CN205437730U - Three -dimensional heavily loaded coordinated control device of large -scale liquefied natural gas module - Google Patents
Three -dimensional heavily loaded coordinated control device of large -scale liquefied natural gas module Download PDFInfo
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- CN205437730U CN205437730U CN201521010659.1U CN201521010659U CN205437730U CN 205437730 U CN205437730 U CN 205437730U CN 201521010659 U CN201521010659 U CN 201521010659U CN 205437730 U CN205437730 U CN 205437730U
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Abstract
The utility model discloses a three -dimensional heavily loaded coordinated control device of large -scale liquefied natural gas module, it includes supporting platform, install a running gear in supporting platform's front side, install two running gear at supporting platform's rear side, each running gear all includes the fixed walking pneumatic cylinder that links to each other with supporting platform, the hydraulic stem bottom of walking pneumatic cylinder is connected with the gyro wheel, it rises pneumatic cylinder and two vice pneumatic cylinders that the hydraulic stem set up along the horizontal direction along the main roof that vertical direction set up to install a hydraulic stem on supporting platform, the hydraulic stem of two vice pneumatic cylinders sets up perpendicularly each other, and the hydraulic stem of one of them vice pneumatic cylinder links to each other through the round pin axle rotation that sets up along vertical direction with the cylinder body that main roof rose the pneumatic cylinder, the cylinder body that the hydraulic stem and the main roof of another pair pneumatic cylinder rose the pneumatic cylinder links to each other through the pivort fixation who sets up along the horizontal direction, the hydraulic stem that main roof rose the pneumatic cylinder is used for supporting large -scale liquefied natural gas module. Adopt this device to satisfy the precision and the efficiency of butt joint.
Description
Technical field
This utility model relates to docking facilities, particularly relates to large-scale liquefied natural gas module three-dimensional heavy duty cooperative control device.
Background technology
Traditional docking technique such as body section manufacture docking is mainly realized by crane, but large-scale liquefied natural gas module has, and volume is big, quality heavy, baroque feature, if or it is low to carry out docking not only efficiency with crane, precision is the highest, and there is potential safety hazard in implementation process, the most traditional method has been difficult to meet field demand；And large-scale liquefied natural gas module three-dimensional heavy duty docking belongs to Advanced Production Paradigms Towards and advanced manufacturing technology, is considered as most important link on production line by various countries and falls over each other research and development.
Summary of the invention
The purpose of this utility model is to overcome existing shortcoming, it is provided that a kind of high accuracy and the large-scale liquefied natural gas module three-dimensional heavy duty cooperative control device of high efficiency docking.
nullLarge-scale liquefied natural gas module three-dimensional heavy duty cooperative control device of the present utility model，It includes support platform，Installed in front in described support platform has a walking mechanism，Rear side in described support platform is provided with two walking mechanisms，Each walking mechanism all includes the walking hydraulic cylinder being fixedly linked with support platform，The hydraulic stem of described walking hydraulic cylinder is vertically arranged and bottom connection has roller，Described support platform is provided with main jacking hydraulic cylinder that a hydraulic stem vertically arranges and the horizontally disposed secondary hydraulic cylinder of two hydraulic stems，The hydraulic stem of two secondary hydraulic cylinders is arranged substantially perpendicular to each other，And one of them secondary hydraulic stem of hydraulic cylinder is rotatedly connected by the bearing pin vertically arranged with the cylinder body of main jacking hydraulic cylinder，Another secondary hydraulic stem of hydraulic cylinder is fixedly linked by horizontally disposed bearing pin with the cylinder body of main jacking hydraulic cylinder，The hydraulic stem of described main jacking hydraulic cylinder is used for supporting large-scale liquefied natural gas module.
Use this utility model device, docked by the three-dimensional of large-scale liquefied natural gas module selecting suitable hydraulic cylinder to can be achieved with upper kiloton for each degree of freedom, and under conditions of ensureing field joint safety, meet precision and the efficiency of docking.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of this utility model large-scale liquefied natural gas module three-dimensional heavy duty cooperative control device；
Fig. 2 is the horizontal direction schematic diagram of mechanism of this utility model large-scale liquefied natural gas module three-dimensional heavy duty cooperative control device；
Fig. 3 is the hydraulic schematic diagram of this utility model large-scale liquefied natural gas module three-dimensional heavy duty cooperative control device；
Fig. 4 is the hydraulic cylinder layout drawing of this utility model large-scale liquefied natural gas module three-dimensional heavy duty cooperative control device.
Detailed description of the invention
Below in conjunction with detailed description of the invention, the utility model is described in further detail.
nullLarge-scale liquefied natural gas module three-dimensional heavy duty cooperative control device the most of the present utility model，It includes support platform 3，Installed in front in described support platform 3 has a walking mechanism 4，Rear side in described support platform 3 is provided with two walking mechanisms，Each walking mechanism 4 all includes the walking hydraulic cylinder 5 being fixedly linked with support platform 3，The hydraulic stem of described walking hydraulic cylinder 5 is vertically arranged and bottom connection has roller，Described support platform is provided with main jacking hydraulic cylinder 2 that a hydraulic stem vertically arranges and the horizontally disposed secondary hydraulic cylinder 1 of two hydraulic stems，The hydraulic stem of two secondary hydraulic cylinders 1 is arranged substantially perpendicular to each other，And one of them secondary hydraulic stem of hydraulic cylinder 1 is rotatedly connected by the bearing pin vertically arranged with the cylinder body of main jacking hydraulic cylinder 2，Another secondary hydraulic stem of hydraulic cylinder 1 is fixedly linked by horizontally disposed bearing pin with the cylinder body of main jacking hydraulic cylinder 2.The hydraulic stem of described main jacking hydraulic cylinder 2 is used for supporting large-scale liquefied natural gas module.
In conjunction with each width figure, the present invention is described in detail below:
The top adjusting module of device as whole in Fig. 1 is made up of the main jacking hydraulic cylinder of vertical direction and two secondary hydraulic cylinders of horizontal direction.Simultaneously in order to meet degree of freedom requirement, in fig. 2 the schematic diagram of mechanism of device horizontal direction is illustrated, is specially and is rigidly connected using between secondary hydraulic cylinder and the main jacking hydraulic cylinder in some direction, make this pair hydraulic cylinder can only translation in horizontal plane；And bearing will be used between the secondary hydraulic cylinder of other direction with main jacking hydraulic cylinder to be connected, make this pair hydraulic cylinder planar to rotate around main jacking hydraulic cylinder.Thus make main jacking hydraulic cylinder can realize the translation of two degree of freedom in horizontal plane by two secondary hydraulic cylinders, add the motion of main jacking hydraulic cylinder vertical direction simultaneously, finally make this device realize the motion of three degree of freedom.So the displacement in direction to be adjusted of each adjusting apparatus can be determined by controlling the stroke of three hydraulic cylinders of main jacking hydraulic cylinder and two secondary hydraulic cylinders.
nullAs shown in Figure 3，Preferred three walking hydraulic cylinders 5、The hydraulic control architectures of two secondary hydraulic cylinders 1 and main jacking hydraulic cylinder 2 is: a main line is sequentially connected with fuel tank 1-1、Drainage screen 1-2、Hydraulic pump 1-3 and check valve 1-5，The main line being positioned at described check valve 1-5 rear end is divided into first、Second branch road，At hydraulic pump 1-3、Connected by side pipe on main line between check valve 1-5 and have overflow valve 1-4，The first described branch road is divided into the 3rd after being sequentially connected with the oil suction chamber of three position four-way electromagnetic valve 1-6 and left chamber working chamber、4th branch road，The 3rd described branch road passes through the first flow divider-combiner 1-7 respectively with first、The rodless cavity of the second walking hydraulic cylinder 5 is connected，Described first、The rod chamber of the second walking hydraulic cylinder 5 is connected with the right chamber working chamber of three position four-way electromagnetic valve 1-6 and first oil-in of the second flow divider-combiner by pipeline respectively，The 4th described branch road is walked the rodless cavity of hydraulic cylinder 5 and is connected with the third line，Described the third line is walked the rod chamber of hydraulic cylinder 5 and is connected by second oil-in of pipeline and the second flow divider-combiner，The right chamber working chamber of three position four-way electromagnetic valve 1-6 is connected by the oil-out of pipeline and the second flow divider-combiner；The second described branch road is connected with two secondary hydraulic cylinders 1 and main jacking hydraulic cylinder 2 respectively by three groups of oil circuits that structure is identical, three groups of described oil circuits all include the electrohydraulic servo valve 1-13 that oil suction chamber and the second branch road are connected, the left chamber working chamber of described electrohydraulic servo valve 1-13 is sequentially connected with the first hydraulic control one-way valve and the rodless cavity of main jacking hydraulic cylinder 2 by the 5th branch road, the right chamber working chamber of described electrohydraulic servo valve 1-13 is sequentially connected with the second hydraulic control one-way valve and the rod chamber of main jacking hydraulic cylinder 2 by the 6th branch road, oil circuit control and the 6th branch road of the first described hydraulic control one-way valve are connected, oil circuit control and the 5th branch road of the second described hydraulic control one-way valve are connected.
In system work process, hydraulic pump 1-3 provides pressure oil liquid, first adjusting apparatus position is needed, by the three of walking mechanism piston rod elongations, therefore initiateing three electrohydraulic servo valve 1-13 and be in middle position, three position four-way electromagnetic valve 1-6 is electricly controlled, to the rodless cavity fuel feeding of three walking hydraulic cylinders, and utilize two flow divider-combiner 1-7 to realize the synchronization of speed during three hydraulic cylinders, thus ensure the synchronicity of displacement roughly.After being placed by device, need to be regained by three piston rods, therefore three position four-way electromagnetic valve is electricly reverse, to the rod chamber fuel feeding of three walking hydraulic cylinders, realizes the synchronicity of displacement also with two flow divider-combiner 1-7.
This device in use needs to use multiple simultaneously, specific works process is: select to need to use during once adjusting the quantity of this device according to the size of docking module quality, assume altogether to select 10 these devices during once adjusting, device is divided into two row, every string places 5 these devices respectively, then the module segmentation of docking is placed on the main jacking hydraulic cylinder of 10 devices, by controlling the displacement of each hydraulic cylinder thus the displacement of the top to bottom, left and right, front and rear of the module that achieves a butt joint and corresponding elevating movement.
As shown in Figure 4, owing to relating to the adjustment of six-freedom degree in docking during adjusting, it is therefore desirable to will combine docking to multiple devices, this adjustment amount being accomplished by knowing each hydraulic cylinder during specifically adjusting.Therefore specify o0The adjusting apparatus at place is as reference, then the position of other adjusting apparatus can be obtained by coordinate transform, it is possible to obtains the adjustment deviation of each adjusting apparatus.
Therefore, to PoiCarry out coordinate transform, wherein PoiFor the centre coordinate of i-th device main jacking hydraulic cylinder, obtain at o through coordinate transform0Coordinate figure P before the adjustment of place's i-th device main jacking hydraulic cylinderwiFor:
Can be obtained homogeneous transform matrix by rigid body homogeneous transformation is:
R in formulaαFor around X, Y, 3 × 3 rotational transformation matrix of Y-axis rotation alpha, wherein X, Y, Z axis coordinate system meets cartesian coordinate system, and direction is along the direction of each hydraulic cylinder during first conditioning unit original state.
Wherein the spin matrix around X, Y, Z is respectively as follows:
In formula, P is that translation matrix is:
So the coordinate figure after the main jacking hydraulic cylinder of i-th device adjusts is:
P′wi=0TiPwi=0T1 1TiPwi
P ' in formulawiThe coordinate figure at the main jacking hydraulic pressure center of i-th device after adjusting for docking,0T1It is the main jacking hydraulic cylinder centre coordinate coordinate transform relative to reference center of the 1st device,1TiFor the main jacking hydraulic pressure center of i-th device relative to the coordinate transform of the main jacking hydraulic cylinder centre coordinate of the 1st device.
When whole coordination controls as translation transformation,1TiFor:
When whole coordination controls as rotation transformation,1TiFor:
Wherein, Rα3 × 3 rotational transformation matrix for the α that pivots.
So the adjustment amount that can obtain each device is:
ΔPwi=P 'wi-Pwi=(0T1 1Ti-E)Pwi。
Claims (2)
- nullThe most large-scale liquefied natural gas module three-dimensional heavy duty cooperative control device，It is characterized in that: it includes support platform，Installed in front in described support platform has a walking mechanism，Rear side in described support platform is provided with two walking mechanisms，Each walking mechanism all includes the walking hydraulic cylinder being fixedly linked with support platform，The hydraulic stem of described walking hydraulic cylinder is vertically arranged and bottom connection has roller，Described support platform is provided with main jacking hydraulic cylinder that a hydraulic stem vertically arranges and the horizontally disposed secondary hydraulic cylinder of two hydraulic stems，The hydraulic stem of two secondary hydraulic cylinders is arranged substantially perpendicular to each other，And one of them secondary hydraulic stem of hydraulic cylinder is rotatedly connected by the bearing pin vertically arranged with the cylinder body of main jacking hydraulic cylinder，Another secondary hydraulic stem of hydraulic cylinder is fixedly linked by horizontally disposed bearing pin with the cylinder body of main jacking hydraulic cylinder，The hydraulic stem of described main jacking hydraulic cylinder is used for supporting large-scale liquefied natural gas module.
- nullLarge-scale liquefied natural gas module three-dimensional heavy duty cooperative control device the most according to claim 1，It is characterized in that: three walking hydraulic cylinders、The hydraulic control architectures of two secondary hydraulic cylinders and main jacking hydraulic cylinder is: a main line is sequentially connected with fuel tank、Drainage screen、Hydraulic pump and check valve，The main line being positioned at described check valve rear end is divided into first、Second branch road，At hydraulic pump、Connected by side pipe on main line between check valve and have overflow valve，The first described branch road is divided into the 3rd after being sequentially connected with the oil suction chamber of three position four-way electromagnetic valve and left chamber working chamber、4th branch road，The 3rd described branch road passes through the first flow divider-combiner respectively with first、The rodless cavity of the second walking hydraulic cylinder is connected，Described first、The rod chamber of the second walking hydraulic cylinder is connected with the right chamber working chamber of three position four-way electromagnetic valve and first oil-in of the second flow divider-combiner by pipeline respectively，The 4th described branch road is walked the rodless cavity of hydraulic cylinder and is connected with the third line，Described the third line is walked the rod chamber of hydraulic cylinder and is connected by second oil-in of pipeline and the second flow divider-combiner，The right chamber working chamber of three position four-way electromagnetic valve is connected by the oil-out of pipeline and the second flow divider-combiner；The second described branch road is connected with two secondary hydraulic cylinders and main jacking hydraulic cylinder respectively by three groups of oil circuits that structure is identical, three groups of described oil circuits all include the electrohydraulic servo valve that oil suction chamber and the second branch road are connected, the left chamber working chamber of described electrohydraulic servo valve is sequentially connected with the first hydraulic control one-way valve and the rodless cavity of main jacking hydraulic cylinder by the 5th branch road, the right chamber working chamber of described electrohydraulic servo valve is sequentially connected with the second hydraulic control one-way valve and the rod chamber of main jacking hydraulic cylinder by the 6th branch road, oil circuit control and the 6th branch road of the first described hydraulic control one-way valve are connected, oil circuit control and the 5th branch road of the second described hydraulic control one-way valve are connected.
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| CN201521010659.1U CN205437730U (en) | 2015-12-08 | 2015-12-08 | Three -dimensional heavily loaded coordinated control device of large -scale liquefied natural gas module |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107052771A (en) * | 2017-05-18 | 2017-08-18 | 江苏电力装备有限公司 | Heavy caliber secondary filter assembling rotation platform |
| CN109537897A (en) * | 2019-01-23 | 2019-03-29 | 温州广德建设有限公司 | Jacking type Building block construction method |
| CN114248061A (en) * | 2021-11-16 | 2022-03-29 | 海洋石油工程（青岛）有限公司 | Novel process for lengthening large jacket steel pile |
-
2015
- 2015-12-08 CN CN201521010659.1U patent/CN205437730U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107052771A (en) * | 2017-05-18 | 2017-08-18 | 江苏电力装备有限公司 | Heavy caliber secondary filter assembling rotation platform |
| CN107052771B (en) * | 2017-05-18 | 2024-02-20 | 江苏电力装备有限公司 | Rotary platform for assembling large-caliber secondary filter screen |
| CN109537897A (en) * | 2019-01-23 | 2019-03-29 | 温州广德建设有限公司 | Jacking type Building block construction method |
| CN109537897B (en) * | 2019-01-23 | 2020-10-20 | 温州广德建设有限公司 | Jacking type assembling building construction method |
| CN114248061A (en) * | 2021-11-16 | 2022-03-29 | 海洋石油工程（青岛）有限公司 | Novel process for lengthening large jacket steel pile |
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