backwards, the front side of the firing gun shell swings downwards, when the linkage lever swings forward, the flipping drives the tension spring to drive the flipping lever to reset, and the firing gun shell resets to a horizontal state .

Compared with the prior art, the present invention has the beneficial effect that the trays filled with launch tubes are lifted up one by one by the tray lifting and driving mechanism, so that the trays reach the working position of the lifting transmission mechanism of the detector, and are lifted and transferred by the detector. The mechanism lifts each launch tube upward, and the launch gun grabs the launch tube and puts the temperature, salt and depth instrument to realize the automatic release of the temperature, salt and depth instrument, which meets the automation needs of XCTD and XBT temperature, salt and depth profile detection, thereby replacing manual detection; The automatic detection equipment can be moved freely on the deck by using the equipment chassis, and the height of the box can be adjusted to adapt to different ships and enhance the versatility.

Description of drawings

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

Fig. 2 is the perspective view of the present invention;

Fig. 3 is the perspective view of the present invention;

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

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

Fig. 6 is a schematic structural view of the firing gun of the present invention;

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

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

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

Fig. 10 is a schematic diagram of assembly of the lifting transfer mechanism of the detector of the present invention;

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

Fig. 12 is a part diagram of the pallet of the present invention.

Detailed ways

The technical solutions of the present invention will be described in detail below in conjunction with 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 ship-based automatic detection equipment for ocean temperature, salinity and depth profiles disclosed by the present invention includes: a box body 1, an equipment chassis, a tray lifting drive mechanism, a launch gun, a detector lifting transmission mechanism, and multiple launch tubes 48 and multiple temperature, salinity and depth instruments;

The box body 1 is installed on the equipment chassis with a cover, and the equipment chassis is matched with ship sides of different heights for docking and fixing; on the equipment chassis, a waterproof partition 8 is vertically arranged for the storage cabin of the temperature, salt and depth instrument, and the space in the box body 1 It is divided into temperature, salinity and depth instrument storage compartment 5 and the cavity on the right side; an empty launch tube storage compartment and a pallet storage compartment partition 9 are vertically arranged on the equipment chassis, and the right cavity is divided into a tray storage compartment 6 and an empty launch tube storage compartment 6. Tube storage compartment 7; each temperature, salt and depth instrument is placed in each launch tube 48; the tray lifting drive mechanism is installed in the temperature, salt and depth instrument storage compartment 5, and a plurality of trays 45 are stacked on the tray lift and 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 lifting drive mechanism; the detector lift transfer mechanism and the firing gun are all installed in the box body 1, and each launch tube 48 is lifted upward by the detector lift transfer mechanism, Grab the launch tube 48 by the launch gun and put in the temperature, salinity and depth instrument, and then release the empty launch tube 48 in the empty launch tube storage compartment 7.

Utilize the tray lifting drive mechanism to lift up the trays 45 filled with launch tubes 48 one by one, so that the trays 45 reach the working position of the detector lifting transfer mechanism, and each launch tube 48 is lifted upward by the detector lifting transfer mechanism. The launching gun grabs the launch tube 48 and puts the temperature, salt and depth instrument to realize the automatic release of the temperature, salt and depth instrument, which meets the automation requirements of XCTD and XBT temperature, salt and depth profile detection, thereby replacing manual detection; the automatic detection equipment can be used in the The deck can be moved freely, and the height of the box body 1 can be adjusted, so as to adapt to different ships and enhance the versatility.

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

Two universal casters 14 are respectively installed at two corners of the same side of the lower side of the load-bearing base plate 50; a swivel seat 136 is installed at the other two corners of the lower side of the load-bearing base plate 50; The two ends are respectively rotatably mounted on two swivel seats 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 lifting drive screw 18 is coaxially threaded on the upper end of the chassis lifting rod 17; the chassis lifting motor 19 is used to drive the lifting drive screw 18 to rotate; Rod 134; the ends of two lifting connecting rods 134 are respectively hinged 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 of the lifting linkage pull rod 16 One end is hinged on the swing seat 132; the lower end of the chassis elevating rod 17 is provided with a rubber foot pad 15.

Two directional casters 13 and two universal casters 14 can be used to push the bearing base plate 50 to move the automatic detection equipment to different positions on the deck; the chassis lifting motor 19 is used to drive the lifting drive screw 18 to rotate to drive the chassis lifting rod 17 for lifting, pulling two lifting links 134 and lifting linkage pull rod 16, the directional caster lifting shaft 131 rotates to drive the caster mounting rod 135 to swing, and adjusts the positions of the two directional casters 13 synchronously, thereby realizing height adjustment, and the chassis lifting rod 17 The lower end realizes the positioning support; Utilizes the rubber foot pad 15 to carry out antiskid.

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

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

Utilize the pallet lifting motor 40 to drive the lifting main shaft 42 to rotate, so that the two lifting gears 41 move up and down along the two lifting racks 43, and drive the two pallet lifting forks 39 to move up and down along the two rack mounting rods 431, realizing the pallet 45 lifting and lowering; use the clamping pulley 432 to clamp the rack installation rod 431, enhance the stability of the pallet lifting fork 39 moving up and down; use the watertight door 11 of the storage compartment of the temperature, salt and depth instrument to facilitate placing the fully loaded pallet 45 on the pallet for lifting Fork 39, and the structure inside the casing 1 is protected against water to a certain extent.

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

The vertical plate lower edge of Y-shaped support plate 301 is fixed on the upper side of bearing base plate 50; Close the front and rear sides of the uppermost tray 45; the two tray supporting plates 36 are respectively swing-mounted on the tray limit guide rail 38 for supporting the tray 45;

Buckle holes 451 are arranged at intervals on the front and rear edges of the tray 45; the tray transfer 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 transfer motor 44 ; A hook rocker 441 is hinged on the end of the hook crank 442; Hook the crotch of the buckle hole 451, when the pallet transmission hook 46 moves to the left, the crotch breaks away from the buckle hole 451 and moves to the buckle hole 451 on the left side, when the tray transmission hook 46 moves to the right, it bends The hook is buckled on the buckle 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, and is used 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 bracket plate 301, and is used to lift the launch tube 48 on the tray 45 upward; A tray storage hatch 3 for closing the tray taking-out window is hinged on the rear side of the tray.

Use two tray limit guide rails 38 to guide the movement of the tray to ensure accurate cooperation between the tray transfer hook 46 and the buckle hole 451; use the tray transfer motor 44 to drive the hook crank 442 to rotate, and the hook rocker 441 drives the tray transfer The hook 46 moves left and right. When the pallet transfer hook 46 moves to the left, the crotch breaks away from the buckle hole 451 and moves to the left buckle hole 451. When the tray transfer hook 46 moves to the right, the crotch snaps in The buckle hole 451 drives the tray 45 to move to the right, thereby realizing the transfer of the tray 45; the tray storage hatch 3 is used to facilitate the removal of the empty tray 45, and the internal structure of the box body 1 is protected to a certain extent.

Further, an empty launch tube push plate 47 is hinged on the upper side of the bearing base plate 50, and the empty launch tube push plate 47 is positioned at the left side of the empty launch tube storage cabin 7; The launch tube push plate 47 swings left and right; the right wall of the casing 1 is provided with a launch tube take-out window, and the empty launch tube storage hatch 4 for sealing the launch tube take-out window is hinged on the right side of the casing 1.

Utilize tray conveying motor 44 to drive empty launch tube push plate 47 to swing simultaneously, realize the empty launch tube 48 that falls in the empty launch tube storage cabin 7 is sorted out; Utilize empty launch tube storage cabin door 4 to be convenient to take out empty launch tube 48 , and protect the structure inside the box body 1 to a certain extent.

Further, the pallet releasing unit includes a pallet releasing slide rail 37, a pallet releasing motor 34 and two pallet turning rods 35;

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

Use the tray release motor 34 to drive the tray release slide rail 37 to slide up and down through the crank rocker structure, and drive the two tray flipping rods 35 to respectively drive the two tray trays 36 to swing downward, so that the empty tray 45 falls into the tray storage below. In the cabin 6, make room for the next pallet 45 full of launch tubes 48.

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

Two buckle ribs 453 are horizontally arranged on the tray 45; a plurality of semicircular snap grooves 454 are evenly spaced on the two buckle ribs 453; On the semicircular card slot 454, and the position of the semicircular card slot 454 corresponds to the position of each buckle hole 451; two rows of lifting holes 452 are arranged on the tray 45, and the position of each lifting hole 452 corresponds to each The position of the semicircular card slot 454 is corresponding;

The detector lifting motor 30 is installed on the Y-shaped support plate 301, and the detector lifting motor 30 is a double output shaft motor; a lifting crank 31 is installed on the two output shafts of the detector lifting motor 30; A lifting rocker 32 is hinged on the end of the lifting 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 lifting rockers 32 are respectively hinged on the lower ends of the two lifting transfer forks 33; the upper ends of the two lifting rockers 32 are respectively hinged on the lower ends of the two lifting transfer forks 33, The upper ends that are used to drive the two lifting transfer forks 33 extend synchronously above the pallet 45 through the lifting holes 452 corresponding to the two front and rear positions respectively; The arc-shaped notch of pipe 48 circumferential surface.

Utilize the semicircular card slot 454 to facilitate stable placement of the launch tube 48; use the detector lifting motor 30 to drive the two lifting cranks 31 to rotate, so that the two lifting rockers 32 drive the two lifting transfer forks 33 to move up and down synchronously , whenever the pallet 45 moves once, the upper end of the lifting transfer fork 33 is synchronously extended to the top of the pallet 45 by the lifting holes 452 corresponding to the two front and rear positions, and the corresponding launch tube 48 is lifted upwards and installed on the firing gun, thereby realizing Automatic reloading to firing guns.

Further, the firing gun includes a firing 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;

The upper side of the front side of the casing 1 is provided with a swing arm stretching out window; on the right side edge of the bearing base plate 50, two support rods are vertically installed; the right ends of the two parallel swing arms 28 are respectively hinged on the two support rods The upper and left ends are all 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 stretch out the window through the swing arm to extend out of the box body 1; the gun casing 29 passes through the lower The turning linkage structure is installed on the swing arm connecting plate 285. When the parallel swing arm 28 stretches out of the box body 1, the turning linkage structure drives the firing gun casing 29 to swing downward; the clamping unit is installed on the firing gun casing 29 for Clamp the launch tube 48 lifted by the lifting unit of the detector; on the front side of the box body 1, the parallel swing arm door 2 of the launch gun for closing the swing arm stretching out window is hinged.

Utilize 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 driving the two parallel swing arms 28 to swing synchronously, so that the swing The arm connecting plate 285 drives the launch gun shell 29 to stretch out the swing arm and stretch out the window, and at the same time, the downward linkage structure drives the launch gun shell 29 to swing downward, so that the temperature, salinity and depth gauge slides out of the launch tube 48 and falls into the sea, realizing temperature control. The launch of the salt depth meter.

Further, the clamping unit includes a clamping drive motor 20, an outer spherical roller 27, two handle rails 24 and four launch tube handles 21; the two handle rails 24 are longitudinally installed on the gun shell 29 ; Four launching tube holding hands 21 are installed on two holding hand slide rails 24 respectively, and the launching tube holding hands 21 corresponding to two groups of left and right positions are all used to clamp the launching tube 48; the same holding hand slide rail 24 The upper ends of the two launch tube grips 21 on the top are connected by a connecting plate 211; the clamping drive motor 20 is a double 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 the two connecting plates 211; between the two connecting plates 211 Connect with holding hand extension spring; Limiting plate 26 is longitudinally installed on the firing gun shell 29, and limit slots are symmetrically arranged on the left and right side edges of limiting plate 26; There is an outer spherical roller 27 walking along the edge of the limit plate 26; the longitudinal sliding type is provided with a docking terminal block 251 on the rear side of the firing gun housing 29; a data transmission docking terminal 25 is provided on the front side of the docking terminal block 251; A balance spring is elastically supported between the docking terminal base 251 and the rear side wall of the firing gun housing 29; the rear end of each firing tube 48 is provided with a data transmission docking interface for conductive connection with the data transmission docking terminal 25 .

Utilize the clamping driving motor 20 to drive 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 holding hand 21 moves back and forth along the holding hand slide rail 24, when the two outer spherical rollers When the 27 walks to the limit groove, the two connecting plates 211 are pulled by the arm extension spring, and the launch tube arms 21 are opened. When the two outer spherical rollers 27 leave the limit groove, the corresponding launch tubes of the two groups of 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 downturning linkage structure includes a turning shaft 286, a turning lever 281 and a linkage rod 282;

Turning shaft 286 is fixed on the right side of firing gun housing 29, and the end rotation type runs through the swing arm connecting plate 285; One end and the swing arm connecting plate 285 are connected with a flip drive extension spring 284; the two ends of the linkage rod 282 are respectively hinged on the two parallel swing arms 28; The linkage driving lever 283 of driving lever 281, when the linkage driving lever 283 swings backward, when extruding and flipping the driving lever 281 swinging backward, the front side of the firing gun shell 29 swings downward, and when the linkage driving lever 283 swings forward, The overturn driving extension spring 284 drives the overturn driving lever 281 to reset, and the firing gun shell 29 is reset to a horizontal state.

Using the cooperation between the turning shaft 286, the turning lever 281, the turning driving tension spring 284 and the linkage lever 282, when the two parallel swing arms 28 swing out of the box body 1, the linkage lever 282 drives the linkage lever 283 to Swing back, squeeze the turning lever 281 to swing backward, and the turning lever 281 drives the front side of the launch gun shell 29 to swing downward. When the temperature, salinity and depth instrument is put into operation, when the parallel swing arm 28 returns to the box body 1, the linkage lever 283 swings forward, and the flipping drive tension spring 284 drives the flipping lever 281 to reset, and the shell 29 of the firing gun is reset to a horizontal state, thereby realizing The downward turning linkage between the firing gun shell 29 and the parallel swing arm 28.

In the marine temperature-salt deep profile ship-based automatic detection equipment provided by the present invention, the chassis lifting motor 19, the tray lifting motor 40, the tray transmission motor 44, the tray release motor 34, the detector lifting motor 30, the swing arm driving motor 49 and the clip Hold drive motor 20 all adopts existing stepper motor.

When installing and using the marine temperature, salt and depth profile ship-based automatic detection equipment 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 drive screw 18 to rotate, driving the chassis lifting rod 17 to lift , pull the two lifting links 134 and the lifting linkage pull rod 16, the directional caster lifting shaft 131 rotates to drive the caster mounting rod 135 to swing, and adjust the positions 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 pallet 45 fully loaded with launching tubes 48 on the horizontal section of the two pallet lifting forks 39 through the pallet placement window, and cover the watertight door 11 of the temperature, salinity and depth instrument storage compartment;

Afterwards, the pallet lifting motor 40 drives the lifting main shaft 42 to rotate, so that the two lifting gears 41 move upward along the two lifting racks 43, and drive the two pallet lifting forks 39 to move upward along the two rack mounting rods 431, and 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 supporting plate 36;

The tray conveying motor 44 drives the hook crank 442 to rotate, the hook rocking bar 441 drives the tray conveying hook 46 to move, and the crotch is buckled on the buckle hole 451 to drive the tray 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, the launch tube holding hand 21 moves along the holding hand slide rail 24, and the two outer spherical rollers 27 move To the limit groove, the two connecting plates 211 are pulled by the holding hand tension spring, and the launching tube holding hand 21 is opened;

After the pallet 45 moves each time, the detector lifting motor 30 drives the two lifting cranks 31 to rotate, so that the two lifting rockers 32 drive the two lifting transmission forks 33 to move upward synchronously, and the upper ends of the lifting transmission forks 33 are moved up by The lifting holes 452 corresponding to the two front and rear positions are synchronously extended above the tray 45, and the corresponding launch tube 48 is lifted upward;

The clamping drive motor 20 drives the two outer spherical rollers 27 to move away from the limit slot, and the launch tube holding hands 21 corresponding to the two sets of 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 The docking interface is docked, and the temperature, salinity and depth meter are activated;

Then the swing arm drive motor 49 rotates and drives two parallel swing arms 28 to swing, so that the gun casing 29 is pushed back to open the gun parallel swing arm door 2 and stretches out the swing arm to stretch out the window, and the linkage lever 282 drives the linkage driving lever 283 backward Swing, extrude the turning lever 281 to swing backward, the turning lever 281 drives the front side of the firing gun shell 29 to swing downwards, at this time the temperature, salt and depth instrument slides out and falls into the sea due to the forward tilt of the launching tube 48;

After throwing in, the swing arm drive motor 49 drives the firing gun casing 29 to get back in the casing 1, the linkage lever 283 swings forward, and the flipping drive extension spring 284 drives the flipping lever 281 to drive the firing gun casing 29 to reset to a horizontal state, and the Clamping drive motor 20 drives launching tube holding hand 21 to loosen, and empty launching tube 48 is dropped in the empty launching tube storage compartment 7, and empty launching tube push plate 47 swings left and right under the drive of pallet conveying motor 44, pushes and arranges the empty space. The launching tube 48; Launching gun housing 29 gets back to initial position afterwards;

The tray conveying motor 44 drives the tray conveying hook 46 to move to the left again, the hook breaks away from the buckle hole 451 and reaches the position of the left buckle hole 451, drives the tray 45 to move to the left again, and repeats the above steps;

After all the launching tubes 48 on the tray 45 are put in, 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 respectively drive the two tray trays 36 to swing downward. , so that the empty tray 45 falls into the tray storage compartment 6 below, and at the same time the tray lifting motor 40 is started again, and the uppermost tray 45 is lifted between the two tray limit guide rails 38;

After all launch tubes 48 have been put in completely, the tray storage hatch 3 and the empty launch tube storage hatch 4 can be opened, and empty pallets 45 and empty launch tubes 48 are all taken out.

As stated above, while the invention has been shown and described with reference to certain 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 invention as defined by the appended claims.

Claims (9)

1. A ship-based automatic detection equipment for ocean temperature, salt and depth profiles, characterized in that it includes a box body (1), an equipment chassis, a pallet lifting drive mechanism, a launch gun, a detector lifting transmission mechanism, and a plurality of launch tubes (48 ) and multiple temperature and salinity depth instruments; The box body (1) is installed on the equipment chassis with a cover, and the equipment chassis is matched with different heights of the ship's side for docking and fixing; each temperature, salt and depth instrument is placed in each launch tube (48); the tray lifting drive mechanism is installed on the box body In (1), a plurality of trays (45) are stacked on the tray lifting 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 lifting drive mechanism; Both the transmission mechanism and the launch gun are installed in the box body (1), and each launch tube (48) is lifted up by the detector holding the transfer mechanism, and the launch gun grabs the launch tube (48) and puts it into the temperature, salt and depth instrument. Empty launch tube (48) is released in the casing (1) again; The detector lifting transmission mechanism includes a tray (45), a translational drive unit, a detector lifting unit, a tray release unit, a 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 support plate (301) is fixed on the upper side of the load-bearing base plate (50) of the equipment chassis; two tray limit guide rails (38) are fixed on the Y-shaped support plate (301) The upper ends of the two branch plates are 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 rails (38) for supporting the tray (45) ); Buckle holes (451) are arranged at intervals on the front and rear edges of the tray (45); the tray transfer motor (44) is installed on one of the tray limit guide rails (38); on the tray transfer motor (44) 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 transmission hook (46) is hinged on the hook rocker (441), and the lower edge of the tray transmission hook (46) is provided with a hook for hooking the buckle hole (451); the tray release unit is installed on the Y-shaped support plate (301), for Drive the two pallet support plates (36) to swing to make the pallet (45) fall; the detector lifting unit is installed on the Y-shaped bracket plate (301), and is used to lift the launch tube (48) on the pallet (45) upward ; A tray take-out window is provided on the rear side wall of the box body (1), and a tray storage hatch (3) for closing the tray take-out window is hinged on the back side of the box body (1). 2. The ship-based automatic detection equipment for ocean temperature, salinity and depth profiles according to claim 1, characterized in that: the equipment chassis includes a load-bearing base plate (50), a chassis lifting rod (17), a chassis lifting motor (19), a lifting drive wire Rod (18), lifting linkage pull bar (16), directional caster lifting shaft (131), two directional casters (13) and two universal casters (14); Two swivel casters (14) are respectively installed at two corners on the same side of the lower side of the load-bearing base plate (50); a swivel seat (136 ); the two ends of the directional caster lifting shaft (131) are respectively rotatably mounted on two swivel seats (136); the two directional casters (13) are respectively fixed on the directional caster lifting shaft (131) on the two ends of the chassis lifting rod (17) vertically sliding through the bearing base plate (50); the lower end of the lifting drive screw rod (18) is screwed with coaxial threads on the upper end of the chassis lifting rod (17); the chassis lifting The motor (19) is used to drive the lifting drive screw (18) to rotate; two lifting connecting rods (134) are hinged on one end of the lifting linkage pull rod (16); the ends of the two lifting connecting rods (134) are hinged respectively 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 pull rod (16) is hinged on the swinging on the seat (132). 3. The ship-based automatic detection equipment for ocean temperature, salt and depth profiles according to claim 2, characterized in that: the tray lifting drive mechanism includes a tray lifting motor (40), a lifting spindle (42), two lifting gears (41), Two lifting racks (43) and two pallet lifting forks (39); Two rack mounting rods (431) are vertically installed on the front edge of the left side of the bearing base plate (50); two lifting racks (43) are installed on the two rack mounting rods (431) respectively; The lifting fork (39) is L-shaped; the vertical sections of the two pallet lifting forks (39) are vertically slidably installed on the two rack mounting rods (431); the left and right ends of the lifting main shaft (42) rotate respectively installed on the two pallet lifting forks (39); the two lifting gears (41) are installed on the lifting main shaft (42), and the two lifting gears (41) are respectively meshed with the two lifting racks (43) The pallet lifting motor (40) is used to drive the lifting main shaft (42) to rotate; each pallet (45) is stacked on the horizontal section of two pallet lifting forks (39); There is a tray to put the window, and the temperature, salt and depth meter storage compartment watertight door (11) for closing the tray to put the window is hinged on the left side of the casing (1). 4. The marine temperature, salinity and depth profile ship-based automatic detection equipment according to claim 1 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 push plate (47) of the empty launch tube to swing left and right through the crank rocker mechanism; The right wall of the casing (1) is provided with a launch tube taking-out window, and is hinged with an empty launch tube storage hatch (4) for sealing the launch tube taking-out window on the right side of the casing (1). 5. The ship-based automatic detection equipment for ocean temperature, salinity and depth profiles according to claim 1, characterized in that: the tray release unit includes a tray release slide rail (37), a tray release motor (34) and two pallet turning pull rods ( 35); The tray release slide rail (37) is vertically slidably installed on the Y-shaped support plate (301); the tray release motor (34) is installed on the Y-shaped support plate (301), and drives the tray release slide rail through the crank rocker structure (37) slide up and down; The lower ends of two supporting plate turnover pull bars (35) are all hinged on the pallet releasing slide rail (37), and the upper ends are respectively hinged on the two pallet supporting plates (36). 6. The ship-based automatic detection equipment for ocean temperature, salinity and depth profiles according to claim 1, characterized in that: the detector lifting unit includes a detector lifting motor (30) and two lifting transfer forks (33); Two buckle ribs (453) are horizontally arranged on the tray (45); a plurality of semicircular draw-in slots (454) are evenly spaced on the two buckle ribs (453); each launch tube ( 48) respectively placed on the two semicircular card slots (454) corresponding to the front and back, and the positions of the semicircular card slots (454) correspond to the positions of each buckle hole (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 installed on the Y-shaped support plate (301), and the detector lifting motor (30) is a double output shaft motor; 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 support plate (301) The two lifting transmission forks (33) are vertically slidably installed on two auxiliary plates (302) respectively; the upper ends of the two lifting rocking bars (32) are hinged on the two lifting transmission forks (33) On the lower end, the upper ends used to drive the two lifting transfer forks (33) extend synchronously above the pallet (45) through the corresponding lifting holes (452) at the two front and rear positions respectively. 7. The ship-based automatic detection equipment for ocean temperature, salinity and depth profiles according to claim 1, characterized in that: the launch gun comprises a launch gun shell (29), a clamping unit and a position adjustment unit; the position adjustment unit comprises a swing arm drive motor (49), swing arm connecting plate (285) and two parallel swing arms (28); The upper side of the front side of the box body (1) is provided with a swing arm protruding window; on the right side edge of the load base plate (50), two support rods are vertically installed; the right ends of the two parallel swing arms (28) are respectively Hinged on two support rods, 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 stretch out the window through the swing arm. out of the casing (1); the firing 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) stretches out of the casing (1), the downward turning linkage structure Drive the firing gun casing (29) to swing downward; the clamping unit is installed on the firing gun casing (29), and is used to clamp the launch tube (48) lifted by the lifting unit of the detector; A firing gun parallel swing arm door (2) for closing the swing arm stretching out window is hinged on the front side. 8. The ship-based automatic detection equipment for ocean temperature, salinity and depth profiles according to claim 7, characterized in that: the clamping unit includes a clamping drive motor (20), two hand holding slide rails (24) and four launch tubes Holding hands (21); two holding hands slide rails (24) are all longitudinally installed on the launch gun shell (29); four launch tube holding hands (21) are installed in two holding hands slide rails (24) respectively above, and the launch tube grips (21) corresponding to the left and right positions of the two groups are all used to clamp the launch tube (48); the upper ends of the two launch tube grips (21) on the same grip rail (24) pass through A connection plate (211) is connected; the clamping drive motor (20) is a double 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 the clamping crank (23); the ends of the two clamping rockers (22) are respectively hinged on the two connecting plates (211); Between the plate (211) is connected with holding hand tension spring; Limit plate (26) is longitudinally installed on the launch gun shell (29), and limit groove is arranged symmetrically on the left and right side edges of limit plate (26); An outer spherical roller (27) that walks along the edge of the limit plate (26) is rotatably installed on the opposite sides of the two connecting plates (211); the rear side of the firing gun shell (29) is longitudinally slidably provided with a docking terminal Seat (251); Data transmission docking terminal (25) is provided on the front side of docking terminal block (251); Elastic support has a Balance spring; the rear end of each launch tube (48) is provided with a data transmission docking interface for conductive connection with the data transmission docking terminal (25). 9. The ship-based automatic detection equipment for ocean temperature, salinity and depth profiles according to claim 7, characterized in that: the downturning linkage structure includes a turning shaft (286), a turning lever (281) and a linkage rod (282); The turning shaft (286) is fixed on the right side of the firing gun housing (29), and the end rotatable runs through the swing arm connecting plate (285); on the end; between the other end of the turning lever (281) and the swing arm connecting plate (285), there is a turning driving tension spring (284); On the arm (28); a linkage lever (283) for extruding the overturning lever (281) is arranged on the linkage lever (282). When the linkage lever (283) swings backward, the extrusion overturning lever When the lever (281) swings backward, the front side of the firing gun housing (29) swings downwards, and when the linkage lever (283) swings forward, the overturn drive extension spring (284) drives the overturn lever (281) to reset, Launching gun casing (29) resets.