本發(fa)明(ming)涉及波(bo)浪(lang)能發(fa)電(dian)技術領域，具體地(di)指一種波(bo)浪(lang)發(fa)電(dian)平臺升(sheng)降(jiang)轉向智能調節控制(zhi)系統。

背景技術：

海(hai)洋(yang)波浪蘊藏(zang)著(zhu)巨大的(de)能(neng)(neng)(neng)(neng)量，全球有經(jing)濟(ji)價值的(de)波浪能(neng)(neng)(neng)(neng)開采量估計為(wei)1～10億(yi)千瓦，中國(guo)波浪能(neng)(neng)(neng)(neng)的(de)理論儲(chu)量為(wei)7000萬千瓦左右。波浪能(neng)(neng)(neng)(neng)發電(dian)系統可(ke)將波浪的(de)能(neng)(neng)(neng)(neng)量轉換(huan)為(wei)機(ji)械的(de)、氣(qi)壓的(de)或液壓的(de)能(neng)(neng)(neng)(neng)量，然后(hou)通(tong)過傳(chuan)動機(ji)構、氣(qi)輪機(ji)、水輪機(ji)或油(you)壓馬達驅(qu)動發電(dian)機(ji)發電(dian)。

在(zai)實(shi)際海(hai)域中(zhong)，發(fa)電(dian)(dian)(dian)裝置時刻面對各種不同的(de)(de)海(hai)浪(lang)情況，為(wei)保(bao)證(zheng)海(hai)平面、浪(lang)高(gao)(gao)、浪(lang)向發(fa)生變化(hua)時，能(neng)夠獲得較高(gao)(gao)的(de)(de)發(fa)電(dian)(dian)(dian)效率，波浪(lang)能(neng)發(fa)電(dian)(dian)(dian)系(xi)統需要進行姿態(tai)調(diao)(diao)整。現有的(de)(de)波浪(lang)能(neng)發(fa)電(dian)(dian)(dian)系(xi)統的(de)(de)姿態(tai)調(diao)(diao)整裝置，多(duo)采用(yong)單(dan)級液(ye)壓(ya)油缸，通(tong)(tong)過控制液(ye)壓(ya)泵(beng)的(de)(de)轉(zhuan)速和(he)轉(zhuan)向控制液(ye)壓(ya)油缸的(de)(de)上(shang)升(sheng)和(he)下(xia)降(jiang)速度；或者采用(yong)齒(chi)(chi)輪(lun)齒(chi)(chi)條相配合的(de)(de)升(sheng)降(jiang)系(xi)統，通(tong)(tong)過電(dian)(dian)(dian)機驅動齒(chi)(chi)輪(lun)帶動齒(chi)(chi)條上(shang)升(sheng)和(he)下(xia)降(jiang)實(shi)現波浪(lang)能(neng)發(fa)電(dian)(dian)(dian)系(xi)統的(de)(de)升(sheng)降(jiang)。

通過控(kong)制液壓泵的(de)轉(zhuan)速(su)和轉(zhuan)向控(kong)制液壓油缸的(de)上(shang)升和下降(jiang)(jiang)(jiang)速(su)度(du)；或者采(cai)用齒輪齒條相配合的(de)升降(jiang)(jiang)(jiang)系統均存在(zai)升降(jiang)(jiang)(jiang)行程有限的(de)問題，而(er)加大(da)升降(jiang)(jiang)(jiang)行程帶來高的(de)制造成本和大(da)的(de)能(neng)量消耗(hao)，同時(shi)，當波浪能(neng)發(fa)電系統下降(jiang)(jiang)(jiang)時(shi)需要動力源提(ti)供反(fan)力控(kong)制下降(jiang)(jiang)(jiang)速(su)度(du)，效率(lv)低。

技術實現要素：

本發明的(de)(de)目的(de)(de)是針對上述現有(you)中(zhong)存在的(de)(de)缺(que)陷，而提出一種波浪(lang)發電(dian)平臺升降轉向智能調節控制系統，大(da)幅提高了目前波浪(lang)發電(dian)裝(zhuang)置的(de)(de)可(ke)靠性(xing)、適應性(xing)，減少(shao)了裝(zhuang)置由(you)于(yu)波浪(lang)撞(zhuang)擊(ji)對框架造成的(de)(de)損傷以及升降轉向所消耗的(de)(de)能量(liang)。

為實現上述目的(de)，本發明所設計(ji)的(de)波浪(lang)發電平臺升(sheng)降轉向智能調節(jie)控制系統，其特殊(shu)之處在于，包括傳感器(qi)模塊(kuai)、控制器(qi)模塊(kuai)、驅動器(qi)模塊(kuai)和執(zhi)行機構。

所(suo)述傳(chuan)(chuan)感器(qi)(qi)模塊：包括用(yong)(yong)于采(cai)集浮子高度信(xin)(xin)息(xi)(xi)的(de)第三超(chao)(chao)聲(sheng)波(bo)傳(chuan)(chuan)感器(qi)(qi)、用(yong)(yong)于采(cai)集中法(fa)蘭升降(jiang)位移信(xin)(xin)息(xi)(xi)的(de)第一超(chao)(chao)聲(sheng)波(bo)傳(chuan)(chuan)感器(qi)(qi)和(he)用(yong)(yong)于采(cai)集下(xia)法(fa)蘭升降(jiang)位移信(xin)(xin)息(xi)(xi)的(de)第二超(chao)(chao)聲(sheng)波(bo)傳(chuan)(chuan)感器(qi)(qi)；用(yong)(yong)于采(cai)集裝置姿態信(xin)(xin)息(xi)(xi)的(de)陀螺儀、用(yong)(yong)于采(cai)集海面波(bo)浪方向的(de)波(bo)浪浮標(biao)；

所(suo)(suo)述控制(zhi)器(qi)(qi)模(mo)塊(kuai)：包括mcu，所(suo)(suo)述mcu用于(yu)根(gen)據傳感(gan)器(qi)(qi)模(mo)塊(kuai)采集的傳感(gan)信號(hao)運算處理，得到(dao)驅(qu)動信號(hao)控制(zhi)驅(qu)動器(qi)(qi)模(mo)塊(kuai)；

所述(shu)驅(qu)動(dong)器模塊：用于根據所述(shu)驅(qu)動(dong)信(xin)號向執(zhi)行機(ji)構發(fa)送控(kong)制(zhi)指令；

所述(shu)執行(xing)(xing)機構包(bao)括升(sheng)降(jiang)粗調(diao)(diao)支(zhi)(zhi)(zhi)路(lu)、升(sheng)降(jiang)細調(diao)(diao)支(zhi)(zhi)(zhi)路(lu)和馬達(da)支(zhi)(zhi)(zhi)路(lu)，所述(shu)升(sheng)降(jiang)粗調(diao)(diao)支(zhi)(zhi)(zhi)路(lu)用于根(gen)據驅(qu)動(dong)器模塊的(de)(de)(de)控(kong)制指(zhi)(zhi)令調(diao)(diao)節(jie)波(bo)(bo)浪發電(dian)平臺中(zhong)(zhong)升(sheng)降(jiang)粗調(diao)(diao)油缸的(de)(de)(de)行(xing)(xing)程；所述(shu)升(sheng)降(jiang)細調(diao)(diao)支(zhi)(zhi)(zhi)路(lu)用于根(gen)據驅(qu)動(dong)器模塊的(de)(de)(de)控(kong)制指(zhi)(zhi)令調(diao)(diao)節(jie)波(bo)(bo)浪發電(dian)平臺中(zhong)(zhong)升(sheng)降(jiang)細調(diao)(diao)油缸的(de)(de)(de)行(xing)(xing)程；所述(shu)馬達(da)支(zhi)(zhi)(zhi)路(lu)用于根(gen)據驅(qu)動(dong)器模塊的(de)(de)(de)控(kong)制指(zhi)(zhi)令調(diao)(diao)節(jie)波(bo)(bo)浪發電(dian)平臺的(de)(de)(de)旋(xuan)轉(zhuan)姿態(tai)。

進一步地(di)，所述執行機構還包(bao)括插(cha)銷支(zhi)路(lu)，用于(yu)(yu)根據(ju)驅動(dong)(dong)器模塊的(de)控(kong)制(zhi)指令調節插(cha)銷的(de)伸(shen)長、停止和縮短。該部分能夠快速響應插(cha)銷的(de)運動(dong)(dong)狀(zhuang)態，有效(xiao)地(di)保證了裝(zhuang)置升降與轉向的(de)穩定性與安全性。所述的(de)執行機構還包(bao)括電機，電機是整個(ge)裝(zhuang)置運動(dong)(dong)的(de)動(dong)(dong)力來(lai)源，用于(yu)(yu)驅動(dong)(dong)高壓液壓油在各條油路(lu)中流通。

更進一(yi)步(bu)地，所述執行機構還包括蓄(xu)(xu)(xu)(xu)能(neng)(neng)支路，所述蓄(xu)(xu)(xu)(xu)能(neng)(neng)支路包括蓄(xu)(xu)(xu)(xu)能(neng)(neng)器(qi)(qi)、第(di)(di)三(san)電磁球閥(fa)、第(di)(di)一(yi)單(dan)向(xiang)閥(fa)，所述蓄(xu)(xu)(xu)(xu)能(neng)(neng)器(qi)(qi)、第(di)(di)三(san)電磁球閥(fa)、第(di)(di)一(yi)單(dan)向(xiang)閥(fa)的控制端(duan)分別與(yu)驅動器(qi)(qi)模塊(kuai)的輸(shu)出端(duan)連(lian)接，所述蓄(xu)(xu)(xu)(xu)能(neng)(neng)支路向(xiang)馬達支路和插銷支路輸(shu)入高壓(ya)油。蓄(xu)(xu)(xu)(xu)能(neng)(neng)支路回收裝置下降(jiang)(jiang)時升降(jiang)(jiang)粗調油缸、升降(jiang)(jiang)細調油缸排(pai)出的液壓(ya)油(由重力(li)勢能(neng)(neng)轉換得到(dao))。用于插銷運動和裝置轉向(xiang)迎浪，提(ti)高能(neng)(neng)量利用率，同時使(shi)得蓄(xu)(xu)(xu)(xu)能(neng)(neng)器(qi)(qi)壓(ya)力(li)保持在(zai)設定范圍內。

更進一(yi)步地，所述傳(chuan)感(gan)(gan)器模塊還包括用(yong)于(yu)采(cai)集插(cha)銷(xiao)(xiao)孔(kong)18狀態信息的激光傳(chuan)感(gan)(gan)器4和用(yong)于(yu)采(cai)集插(cha)銷(xiao)(xiao)行程(cheng)信息的行程(cheng)開關，所述激光傳(chuan)感(gan)(gan)器成對對稱(cheng)安(an)裝于(yu)插(cha)銷(xiao)(xiao)孔(kong)兩側。激光傳(chuan)感(gan)(gan)器能(neng)(neng)耗低、線性度(du)好、精(jing)度(du)高，可以長期穩定工作，快(kuai)速響應裝置升降的位置信息，使(shi)得插(cha)銷(xiao)(xiao)能(neng)(neng)夠精(jing)確對準插(cha)銷(xiao)(xiao)孔(kong)。

更進(jin)一(yi)(yi)步地，所述升(sheng)降粗(cu)調支路(lu)包括第(di)一(yi)(yi)三(san)位(wei)四(si)通(tong)電(dian)磁(ci)換向閥(fa)、兩(liang)位(wei)三(san)通(tong)電(dian)磁(ci)球閥(fa)和(he)第(di)一(yi)(yi)電(dian)磁(ci)節流閥(fa)，所述第(di)一(yi)(yi)三(san)位(wei)四(si)通(tong)電(dian)磁(ci)換向閥(fa)、兩(liang)位(wei)三(san)通(tong)電(dian)磁(ci)球閥(fa)和(he)第(di)一(yi)(yi)電(dian)磁(ci)節流閥(fa)的控制端分(fen)別與驅動器模(mo)塊的輸出端連接。升(sheng)降粗(cu)調支路(lu)實現(xian)了一(yi)(yi)次一(yi)(yi)孔(kong)的升(sheng)降，運動過(guo)程(cheng)相對平穩，保證裝置在升(sheng)降過(guo)程(cheng)中工作的穩定(ding)性。

更進一(yi)步地，所述升降細(xi)調(diao)支(zhi)路(lu)包括(kuo)第(di)二(er)電(dian)磁節流閥、第(di)一(yi)電(dian)磁球(qiu)(qiu)閥、第(di)二(er)電(dian)磁球(qiu)(qiu)閥，所述第(di)二(er)電(dian)磁節流閥、第(di)一(yi)電(dian)磁球(qiu)(qiu)閥、第(di)二(er)電(dian)磁球(qiu)(qiu)閥的控制(zhi)端(duan)分別與驅動(dong)器模塊的輸出端(duan)連接。升降細(xi)調(diao)支(zhi)路(lu)實(shi)現了(le)在一(yi)個孔距內的無(wu)級調(diao)節，能夠滿足各種升降高度的要(yao)求，從而更好地適(shi)應(ying)海平面的變化，更充分地利用波(bo)浪能轉化為電(dian)能。

更進一步(bu)地，所述(shu)插銷支路包括(kuo)第(di)(di)二三(san)(san)(san)位(wei)(wei)四(si)通(tong)電(dian)磁(ci)換(huan)向閥(fa)、第(di)(di)三(san)(san)(san)三(san)(san)(san)位(wei)(wei)四(si)通(tong)電(dian)磁(ci)換(huan)向閥(fa)、第(di)(di)三(san)(san)(san)電(dian)磁(ci)節流閥(fa)，所述(shu)第(di)(di)二三(san)(san)(san)位(wei)(wei)四(si)通(tong)電(dian)磁(ci)換(huan)向閥(fa)、第(di)(di)三(san)(san)(san)三(san)(san)(san)位(wei)(wei)四(si)通(tong)電(dian)磁(ci)換(huan)向閥(fa)、第(di)(di)三(san)(san)(san)電(dian)磁(ci)節流閥(fa)的控制端分別與驅動器模塊的輸(shu)出(chu)端連接。

更進一步地(di)，所述馬達支(zhi)路包括第(di)(di)四(si)(si)三位(wei)四(si)(si)通電(dian)磁(ci)(ci)換(huan)向(xiang)閥和第(di)(di)四(si)(si)電(dian)磁(ci)(ci)節流(liu)閥，所述第(di)(di)四(si)(si)三位(wei)四(si)(si)通電(dian)磁(ci)(ci)換(huan)向(xiang)閥和第(di)(di)四(si)(si)電(dian)磁(ci)(ci)節流(liu)閥的(de)(de)控制(zhi)端分別與驅(qu)動器模塊的(de)(de)輸出(chu)端連接。

更進一步地，還(huan)包括三極(ji)管放大電(dian)(dian)(dian)路，所述(shu)三極(ji)管放大電(dian)(dian)(dian)路由npn型三極(ji)管和一個10k的(de)電(dian)(dian)(dian)阻組(zu)成(cheng)，用于為光電(dian)(dian)(dian)隔離放大器(qi)提供0～5v的(de)控制(zhi)信號，同(tong)時有(you)效保護(hu)了驅動電(dian)(dian)(dian)機(ji)的(de)控制(zhi)電(dian)(dian)(dian)路。

更進一(yi)步地，所述驅動(dong)(dong)器模塊基(ji)于光電(dian)(dian)隔離放(fang)大模塊實現(xian)，其中光電(dian)(dian)隔離放(fang)大模塊用于驅動(dong)(dong)電(dian)(dian)磁換(huan)向閥(fa)(fa)(fa)、電(dian)(dian)磁球閥(fa)(fa)(fa)個電(dian)(dian)磁節流閥(fa)(fa)(fa)和驅動(dong)(dong)裝置的電(dian)(dian)機(ji)。

本發(fa)明設計了一套閉(bi)環自(zi)適(shi)應(ying)控制系(xi)統，將(jiang)升(sheng)(sheng)降(jiang)轉(zhuan)向(xiang)集(ji)成在一個統一的(de)(de)(de)(de)閉(bi)環系(xi)統中(zhong)，可以(yi)實(shi)(shi)(shi)現裝(zhuang)(zhuang)置自(zi)適(shi)應(ying)的(de)(de)(de)(de)升(sheng)(sheng)降(jiang)轉(zhuan)向(xiang)動作；通(tong)過返回超(chao)聲波(bo)(bo)與(yu)陀螺儀的(de)(de)(de)(de)數據分(fen)析結果(guo)，可以(yi)實(shi)(shi)(shi)現對裝(zhuang)(zhuang)置實(shi)(shi)(shi)時(shi)狀(zhuang)態的(de)(de)(de)(de)監控。能(neng)夠實(shi)(shi)(shi)現升(sheng)(sheng)降(jiang)與(yu)轉(zhuan)向(xiang)的(de)(de)(de)(de)自(zi)適(shi)應(ying)變(bian)化，并通(tong)過反饋調節實(shi)(shi)(shi)現裝(zhuang)(zhuang)置的(de)(de)(de)(de)實(shi)(shi)(shi)時(shi)調控，充分(fen)有效的(de)(de)(de)(de)利用海洋波(bo)(bo)浪能(neng)。該(gai)發(fa)明大大提高了目前波(bo)(bo)浪發(fa)電裝(zhuang)(zhuang)置的(de)(de)(de)(de)可靠性(xing)、適(shi)應(ying)性(xing)，減少了裝(zhuang)(zhuang)置由(you)于波(bo)(bo)浪撞擊對框架造成的(de)(de)(de)(de)損傷以(yi)及升(sheng)(sheng)降(jiang)轉(zhuan)向(xiang)所消耗(hao)的(de)(de)(de)(de)能(neng)量；增大了波(bo)(bo)浪能(neng)源有效的(de)(de)(de)(de)利用率。

與現有技術相比(bi)，本(ben)發明的優點包括：

1)本發明(ming)在波浪發電平(ping)臺的(de)(de)裝(zhuang)置基礎(chu)上，設計了一套不限于本發明(ming)的(de)(de)閉(bi)環智能升降轉向(xiang)控制系統，該系統模塊化程(cheng)度高，可(ke)以實現裝(zhuang)置自適應的(de)(de)升降轉向(xiang)。

2)本發明可以實時監(jian)測(ce)裝置的運行狀態(tai)，并且可以在出現(xian)問題時，進行緊急控制(zhi)，保障系統安全可靠。

3)本發明以實現裝置發電率(lv)最大化為目的，控制系統充分(fen)利(li)用了蓄能(neng)器的重力能(neng)，并網發電的部分(fen)能(neng)量(liang)實現自(zi)身能(neng)源自(zi)足(zu)，無需外界(jie)提供能(neng)源。

附圖說明

圖1為本發明設計的控(kong)制系(xi)統(tong)結構(gou)框圖。

圖(tu)2為本發(fa)明控制部分硬件電路結構圖(tu)。

圖3為(wei)本(ben)發明升(sheng)降(jiang)支路的驅動電路圖。

圖4為(wei)本(ben)發(fa)明插銷支路驅動電路圖。

圖5為本發明轉向(xiang)馬達支路驅動電路圖。

圖(tu)6為本發(fa)明升降(jiang)控制系(xi)統的(de)工作原理圖(tu)。

圖7為(wei)本發明轉向控制(zhi)系統的(de)工作原理圖。

圖(tu)8為波浪發電裝置(zhi)的整體機械結構(gou)圖(tu)。

圖(tu)9為超聲(sheng)波模(mo)塊安裝位置圖(tu)。

圖10為圖8中i處的局(ju)部放(fang)大圖。

圖11為(wei)波浪發電裝置油路系(xi)統圖。

圖12為(wei)裝(zhuang)置傳感(gan)器的(de)安(an)裝(zhuang)圖。

圖中(zhong)(zhong)：mcu1，陀螺儀(yi)2、第(di)(di)(di)(di)(di)(di)一(yi)(yi)超(chao)(chao)聲(sheng)波(bo)傳感器3.1、第(di)(di)(di)(di)(di)(di)二(er)超(chao)(chao)聲(sheng)波(bo)傳感器3.2、第(di)(di)(di)(di)(di)(di)三(san)(san)(san)超(chao)(chao)聲(sheng)波(bo)傳感器3.3)、激光(guang)傳感器4，行程開關(guan)5(其(qi)(qi)中(zhong)(zhong)：第(di)(di)(di)(di)(di)(di)一(yi)(yi)行程開關(guan)5.1，第(di)(di)(di)(di)(di)(di)二(er)行程開關(guan)5.2)，三(san)(san)(san)極管放大(da)電(dian)路(lu)6，驅(qu)動(dong)器模(mo)塊(kuai)7(其(qi)(qi)中(zhong)(zhong)：第(di)(di)(di)(di)(di)(di)一(yi)(yi)控制端(duan)～第(di)(di)(di)(di)(di)(di)十五控制端(duan)7.1～7.15)，升降粗(cu)調(diao)支(zhi)(zhi)路(lu)8(其(qi)(qi)中(zhong)(zhong)：第(di)(di)(di)(di)(di)(di)一(yi)(yi)三(san)(san)(san)位(wei)四通(tong)(tong)電(dian)磁(ci)(ci)換向(xiang)閥(fa)8.1，兩位(wei)三(san)(san)(san)通(tong)(tong)電(dian)磁(ci)(ci)球閥(fa)8.2，第(di)(di)(di)(di)(di)(di)一(yi)(yi)電(dian)磁(ci)(ci)節(jie)流(liu)閥(fa)8.3，升降驅(qu)動(dong)電(dian)路(lu)8.4)，升降細(xi)調(diao)支(zhi)(zhi)路(lu)9(其(qi)(qi)中(zhong)(zhong)：第(di)(di)(di)(di)(di)(di)二(er)電(dian)磁(ci)(ci)節(jie)流(liu)閥(fa)9.1、第(di)(di)(di)(di)(di)(di)一(yi)(yi)電(dian)磁(ci)(ci)球閥(fa)9.2a、第(di)(di)(di)(di)(di)(di)二(er)電(dian)磁(ci)(ci)球閥(fa)9.2b)，插銷支(zhi)(zhi)路(lu)10(其(qi)(qi)中(zhong)(zhong)：第(di)(di)(di)(di)(di)(di)二(er)三(san)(san)(san)位(wei)四通(tong)(tong)電(dian)磁(ci)(ci)換向(xiang)閥(fa)10.1a、第(di)(di)(di)(di)(di)(di)三(san)(san)(san)三(san)(san)(san)位(wei)四通(tong)(tong)電(dian)磁(ci)(ci)換向(xiang)閥(fa)10.1b、第(di)(di)(di)(di)(di)(di)三(san)(san)(san)電(dian)磁(ci)(ci)節(jie)流(liu)閥(fa)10.2)，轉向(xiang)馬達(da)支(zhi)(zhi)路(lu)11(其(qi)(qi)中(zhong)(zhong)：第(di)(di)(di)(di)(di)(di)四三(san)(san)(san)位(wei)四通(tong)(tong)電(dian)磁(ci)(ci)換向(xiang)閥(fa)11.1、第(di)(di)(di)(di)(di)(di)四電(dian)磁(ci)(ci)節(jie)流(liu)閥(fa)11.2)，蓄(xu)(xu)能支(zhi)(zhi)路(lu)12(其(qi)(qi)中(zhong)(zhong)：第(di)(di)(di)(di)(di)(di)三(san)(san)(san)電(dian)磁(ci)(ci)球閥(fa)12.1，第(di)(di)(di)(di)(di)(di)一(yi)(yi)單向(xiang)閥(fa)12.2，蓄(xu)(xu)能器12.3)，支(zhi)(zhi)承(cheng)柱13，上(shang)法蘭(lan)14，中(zhong)(zhong)法蘭(lan)15，插銷16(其(qi)(qi)中(zhong)(zhong)：上(shang)插銷16.1，下(xia)插銷16.2)，下(xia)法蘭(lan)17，插銷孔18，粗(cu)調(diao)油缸19，細(xi)調(diao)油缸20，波(bo)浪浮(fu)標21，外框架22，電(dian)機23，浮(fu)子24，回轉支(zhi)(zhi)承(cheng)25。

具體實施方式

以下結(jie)合附圖和具體(ti)實施例(li)對本(ben)發明作進一(yi)步的詳細描述。

如(ru)圖1所示，本發明(ming)一種波浪發電平臺升(sheng)降轉向智能(neng)調(diao)節控制系統，包括(kuo)傳感器(qi)模塊、控制器(qi)模塊、驅動器(qi)模塊和執行機構。

傳感(gan)器(qi)(qi)(qi)模塊(kuai)：包括用于(yu)(yu)(yu)采(cai)(cai)(cai)(cai)集(ji)浮(fu)子24高度信息(xi)(xi)的(de)(de)(de)(de)(de)(de)第(di)(di)(di)(di)三超(chao)聲(sheng)(sheng)(sheng)波(bo)(bo)(bo)(bo)傳感(gan)器(qi)(qi)(qi)3.3、用于(yu)(yu)(yu)采(cai)(cai)(cai)(cai)集(ji)裝(zhuang)(zhuang)置姿態信息(xi)(xi)的(de)(de)(de)(de)(de)(de)陀螺儀2、用于(yu)(yu)(yu)采(cai)(cai)(cai)(cai)集(ji)海(hai)面波(bo)(bo)(bo)(bo)浪(lang)(lang)方(fang)向(xiang)信息(xi)(xi)波(bo)(bo)(bo)(bo)浪(lang)(lang)浮(fu)標21；用于(yu)(yu)(yu)采(cai)(cai)(cai)(cai)集(ji)中(zhong)(zhong)法(fa)蘭(lan)(lan)15升降距(ju)離的(de)(de)(de)(de)(de)(de)第(di)(di)(di)(di)一超(chao)聲(sheng)(sheng)(sheng)波(bo)(bo)(bo)(bo)傳感(gan)器(qi)(qi)(qi)3.1，用于(yu)(yu)(yu)采(cai)(cai)(cai)(cai)集(ji)下法(fa)蘭(lan)(lan)17上升距(ju)離的(de)(de)(de)(de)(de)(de)第(di)(di)(di)(di)二超(chao)聲(sheng)(sheng)(sheng)波(bo)(bo)(bo)(bo)傳感(gan)器(qi)(qi)(qi)3.2；用于(yu)(yu)(yu)采(cai)(cai)(cai)(cai)集(ji)插(cha)(cha)銷(xiao)(xiao)孔18狀態信息(xi)(xi)的(de)(de)(de)(de)(de)(de)激光傳感(gan)器(qi)(qi)(qi)4和用于(yu)(yu)(yu)采(cai)(cai)(cai)(cai)集(ji)插(cha)(cha)銷(xiao)(xiao)16行(xing)程信息(xi)(xi)的(de)(de)(de)(de)(de)(de)行(xing)程開關5。裝(zhuang)(zhuang)置傳感(gan)器(qi)(qi)(qi)的(de)(de)(de)(de)(de)(de)安(an)裝(zhuang)(zhuang)圖(tu)如圖(tu)12所示(shi)，激光傳感(gan)器(qi)(qi)(qi)4安(an)裝(zhuang)(zhuang)在下插(cha)(cha)銷(xiao)(xiao)16.2的(de)(de)(de)(de)(de)(de)上部(bu)正對(dui)(dui)于(yu)(yu)(yu)支承柱13的(de)(de)(de)(de)(de)(de)中(zhong)(zhong)心線，成對(dui)(dui)對(dui)(dui)稱安(an)裝(zhuang)(zhuang)于(yu)(yu)(yu)插(cha)(cha)銷(xiao)(xiao)孔18兩(liang)側(ce)，b代(dai)表激光傳感(gan)器(qi)(qi)(qi)4發(fa)射端(duan)向(xiang)接收端(duan)發(fa)出(chu)激光的(de)(de)(de)(de)(de)(de)方(fang)向(xiang)，c代(dai)表插(cha)(cha)銷(xiao)(xiao)16插(cha)(cha)入支承柱13的(de)(de)(de)(de)(de)(de)插(cha)(cha)銷(xiao)(xiao)孔18的(de)(de)(de)(de)(de)(de)運動方(fang)向(xiang)；第(di)(di)(di)(di)一超(chao)聲(sheng)(sheng)(sheng)波(bo)(bo)(bo)(bo)傳感(gan)器(qi)(qi)(qi)3.1安(an)裝(zhuang)(zhuang)在上法(fa)蘭(lan)(lan)14的(de)(de)(de)(de)(de)(de)底部(bu)面對(dui)(dui)中(zhong)(zhong)法(fa)蘭(lan)(lan)15，圖(tu)中(zhong)(zhong)箭頭方(fang)向(xiang)a代(dai)表第(di)(di)(di)(di)一超(chao)聲(sheng)(sheng)(sheng)波(bo)(bo)(bo)(bo)3.1發(fa)射和接收聲(sheng)(sheng)(sheng)波(bo)(bo)(bo)(bo)的(de)(de)(de)(de)(de)(de)方(fang)向(xiang)，第(di)(di)(di)(di)二超(chao)聲(sheng)(sheng)(sheng)波(bo)(bo)(bo)(bo)傳感(gan)器(qi)(qi)(qi)3.2安(an)裝(zhuang)(zhuang)在中(zhong)(zhong)法(fa)蘭(lan)(lan)15的(de)(de)(de)(de)(de)(de)底部(bu)面對(dui)(dui)下法(fa)蘭(lan)(lan)17，d代(dai)表超(chao)聲(sheng)(sheng)(sheng)波(bo)(bo)(bo)(bo)3.2發(fa)射和接收聲(sheng)(sheng)(sheng)波(bo)(bo)(bo)(bo)的(de)(de)(de)(de)(de)(de)方(fang)向(xiang)。第(di)(di)(di)(di)三超(chao)聲(sheng)(sheng)(sheng)波(bo)(bo)(bo)(bo)傳感(gan)器(qi)(qi)(qi)3.3安(an)裝(zhuang)(zhuang)于(yu)(yu)(yu)外框架22的(de)(de)(de)(de)(de)(de)上端(duan)內部(bu)；第(di)(di)(di)(di)一行(xing)程開關5.1安(an)裝(zhuang)(zhuang)在上插(cha)(cha)銷(xiao)(xiao)16.1的(de)(de)(de)(de)(de)(de)插(cha)(cha)銷(xiao)(xiao)處，第(di)(di)(di)(di)二行(xing)程開關5.2安(an)裝(zhuang)(zhuang)在下插(cha)(cha)銷(xiao)(xiao)16.2的(de)(de)(de)(de)(de)(de)插(cha)(cha)銷(xiao)(xiao)處。

控(kong)制(zhi)器(qi)模塊：包括mcu1。控(kong)制(zhi)器(qi)模塊采集(ji)傳感器(qi)模塊的傳感信(xin)號，根據采集(ji)信(xin)號類型的不同，需(xu)要先進行(xing)濾波(bo)處(chu)理，防(fang)止存在工頻信(xin)號干擾，之后分別通過數字i/o和具(ju)有ad轉換功能的端口輸入芯片(pian)進行(xing)相應(ying)的運(yun)算(suan)處(chu)理，最(zui)終根據mcu1分析(xi)計算(suan)，運(yun)算(suan)處(chu)理后得到驅動信(xin)號控(kong)制(zhi)驅動器(qi)模塊7。

驅動(dong)器(qi)模(mo)(mo)塊7：用于向執行機(ji)構(gou)發(fa)送(song)控制(zhi)(zhi)指令。驅動(dong)器(qi)模(mo)(mo)塊7基(ji)于光電隔離放大模(mo)(mo)塊實(shi)現(xian)，具(ju)有多個輸出端(duan)，每一個輸出端(duan)獨立(li)發(fa)送(song)控制(zhi)(zhi)指令。

執行(xing)機(ji)構：包括升降(jiang)粗(cu)調支路(lu)(lu)(lu)(lu)8、升降(jiang)細(xi)調支路(lu)(lu)(lu)(lu)9、插(cha)銷支路(lu)(lu)(lu)(lu)10、馬達支路(lu)(lu)(lu)(lu)11、蓄能支路(lu)(lu)(lu)(lu)12和(he)電(dian)(dian)(dian)機(ji)23。升降(jiang)粗(cu)調支路(lu)(lu)(lu)(lu)8用(yong)(yong)于(yu)根據(ju)(ju)驅(qu)(qu)動(dong)器(qi)模塊(kuai)(kuai)7的(de)控(kong)制(zhi)(zhi)指令調節(jie)波浪發(fa)電(dian)(dian)(dian)平臺(tai)(tai)中(zhong)(zhong)升降(jiang)粗(cu)調油缸(gang)19的(de)行(xing)程(cheng)；升降(jiang)細(xi)調支路(lu)(lu)(lu)(lu)9用(yong)(yong)于(yu)根據(ju)(ju)驅(qu)(qu)動(dong)器(qi)模塊(kuai)(kuai)7的(de)控(kong)制(zhi)(zhi)指令調節(jie)波浪發(fa)電(dian)(dian)(dian)平臺(tai)(tai)中(zhong)(zhong)升降(jiang)細(xi)調油缸(gang)20的(de)行(xing)程(cheng)；馬達支路(lu)(lu)(lu)(lu)11用(yong)(yong)于(yu)根據(ju)(ju)驅(qu)(qu)動(dong)器(qi)模塊(kuai)(kuai)7的(de)控(kong)制(zhi)(zhi)指令調節(jie)波浪發(fa)電(dian)(dian)(dian)平臺(tai)(tai)的(de)旋轉姿態。插(cha)銷支路(lu)(lu)(lu)(lu)10，用(yong)(yong)于(yu)根據(ju)(ju)驅(qu)(qu)動(dong)器(qi)模塊(kuai)(kuai)7的(de)控(kong)制(zhi)(zhi)指令調節(jie)插(cha)銷16的(de)伸長、停止和(he)縮(suo)短。蓄能支路(lu)(lu)(lu)(lu)12包括蓄能器(qi)12.3、第(di)(di)三(san)電(dian)(dian)(dian)磁球閥(fa)12.1、第(di)(di)一(yi)單向閥(fa)12.2，蓄能器(qi)12.3、第(di)(di)三(san)電(dian)(dian)(dian)磁球閥(fa)12.1、第(di)(di)一(yi)單向閥(fa)12.2的(de)控(kong)制(zhi)(zhi)端分別與(yu)驅(qu)(qu)動(dong)器(qi)模塊(kuai)(kuai)7的(de)輸出端連接，蓄能支路(lu)(lu)(lu)(lu)12向馬達支路(lu)(lu)(lu)(lu)11和(he)插(cha)銷支路(lu)(lu)(lu)(lu)10輸入高壓(ya)油。電(dian)(dian)(dian)機(ji)23是(shi)整個裝置運動(dong)的(de)動(dong)力來源，用(yong)(yong)于(yu)驅(qu)(qu)動(dong)高壓(ya)液壓(ya)油在(zai)各(ge)條油路(lu)(lu)(lu)(lu)中(zhong)(zhong)流通。

如圖2所示，本(ben)(ben)發(fa)(fa)明(ming)的(de)(de)(de)(de)(de)硬件(jian)電(dian)(dian)(dian)路結(jie)構(gou)是以mcu1為(wei)核心(xin)的(de)(de)(de)(de)(de)。mcu1采用(yong)atmega328p芯片(pian)，該(gai)芯片(pian)也是arduinouno的(de)(de)(de)(de)(de)處理(li)芯片(pian)。陀螺儀2選用(yong)jy901，該(gai)模(mo)塊共有(you)6個引(yin)(yin)腳(jiao)(jiao)(jiao)，本(ben)(ben)發(fa)(fa)明(ming)選用(yong)串口(kou)(kou)通信(xin)方(fang)(fang)式，故(gu)選擇其(qi)中(zhong)(zhong)(zhong)的(de)(de)(de)(de)(de)vcc、gnd、rxd、txd；其(qi)中(zhong)(zhong)(zhong)rxd與mcu1的(de)(de)(de)(de)(de)3號(hao)(hao)引(yin)(yin)腳(jiao)(jiao)(jiao)相(xiang)連(lian)接(jie)(jie)，其(qi)中(zhong)(zhong)(zhong)txd與mcu1的(de)(de)(de)(de)(de)2號(hao)(hao)引(yin)(yin)腳(jiao)(jiao)(jiao)相(xiang)連(lian)接(jie)(jie)。超聲波(bo)模(mo)塊3基(ji)于(yu)us-100實現(xian)，在本(ben)(ben)發(fa)(fa)明(ming)中(zhong)(zhong)(zhong)工(gong)作在電(dian)(dian)(dian)平觸發(fa)(fa)模(mo)式(gpio模(mo)式)，其(qi)連(lian)接(jie)(jie)方(fang)(fang)式為(wei)trig連(lian)接(jie)(jie)到(dao)mcu1的(de)(de)(de)(de)(de)4號(hao)(hao)引(yin)(yin)腳(jiao)(jiao)(jiao)，echo連(lian)接(jie)(jie)到(dao)5號(hao)(hao)引(yin)(yin)腳(jiao)(jiao)(jiao)。工(gong)作過(guo)(guo)程中(zhong)(zhong)(zhong)需要在在trig/tx管(guan)腳(jiao)(jiao)(jiao)輸入一個10us以上的(de)(de)(de)(de)(de)高(gao)電(dian)(dian)(dian)平，超聲波(bo)傳感(gan)器(qi)(qi)3便可(ke)通過(guo)(guo)echo端(duan)(duan)(duan)輸出(chu)一高(gao)電(dian)(dian)(dian)平，可(ke)根據(ju)(ju)此高(gao)電(dian)(dian)(dian)平的(de)(de)(de)(de)(de)持續時間來(lai)計算(suan)距(ju)(ju)離(li)值(zhi)。即(ji)距(ju)(ju)離(li)值(zhi)為(wei)：(高(gao)電(dian)(dian)(dian)平時間*340m/s)/2。此距(ju)(ju)離(li)值(zhi)已經經過(guo)(guo)溫度校正，即(ji)不管(guan)溫度多少，聲速選擇340m/s即(ji)可(ke)。激(ji)(ji)(ji)光(guang)傳感(gan)器(qi)(qi)4分(fen)為(wei)激(ji)(ji)(ji)光(guang)發(fa)(fa)射端(duan)(duan)(duan)與激(ji)(ji)(ji)光(guang)接(jie)(jie)收(shou)(shou)端(duan)(duan)(duan)，其(qi)中(zhong)(zhong)(zhong)激(ji)(ji)(ji)光(guang)發(fa)(fa)射端(duan)(duan)(duan)只有(you)vcc和gnd兩個引(yin)(yin)腳(jiao)(jiao)(jiao)，激(ji)(ji)(ji)光(guang)接(jie)(jie)收(shou)(shou)端(duan)(duan)(duan)共有(you)三(san)(san)(san)(san)個引(yin)(yin)腳(jiao)(jiao)(jiao)vcc、gnd、output，故(gu)需要將引(yin)(yin)腳(jiao)(jiao)(jiao)output接(jie)(jie)入mcu1中(zhong)(zhong)(zhong)的(de)(de)(de)(de)(de)23號(hao)(hao)引(yin)(yin)腳(jiao)(jiao)(jiao)(亦即(ji)a0)。波(bo)浪浮標21采集波(bo)浪的(de)(de)(de)(de)(de)方(fang)(fang)向(xiang)信(xin)息(xi)，通過(guo)(guo)mcu1中(zhong)(zhong)(zhong)的(de)(de)(de)(de)(de)18號(hao)(hao)引(yin)(yin)腳(jiao)(jiao)(jiao)傳送信(xin)號(hao)(hao)。行(xing)程開關電(dian)(dian)(dian)路5需將輸出(chu)端(duan)(duan)(duan)接(jie)(jie)入mcu1中(zhong)(zhong)(zhong)的(de)(de)(de)(de)(de)24號(hao)(hao)引(yin)(yin)腳(jiao)(jiao)(jiao)(a1)，用(yong)于(yu)讀(du)取該(gai)開關的(de)(de)(de)(de)(de)狀態量(liang)。三(san)(san)(san)(san)極管(guan)放大電(dian)(dian)(dian)路6由npn型三(san)(san)(san)(san)極管(guan)和一個10k的(de)(de)(de)(de)(de)電(dian)(dian)(dian)阻組(zu)成(cheng)，用(yong)于(yu)為(wei)光(guang)電(dian)(dian)(dian)隔離(li)放大器(qi)(qi)提供0～5v的(de)(de)(de)(de)(de)控(kong)制(zhi)信(xin)號(hao)(hao)。npn型三(san)(san)(san)(san)極管(guan)的(de)(de)(de)(de)(de)基(ji)極端(duan)(duan)(duan)與mcu1的(de)(de)(de)(de)(de)17號(hao)(hao)管(guan)腳(jiao)(jiao)(jiao)相(xiang)連(lian)接(jie)(jie)，數字i/o口(kou)(kou)17輸出(chu)高(gao)低(di)電(dian)(dian)(dian)平來(lai)驅動三(san)(san)(san)(san)極管(guan)的(de)(de)(de)(de)(de)通斷，從而達到(dao)控(kong)制(zhi)電(dian)(dian)(dian)機驅動器(qi)(qi)的(de)(de)(de)(de)(de)目的(de)(de)(de)(de)(de)。驅動器(qi)(qi)模(mo)塊7的(de)(de)(de)(de)(de)控(kong)制(zhi)端(duan)(duan)(duan)引(yin)(yin)腳(jiao)(jiao)(jiao)分(fen)別接(jie)(jie)入到(dao)mcu1中(zhong)(zhong)(zhong)的(de)(de)(de)(de)(de)數字i/o口(kou)(kou)中(zhong)(zhong)(zhong)，圖中(zhong)(zhong)(zhong)對應(ying)的(de)(de)(de)(de)(de)連(lian)接(jie)(jie)引(yin)(yin)腳(jiao)(jiao)(jiao)位(wei)是6、11、12、13、14、15、17。另外在實際應(ying)用(yong)中(zhong)(zhong)(zhong)可(ke)根據(ju)(ju)需要增加(jia)數字控(kong)制(zhi)端(duan)(duan)(duan)口(kou)(kou)，需增加(jia)的(de)(de)(de)(de)(de)驅動器(qi)(qi)相(xiang)應(ying)的(de)(de)(de)(de)(de)連(lian)接(jie)(jie)在mcu1中(zhong)(zhong)(zhong)的(de)(de)(de)(de)(de)16、19、9、10號(hao)(hao)引(yin)(yin)腳(jiao)(jiao)(jiao)。若(ruo)有(you)需要還可(ke)將模(mo)擬i/o口(kou)(kou)25、26、27、28、1號(hao)(hao)引(yin)(yin)腳(jiao)(jiao)(jiao)設(she)置為(wei)數字輸出(chu)口(kou)(kou)用(yong)于(yu)驅動電(dian)(dian)(dian)路。

執行機構(gou)中升(sheng)降(jiang)(jiang)粗(cu)調支(zhi)路(lu)8和升(sheng)降(jiang)(jiang)細(xi)(xi)(xi)調支(zhi)路(lu)9的(de)驅(qu)動(dong)電(dian)(dian)(dian)(dian)(dian)(dian)路(lu)如圖3所示(shi)，升(sheng)降(jiang)(jiang)粗(cu)調支(zhi)路(lu)8包含(han)第(di)(di)(di)(di)(di)一三(san)(san)(san)位(wei)四(si)通(tong)(tong)(tong)(tong)電(dian)(dian)(dian)(dian)(dian)(dian)磁(ci)(ci)(ci)換(huan)(huan)向(xiang)閥(fa)(fa)(fa)8.1、兩(liang)(liang)(liang)位(wei)三(san)(san)(san)通(tong)(tong)(tong)(tong)電(dian)(dian)(dian)(dian)(dian)(dian)磁(ci)(ci)(ci)球閥(fa)(fa)(fa)8.2、第(di)(di)(di)(di)(di)一電(dian)(dian)(dian)(dian)(dian)(dian)磁(ci)(ci)(ci)節(jie)流閥(fa)(fa)(fa)8.3、升(sheng)降(jiang)(jiang)驅(qu)動(dong)電(dian)(dian)(dian)(dian)(dian)(dian)路(lu)8.4；其中升(sheng)降(jiang)(jiang)驅(qu)動(dong)電(dian)(dian)(dian)(dian)(dian)(dian)路(lu)8.4由驅(qu)動(dong)器、外置(zhi)(zhi)(zhi)220v強電(dian)(dian)(dian)(dian)(dian)(dian)、電(dian)(dian)(dian)(dian)(dian)(dian)磁(ci)(ci)(ci)閥(fa)(fa)(fa)塊組(zu)構(gou)成，每一個驅(qu)動(dong)器構(gou)成的(de)驅(qu)動(dong)電(dian)(dian)(dian)(dian)(dian)(dian)路(lu)均(jun)需要外置(zhi)(zhi)(zhi)電(dian)(dian)(dian)(dian)(dian)(dian)源，圖中便不一一表(biao)示(shi)出來(lai)。驅(qu)動(dong)器模塊7具有(you)多(duo)個控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)輸出端(duan)，第(di)(di)(di)(di)(di)一控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)端(duan)7.1控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)第(di)(di)(di)(di)(di)一三(san)(san)(san)位(wei)四(si)通(tong)(tong)(tong)(tong)電(dian)(dian)(dian)(dian)(dian)(dian)磁(ci)(ci)(ci)換(huan)(huan)向(xiang)閥(fa)(fa)(fa)8.1左(zuo)(zuo)邊(bian)(bian)的(de)電(dian)(dian)(dian)(dian)(dian)(dian)源，從(cong)而(er)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)第(di)(di)(di)(di)(di)一三(san)(san)(san)位(wei)四(si)通(tong)(tong)(tong)(tong)電(dian)(dian)(dian)(dian)(dian)(dian)磁(ci)(ci)(ci)換(huan)(huan)向(xiang)閥(fa)(fa)(fa)8.1左(zuo)(zuo)邊(bian)(bian)油路(lu)的(de)通(tong)(tong)(tong)(tong)斷(duan)(duan)；第(di)(di)(di)(di)(di)三(san)(san)(san)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)端(duan)7.3控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)第(di)(di)(di)(di)(di)一三(san)(san)(san)位(wei)四(si)通(tong)(tong)(tong)(tong)電(dian)(dian)(dian)(dian)(dian)(dian)磁(ci)(ci)(ci)換(huan)(huan)向(xiang)閥(fa)(fa)(fa)8.1右邊(bian)(bian)的(de)電(dian)(dian)(dian)(dian)(dian)(dian)源，從(cong)而(er)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)第(di)(di)(di)(di)(di)一三(san)(san)(san)位(wei)四(si)通(tong)(tong)(tong)(tong)電(dian)(dian)(dian)(dian)(dian)(dian)磁(ci)(ci)(ci)換(huan)(huan)向(xiang)閥(fa)(fa)(fa)8.1右邊(bian)(bian)油路(lu)的(de)通(tong)(tong)(tong)(tong)斷(duan)(duan)；第(di)(di)(di)(di)(di)二(er)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)端(duan)7.2控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)第(di)(di)(di)(di)(di)一電(dian)(dian)(dian)(dian)(dian)(dian)磁(ci)(ci)(ci)節(jie)流閥(fa)(fa)(fa)8.3的(de)通(tong)(tong)(tong)(tong)斷(duan)(duan)，調節(jie)升(sheng)降(jiang)(jiang)的(de)速(su)度(du)；第(di)(di)(di)(di)(di)四(si)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)端(duan)7.4控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)兩(liang)(liang)(liang)位(wei)三(san)(san)(san)通(tong)(tong)(tong)(tong)電(dian)(dian)(dian)(dian)(dian)(dian)磁(ci)(ci)(ci)球閥(fa)(fa)(fa)8.2的(de)左(zuo)(zuo)右通(tong)(tong)(tong)(tong)斷(duan)(duan)，一般兩(liang)(liang)(liang)位(wei)三(san)(san)(san)通(tong)(tong)(tong)(tong)電(dian)(dian)(dian)(dian)(dian)(dian)磁(ci)(ci)(ci)球閥(fa)(fa)(fa)8.2開通(tong)(tong)(tong)(tong)左(zuo)(zuo)邊(bian)(bian)，只有(you)在裝(zhuang)置(zhi)(zhi)(zhi)下降(jiang)(jiang)時(shi)兩(liang)(liang)(liang)位(wei)三(san)(san)(san)通(tong)(tong)(tong)(tong)電(dian)(dian)(dian)(dian)(dian)(dian)磁(ci)(ci)(ci)球閥(fa)(fa)(fa)8.2開通(tong)(tong)(tong)(tong)右邊(bian)(bian)。升(sheng)降(jiang)(jiang)細(xi)(xi)(xi)調支(zhi)路(lu)9包括第(di)(di)(di)(di)(di)二(er)電(dian)(dian)(dian)(dian)(dian)(dian)磁(ci)(ci)(ci)節(jie)流閥(fa)(fa)(fa)9.1、第(di)(di)(di)(di)(di)一電(dian)(dian)(dian)(dian)(dian)(dian)磁(ci)(ci)(ci)球閥(fa)(fa)(fa)9.2a、第(di)(di)(di)(di)(di)二(er)電(dian)(dian)(dian)(dian)(dian)(dian)磁(ci)(ci)(ci)球閥(fa)(fa)(fa)9.2b；第(di)(di)(di)(di)(di)五控(kong)(kong)(kong)(kong)(kong)(kong)終端(duan)7.5控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)第(di)(di)(di)(di)(di)一電(dian)(dian)(dian)(dian)(dian)(dian)磁(ci)(ci)(ci)球閥(fa)(fa)(fa)9.2a通(tong)(tong)(tong)(tong)斷(duan)(duan)來(lai)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)裝(zhuang)置(zhi)(zhi)(zhi)細(xi)(xi)(xi)調上(shang)升(sheng)，第(di)(di)(di)(di)(di)六控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)端(duan)7.6控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)第(di)(di)(di)(di)(di)二(er)電(dian)(dian)(dian)(dian)(dian)(dian)磁(ci)(ci)(ci)球閥(fa)(fa)(fa)9.2b通(tong)(tong)(tong)(tong)斷(duan)(duan)來(lai)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)裝(zhuang)置(zhi)(zhi)(zhi)細(xi)(xi)(xi)調下降(jiang)(jiang)，第(di)(di)(di)(di)(di)七控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)段7.7控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)第(di)(di)(di)(di)(di)二(er)電(dian)(dian)(dian)(dian)(dian)(dian)磁(ci)(ci)(ci)節(jie)流閥(fa)(fa)(fa)9.1通(tong)(tong)(tong)(tong)斷(duan)(duan)來(lai)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)裝(zhuang)置(zhi)(zhi)(zhi)細(xi)(xi)(xi)調升(sheng)降(jiang)(jiang)速(su)度(du)。

如圖4、圖8所示，本發明插(cha)銷(xiao)支路(lu)10包括第(di)(di)(di)(di)二(er)三(san)(san)(san)(san)位(wei)(wei)(wei)(wei)四(si)通(tong)電(dian)(dian)(dian)磁(ci)(ci)(ci)(ci)(ci)換(huan)(huan)(huan)(huan)向(xiang)(xiang)(xiang)閥(fa)(fa)(fa)10.1a、第(di)(di)(di)(di)三(san)(san)(san)(san)三(san)(san)(san)(san)位(wei)(wei)(wei)(wei)四(si)通(tong)電(dian)(dian)(dian)磁(ci)(ci)(ci)(ci)(ci)換(huan)(huan)(huan)(huan)向(xiang)(xiang)(xiang)閥(fa)(fa)(fa)10.1b、第(di)(di)(di)(di)三(san)(san)(san)(san)電(dian)(dian)(dian)磁(ci)(ci)(ci)(ci)(ci)節流閥(fa)(fa)(fa)10.2；驅動(dong)(dong)器模(mo)塊(kuai)7的(de)第(di)(di)(di)(di)八控(kong)(kong)(kong)(kong)制(zhi)段(duan)7.8控(kong)(kong)(kong)(kong)制(zhi)第(di)(di)(di)(di)二(er)三(san)(san)(san)(san)位(wei)(wei)(wei)(wei)四(si)通(tong)電(dian)(dian)(dian)磁(ci)(ci)(ci)(ci)(ci)換(huan)(huan)(huan)(huan)向(xiang)(xiang)(xiang)閥(fa)(fa)(fa)10.1a左(zuo)(zuo)邊的(de)電(dian)(dian)(dian)源，從而(er)控(kong)(kong)(kong)(kong)制(zhi)第(di)(di)(di)(di)二(er)三(san)(san)(san)(san)位(wei)(wei)(wei)(wei)四(si)通(tong)電(dian)(dian)(dian)磁(ci)(ci)(ci)(ci)(ci)換(huan)(huan)(huan)(huan)向(xiang)(xiang)(xiang)閥(fa)(fa)(fa)10.1a左(zuo)(zuo)邊油路(lu)的(de)開通(tong)來控(kong)(kong)(kong)(kong)制(zhi)上法蘭插(cha)銷(xiao)16.1插(cha)入(ru)；第(di)(di)(di)(di)九控(kong)(kong)(kong)(kong)制(zhi)端7.9控(kong)(kong)(kong)(kong)制(zhi)第(di)(di)(di)(di)二(er)三(san)(san)(san)(san)位(wei)(wei)(wei)(wei)四(si)通(tong)電(dian)(dian)(dian)磁(ci)(ci)(ci)(ci)(ci)換(huan)(huan)(huan)(huan)向(xiang)(xiang)(xiang)閥(fa)(fa)(fa)10.1a右邊的(de)電(dian)(dian)(dian)源，從而(er)控(kong)(kong)(kong)(kong)制(zhi)第(di)(di)(di)(di)二(er)三(san)(san)(san)(san)位(wei)(wei)(wei)(wei)四(si)通(tong)電(dian)(dian)(dian)磁(ci)(ci)(ci)(ci)(ci)換(huan)(huan)(huan)(huan)向(xiang)(xiang)(xiang)閥(fa)(fa)(fa)10.1a右邊油路(lu)的(de)開通(tong)來控(kong)(kong)(kong)(kong)制(zhi)上法蘭插(cha)銷(xiao)16.1拔出；同理第(di)(di)(di)(di)十一(yi)控(kong)(kong)(kong)(kong)制(zhi)端7.11與第(di)(di)(di)(di)十二(er)控(kong)(kong)(kong)(kong)制(zhi)端7.12控(kong)(kong)(kong)(kong)制(zhi)第(di)(di)(di)(di)三(san)(san)(san)(san)三(san)(san)(san)(san)位(wei)(wei)(wei)(wei)四(si)通(tong)電(dian)(dian)(dian)磁(ci)(ci)(ci)(ci)(ci)換(huan)(huan)(huan)(huan)向(xiang)(xiang)(xiang)閥(fa)(fa)(fa)10.1b處(chu)在左(zuo)(zuo)位(wei)(wei)(wei)(wei)、中位(wei)(wei)(wei)(wei)和右位(wei)(wei)(wei)(wei)來實現中法蘭上插(cha)銷(xiao)16.2的(de)伸長、停止(zhi)和縮短。當(dang)(dang)mcu1向(xiang)(xiang)(xiang)7.11輸(shu)出低電(dian)(dian)(dian)平信號，7.11會驅動(dong)(dong)外(wai)(wai)部強(qiang)(qiang)電(dian)(dian)(dian)電(dian)(dian)(dian)路(lu)接通(tong)，從而(er)使(shi)得(de)第(di)(di)(di)(di)三(san)(san)(san)(san)三(san)(san)(san)(san)位(wei)(wei)(wei)(wei)四(si)通(tong)電(dian)(dian)(dian)磁(ci)(ci)(ci)(ci)(ci)換(huan)(huan)(huan)(huan)向(xiang)(xiang)(xiang)閥(fa)(fa)(fa)10.1b左(zuo)(zuo)邊線(xian)(xian)圈通(tong)電(dian)(dian)(dian)，利用(yong)電(dian)(dian)(dian)磁(ci)(ci)(ci)(ci)(ci)場力的(de)作(zuo)用(yong)帶(dai)動(dong)(dong)電(dian)(dian)(dian)磁(ci)(ci)(ci)(ci)(ci)換(huan)(huan)(huan)(huan)向(xiang)(xiang)(xiang)閥(fa)(fa)(fa)內的(de)閥(fa)(fa)(fa)體運動(dong)(dong)，故(gu)而(er)使(shi)得(de)電(dian)(dian)(dian)磁(ci)(ci)(ci)(ci)(ci)換(huan)(huan)(huan)(huan)向(xiang)(xiang)(xiang)閥(fa)(fa)(fa)處(chu)于左(zuo)(zuo)位(wei)(wei)(wei)(wei)。當(dang)(dang)mcu1向(xiang)(xiang)(xiang)7.12輸(shu)出低電(dian)(dian)(dian)平信號，7.12會驅動(dong)(dong)外(wai)(wai)部強(qiang)(qiang)電(dian)(dian)(dian)電(dian)(dian)(dian)路(lu)接通(tong)，從而(er)使(shi)得(de)第(di)(di)(di)(di)三(san)(san)(san)(san)三(san)(san)(san)(san)位(wei)(wei)(wei)(wei)四(si)通(tong)電(dian)(dian)(dian)磁(ci)(ci)(ci)(ci)(ci)換(huan)(huan)(huan)(huan)向(xiang)(xiang)(xiang)閥(fa)(fa)(fa)10.1b右邊線(xian)(xian)圈通(tong)電(dian)(dian)(dian)，利用(yong)電(dian)(dian)(dian)磁(ci)(ci)(ci)(ci)(ci)場力的(de)作(zuo)用(yong)帶(dai)動(dong)(dong)電(dian)(dian)(dian)磁(ci)(ci)(ci)(ci)(ci)換(huan)(huan)(huan)(huan)向(xiang)(xiang)(xiang)閥(fa)(fa)(fa)內的(de)閥(fa)(fa)(fa)體運動(dong)(dong)，故(gu)而(er)使(shi)得(de)電(dian)(dian)(dian)磁(ci)(ci)(ci)(ci)(ci)換(huan)(huan)(huan)(huan)向(xiang)(xiang)(xiang)閥(fa)(fa)(fa)處(chu)于右位(wei)(wei)(wei)(wei)。當(dang)(dang)mcu1向(xiang)(xiang)(xiang)7.12和7.11同時輸(shu)出高(gao)電(dian)(dian)(dian)平信號，左(zuo)(zuo)右外(wai)(wai)部強(qiang)(qiang)電(dian)(dian)(dian)電(dian)(dian)(dian)路(lu)均(jun)不(bu)會接通(tong)，從而(er)使(shi)得(de)第(di)(di)(di)(di)三(san)(san)(san)(san)三(san)(san)(san)(san)位(wei)(wei)(wei)(wei)四(si)通(tong)電(dian)(dian)(dian)磁(ci)(ci)(ci)(ci)(ci)換(huan)(huan)(huan)(huan)向(xiang)(xiang)(xiang)閥(fa)(fa)(fa)10.1b兩邊線(xian)(xian)圈均(jun)不(bu)通(tong)電(dian)(dian)(dian)，此時電(dian)(dian)(dian)磁(ci)(ci)(ci)(ci)(ci)換(huan)(huan)(huan)(huan)向(xiang)(xiang)(xiang)閥(fa)(fa)(fa)處(chu)于中位(wei)(wei)(wei)(wei)。第(di)(di)(di)(di)十控(kong)(kong)(kong)(kong)制(zhi)端7.10控(kong)(kong)(kong)(kong)制(zhi)第(di)(di)(di)(di)三(san)(san)(san)(san)電(dian)(dian)(dian)磁(ci)(ci)(ci)(ci)(ci)節流閥(fa)(fa)(fa)10.2的(de)通(tong)斷(duan)，調節細調升降的(de)速度。

如圖5所示，轉(zhuan)向(xiang)(xiang)(xiang)馬(ma)達(da)支路(lu)11包括第(di)(di)四(si)(si)(si)(si)(si)(si)三(san)(san)位(wei)(wei)(wei)(wei)四(si)(si)(si)(si)(si)(si)通電(dian)(dian)(dian)(dian)(dian)磁(ci)(ci)(ci)換(huan)(huan)向(xiang)(xiang)(xiang)閥(fa)(fa)(fa)(fa)(fa)11.1和第(di)(di)四(si)(si)(si)(si)(si)(si)電(dian)(dian)(dian)(dian)(dian)磁(ci)(ci)(ci)節(jie)流閥(fa)(fa)(fa)(fa)(fa)11.2。驅(qu)動(dong)(dong)(dong)器模塊7的(de)第(di)(di)十(shi)三(san)(san)控(kong)(kong)(kong)(kong)制(zhi)(zhi)端7.13與第(di)(di)十(shi)五控(kong)(kong)(kong)(kong)制(zhi)(zhi)端7.15控(kong)(kong)(kong)(kong)制(zhi)(zhi)第(di)(di)四(si)(si)(si)(si)(si)(si)三(san)(san)位(wei)(wei)(wei)(wei)四(si)(si)(si)(si)(si)(si)通電(dian)(dian)(dian)(dian)(dian)磁(ci)(ci)(ci)換(huan)(huan)向(xiang)(xiang)(xiang)閥(fa)(fa)(fa)(fa)(fa)11.1位(wei)(wei)(wei)(wei)于(yu)(yu)左(zuo)位(wei)(wei)(wei)(wei)、中(zhong)位(wei)(wei)(wei)(wei)和右(you)位(wei)(wei)(wei)(wei)來實現液壓(ya)(ya)馬(ma)達(da)的(de)正轉(zhuan)、停止和反(fan)轉(zhuan)；當mcu1向(xiang)(xiang)(xiang)7.13輸出(chu)低電(dian)(dian)(dian)(dian)(dian)平(ping)信號，7.13會驅(qu)動(dong)(dong)(dong)外部(bu)(bu)強電(dian)(dian)(dian)(dian)(dian)電(dian)(dian)(dian)(dian)(dian)路(lu)接(jie)通，從而(er)使(shi)得第(di)(di)四(si)(si)(si)(si)(si)(si)三(san)(san)位(wei)(wei)(wei)(wei)四(si)(si)(si)(si)(si)(si)通電(dian)(dian)(dian)(dian)(dian)磁(ci)(ci)(ci)換(huan)(huan)向(xiang)(xiang)(xiang)閥(fa)(fa)(fa)(fa)(fa)11.1左(zuo)邊(bian)線圈通電(dian)(dian)(dian)(dian)(dian)，利用(yong)電(dian)(dian)(dian)(dian)(dian)磁(ci)(ci)(ci)場(chang)力的(de)作(zuo)用(yong)帶動(dong)(dong)(dong)電(dian)(dian)(dian)(dian)(dian)磁(ci)(ci)(ci)換(huan)(huan)向(xiang)(xiang)(xiang)閥(fa)(fa)(fa)(fa)(fa)內(nei)的(de)閥(fa)(fa)(fa)(fa)(fa)體運動(dong)(dong)(dong)，故而(er)使(shi)得電(dian)(dian)(dian)(dian)(dian)磁(ci)(ci)(ci)換(huan)(huan)向(xiang)(xiang)(xiang)閥(fa)(fa)(fa)(fa)(fa)處于(yu)(yu)左(zuo)位(wei)(wei)(wei)(wei)。當mcu1向(xiang)(xiang)(xiang)7.15輸出(chu)低電(dian)(dian)(dian)(dian)(dian)平(ping)信號，7.15會驅(qu)動(dong)(dong)(dong)外部(bu)(bu)強電(dian)(dian)(dian)(dian)(dian)電(dian)(dian)(dian)(dian)(dian)路(lu)接(jie)通，從而(er)使(shi)得第(di)(di)四(si)(si)(si)(si)(si)(si)三(san)(san)位(wei)(wei)(wei)(wei)四(si)(si)(si)(si)(si)(si)通電(dian)(dian)(dian)(dian)(dian)磁(ci)(ci)(ci)換(huan)(huan)向(xiang)(xiang)(xiang)閥(fa)(fa)(fa)(fa)(fa)11.1右(you)邊(bian)線圈通電(dian)(dian)(dian)(dian)(dian)，利用(yong)電(dian)(dian)(dian)(dian)(dian)磁(ci)(ci)(ci)場(chang)力的(de)作(zuo)用(yong)帶動(dong)(dong)(dong)電(dian)(dian)(dian)(dian)(dian)磁(ci)(ci)(ci)換(huan)(huan)向(xiang)(xiang)(xiang)閥(fa)(fa)(fa)(fa)(fa)內(nei)的(de)閥(fa)(fa)(fa)(fa)(fa)體運動(dong)(dong)(dong)，故而(er)使(shi)得電(dian)(dian)(dian)(dian)(dian)磁(ci)(ci)(ci)換(huan)(huan)向(xiang)(xiang)(xiang)閥(fa)(fa)(fa)(fa)(fa)處于(yu)(yu)右(you)位(wei)(wei)(wei)(wei)。當mcu1向(xiang)(xiang)(xiang)7.13和7.15同(tong)時輸出(chu)高電(dian)(dian)(dian)(dian)(dian)平(ping)信號，左(zuo)右(you)外部(bu)(bu)強電(dian)(dian)(dian)(dian)(dian)電(dian)(dian)(dian)(dian)(dian)路(lu)均斷開，從而(er)使(shi)得第(di)(di)三(san)(san)三(san)(san)位(wei)(wei)(wei)(wei)四(si)(si)(si)(si)(si)(si)通電(dian)(dian)(dian)(dian)(dian)磁(ci)(ci)(ci)換(huan)(huan)向(xiang)(xiang)(xiang)閥(fa)(fa)(fa)(fa)(fa)11.1兩(liang)邊(bian)線圈均不通電(dian)(dian)(dian)(dian)(dian)，此時電(dian)(dian)(dian)(dian)(dian)磁(ci)(ci)(ci)換(huan)(huan)向(xiang)(xiang)(xiang)閥(fa)(fa)(fa)(fa)(fa)處于(yu)(yu)中(zhong)位(wei)(wei)(wei)(wei)。通過第(di)(di)十(shi)四(si)(si)(si)(si)(si)(si)控(kong)(kong)(kong)(kong)制(zhi)(zhi)端7.14控(kong)(kong)(kong)(kong)制(zhi)(zhi)第(di)(di)四(si)(si)(si)(si)(si)(si)電(dian)(dian)(dian)(dian)(dian)磁(ci)(ci)(ci)節(jie)流閥(fa)(fa)(fa)(fa)(fa)11.2從而(er)控(kong)(kong)(kong)(kong)制(zhi)(zhi)液壓(ya)(ya)馬(ma)達(da)的(de)旋(xuan)轉(zhuan)速度(du)。

本發明波浪(lang)發電(dian)平臺升(sheng)(sheng)(sheng)降(jiang)(jiang)轉(zhuan)(zhuan)(zhuan)向(xiang)(xiang)智能調(diao)(diao)(diao)(diao)節控制(zhi)(zhi)系統(tong)控制(zhi)(zhi)波浪(lang)發電(dian)平臺升(sheng)(sheng)(sheng)降(jiang)(jiang)轉(zhuan)(zhuan)(zhuan)向(xiang)(xiang)裝(zhuang)(zhuang)置(zhi)的(de)(de)(de)運動狀(zhuang)態，該裝(zhuang)(zhuang)置(zhi)包(bao)括升(sheng)(sheng)(sheng)降(jiang)(jiang)粗(cu)調(diao)(diao)(diao)(diao)裝(zhuang)(zhuang)置(zhi)、升(sheng)(sheng)(sheng)降(jiang)(jiang)細(xi)調(diao)(diao)(diao)(diao)裝(zhuang)(zhuang)置(zhi)、轉(zhuan)(zhuan)(zhuan)向(xiang)(xiang)裝(zhuang)(zhuang)置(zhi)和(he)液壓系統(tong)。其(qi)中(zhong)(zhong)(zhong)升(sheng)(sheng)(sheng)降(jiang)(jiang)粗(cu)調(diao)(diao)(diao)(diao)裝(zhuang)(zhuang)置(zhi)1由(you)上(shang)(shang)法(fa)(fa)(fa)蘭(lan)(lan)(lan)14、升(sheng)(sheng)(sheng)降(jiang)(jiang)粗(cu)調(diao)(diao)(diao)(diao)油(you)(you)缸(gang)19、插銷(xiao)(xiao)16.1、中(zhong)(zhong)(zhong)法(fa)(fa)(fa)蘭(lan)(lan)(lan)15和(he)插銷(xiao)(xiao)孔(kong)18構成。所(suo)述上(shang)(shang)法(fa)(fa)(fa)蘭(lan)(lan)(lan)14通(tong)過(guo)(guo)(guo)(guo)插銷(xiao)(xiao)16固(gu)定(ding)在支(zhi)(zhi)承柱(zhu)13上(shang)(shang)；升(sheng)(sheng)(sheng)降(jiang)(jiang)粗(cu)調(diao)(diao)(diao)(diao)油(you)(you)缸(gang)19通(tong)過(guo)(guo)(guo)(guo)下(xia)(xia)耳環與上(shang)(shang)法(fa)(fa)(fa)蘭(lan)(lan)(lan)14上(shang)(shang)焊(han)(han)接(jie)(jie)的(de)(de)(de)u型(xing)叉固(gu)定(ding)安(an)裝(zhuang)(zhuang)；中(zhong)(zhong)(zhong)法(fa)(fa)(fa)蘭(lan)(lan)(lan)15通(tong)過(guo)(guo)(guo)(guo)其(qi)上(shang)(shang)焊(han)(han)接(jie)(jie)的(de)(de)(de)u型(xing)叉與升(sheng)(sheng)(sheng)降(jiang)(jiang)粗(cu)調(diao)(diao)(diao)(diao)油(you)(you)缸(gang)19的(de)(de)(de)上(shang)(shang)耳環固(gu)定(ding)安(an)裝(zhuang)(zhuang)；插銷(xiao)(xiao)16通(tong)過(guo)(guo)(guo)(guo)螺釘(ding)固(gu)定(ding)安(an)裝(zhuang)(zhuang)在上(shang)(shang)法(fa)(fa)(fa)蘭(lan)(lan)(lan)14和(he)中(zhong)(zhong)(zhong)法(fa)(fa)(fa)蘭(lan)(lan)(lan)15上(shang)(shang)，上(shang)(shang)法(fa)(fa)(fa)蘭(lan)(lan)(lan)14與中(zhong)(zhong)(zhong)法(fa)(fa)(fa)蘭(lan)(lan)(lan)15可(ke)以沿支(zhi)(zhi)承柱(zhu)13軸線上(shang)(shang)下(xia)(xia)滑動。升(sheng)(sheng)(sheng)降(jiang)(jiang)細(xi)調(diao)(diao)(diao)(diao)裝(zhuang)(zhuang)置(zhi)由(you)中(zhong)(zhong)(zhong)法(fa)(fa)(fa)蘭(lan)(lan)(lan)15、下(xia)(xia)法(fa)(fa)(fa)蘭(lan)(lan)(lan)17和(he)升(sheng)(sheng)(sheng)降(jiang)(jiang)細(xi)調(diao)(diao)(diao)(diao)油(you)(you)缸(gang)20構成。升(sheng)(sheng)(sheng)降(jiang)(jiang)細(xi)調(diao)(diao)(diao)(diao)油(you)(you)缸(gang)20通(tong)過(guo)(guo)(guo)(guo)下(xia)(xia)耳環與中(zhong)(zhong)(zhong)法(fa)(fa)(fa)蘭(lan)(lan)(lan)15上(shang)(shang)焊(han)(han)接(jie)(jie)的(de)(de)(de)u型(xing)叉固(gu)定(ding)安(an)裝(zhuang)(zhuang)；升(sheng)(sheng)(sheng)降(jiang)(jiang)細(xi)調(diao)(diao)(diao)(diao)油(you)(you)缸(gang)20通(tong)過(guo)(guo)(guo)(guo)上(shang)(shang)耳環與下(xia)(xia)法(fa)(fa)(fa)蘭(lan)(lan)(lan)17上(shang)(shang)焊(han)(han)接(jie)(jie)的(de)(de)(de)u型(xing)叉固(gu)定(ding)安(an)裝(zhuang)(zhuang)；中(zhong)(zhong)(zhong)法(fa)(fa)(fa)蘭(lan)(lan)(lan)15上(shang)(shang)焊(han)(han)接(jie)(jie)的(de)(de)(de)棱(leng)柱(zhu)與下(xia)(xia)法(fa)(fa)(fa)蘭(lan)(lan)(lan)17上(shang)(shang)異性孔(kong)同心安(an)裝(zhuang)(zhuang)；中(zhong)(zhong)(zhong)法(fa)(fa)(fa)蘭(lan)(lan)(lan)15與其(qi)上(shang)(shang)焊(han)(han)接(jie)(jie)的(de)(de)(de)棱(leng)柱(zhu)可(ke)以沿支(zhi)(zhi)承柱(zhu)13軸線上(shang)(shang)下(xia)(xia)滑動。轉(zhuan)(zhuan)(zhuan)向(xiang)(xiang)裝(zhuang)(zhuang)置(zhi)由(you)回轉(zhuan)(zhuan)(zhuan)支(zhi)(zhi)承25構成。回轉(zhuan)(zhuan)(zhuan)支(zhi)(zhi)承25的(de)(de)(de)內圈與波浪(lang)能發電(dian)裝(zhuang)(zhuang)置(zhi)通(tong)過(guo)(guo)(guo)(guo)螺栓(shuan)連接(jie)(jie)；回轉(zhuan)(zhuan)(zhuan)支(zhi)(zhi)承25的(de)(de)(de)外(wai)圈通(tong)過(guo)(guo)(guo)(guo)螺釘(ding)與下(xia)(xia)法(fa)(fa)(fa)蘭(lan)(lan)(lan)15固(gu)定(ding)安(an)裝(zhuang)(zhuang)。

如(ru)圖6、圖9所示，本發(fa)明的(de)(de)(de)(de)(de)(de)升(sheng)(sheng)(sheng)降(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)控制過程(cheng)(cheng)的(de)(de)(de)(de)(de)(de)工作原理如(ru)下(xia)：當(dang)超(chao)(chao)聲(sheng)(sheng)波3.3檢測(ce)到(dao)浮(fu)子24的(de)(de)(de)(de)(de)(de)上(shang)(shang)(shang)(shang)表面與(yu)(yu)升(sheng)(sheng)(sheng)降(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)轉向(xiang)裝(zhuang)(zhuang)(zhuang)置(zhi)(zhi)(zhi)的(de)(de)(de)(de)(de)(de)外(wai)框架22上(shang)(shang)(shang)(shang)部的(de)(de)(de)(de)(de)(de)距(ju)離(li)時(shi)，將所測(ce)得(de)的(de)(de)(de)(de)(de)(de)數據信(xin)息輸(shu)(shu)出(chu)(chu)給mcu1處理計(ji)算；經(jing)(jing)過與(yu)(yu)內(nei)部所設定的(de)(de)(de)(de)(de)(de)閾值比較后(hou)，若(ruo)(ruo)所測(ce)得(de)距(ju)離(li)高于上(shang)(shang)(shang)(shang)閾值，則輸(shu)(shu)出(chu)(chu)上(shang)(shang)(shang)(shang)升(sheng)(sheng)(sheng)信(xin)號，若(ruo)(ruo)所測(ce)得(de)距(ju)離(li)低于下(xia)閾值，則輸(shu)(shu)出(chu)(chu)下(xia)降(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)信(xin)號；此(ci)(ci)時(shi)裝(zhuang)(zhuang)(zhuang)置(zhi)(zhi)(zhi)并(bing)不(bu)(bu)會(hui)立即驅(qu)(qu)動(dong)升(sheng)(sheng)(sheng)降(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)粗(cu)調(diao)(diao)(diao)支(zhi)路(lu)，mcu會(hui)讀取(qu)行(xing)(xing)(xing)(xing)程(cheng)(cheng)開(kai)關5的(de)(de)(de)(de)(de)(de)輸(shu)(shu)出(chu)(chu)信(xin)號，判斷此(ci)(ci)時(shi)位于上(shang)(shang)(shang)(shang)、中(zhong)(zhong)法(fa)蘭(lan)上(shang)(shang)(shang)(shang)的(de)(de)(de)(de)(de)(de)插(cha)(cha)(cha)銷(xiao)(xiao)(xiao)16是否(fou)插(cha)(cha)(cha)入(ru)到(dao)支(zhi)承(cheng)軸13中(zhong)(zhong)的(de)(de)(de)(de)(de)(de)插(cha)(cha)(cha)銷(xiao)(xiao)(xiao)孔(kong)18中(zhong)(zhong)，若(ruo)(ruo)均沒(mei)有插(cha)(cha)(cha)入(ru)進(jin)去，則驅(qu)(qu)動(dong)升(sheng)(sheng)(sheng)降(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)粗(cu)調(diao)(diao)(diao)支(zhi)路(lu)8帶動(dong)裝(zhuang)(zhuang)(zhuang)置(zhi)(zhi)(zhi)升(sheng)(sheng)(sheng)降(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)；若(ruo)(ruo)有插(cha)(cha)(cha)銷(xiao)(xiao)(xiao)16插(cha)(cha)(cha)入(ru)，則先(xian)驅(qu)(qu)動(dong)插(cha)(cha)(cha)銷(xiao)(xiao)(xiao)支(zhi)路(lu)10，拔出(chu)(chu)插(cha)(cha)(cha)銷(xiao)(xiao)(xiao)16，然后(hou)驅(qu)(qu)動(dong)升(sheng)(sheng)(sheng)降(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)粗(cu)調(diao)(diao)(diao)支(zhi)路(lu)8帶動(dong)上(shang)(shang)(shang)(shang)、中(zhong)(zhong)法(fa)蘭(lan)升(sheng)(sheng)(sheng)降(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)；在(zai)升(sheng)(sheng)(sheng)降(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)的(de)(de)(de)(de)(de)(de)過程(cheng)(cheng)中(zhong)(zhong)，mcu1一直(zhi)通過第(di)一超(chao)(chao)聲(sheng)(sheng)波傳(chuan)(chuan)感器(qi)3.1采集的(de)(de)(de)(de)(de)(de)中(zhong)(zhong)法(fa)蘭(lan)15升(sheng)(sheng)(sheng)降(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)值計(ji)算裝(zhuang)(zhuang)(zhuang)置(zhi)(zhi)(zhi)升(sheng)(sheng)(sheng)降(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)的(de)(de)(de)(de)(de)(de)速(su)度(du)，并(bing)且根據反饋回(hui)來的(de)(de)(de)(de)(de)(de)速(su)度(du)信(xin)息實時(shi)調(diao)(diao)(diao)控電(dian)磁節流(liu)(liu)閥8.3通孔(kong)的(de)(de)(de)(de)(de)(de)大(da)小(xiao)，以此(ci)(ci)來控制液壓油(you)的(de)(de)(de)(de)(de)(de)流(liu)(liu)速(su)，達(da)到(dao)調(diao)(diao)(diao)節裝(zhuang)(zhuang)(zhuang)置(zhi)(zhi)(zhi)升(sheng)(sheng)(sheng)降(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)速(su)度(du)的(de)(de)(de)(de)(de)(de)目的(de)(de)(de)(de)(de)(de)；與(yu)(yu)此(ci)(ci)同(tong)時(shi)，mcu1也在(zai)讀取(qu)激(ji)光傳(chuan)(chuan)感器(qi)4的(de)(de)(de)(de)(de)(de)輸(shu)(shu)出(chu)(chu)信(xin)號，當(dang)發(fa)射(she)端與(yu)(yu)接收端通過插(cha)(cha)(cha)銷(xiao)(xiao)(xiao)孔(kong)18正好(hao)相對時(shi)，輸(shu)(shu)出(chu)(chu)為低電(dian)平，此(ci)(ci)時(shi)mcu1發(fa)出(chu)(chu)粗(cu)調(diao)(diao)(diao)升(sheng)(sheng)(sheng)降(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)一個行(xing)(xing)(xing)(xing)程(cheng)(cheng)結(jie)束信(xin)號，控制驅(qu)(qu)動(dong)器(qi)端口7.1和7.3斷開(kai)，則導致電(dian)磁換向(xiang)閥8.1位于中(zhong)(zhong)位，粗(cu)調(diao)(diao)(diao)油(you)缸19停(ting)止運動(dong)，此(ci)(ci)時(shi)。第(di)三(san)超(chao)(chao)聲(sheng)(sheng)波傳(chuan)(chuan)感器(qi)3.3不(bu)(bu)斷返回(hui)當(dang)前(qian)浮(fu)子24與(yu)(yu)框架上(shang)(shang)(shang)(shang)邊(bian)緣(yuan)的(de)(de)(de)(de)(de)(de)距(ju)離(li)值，經(jing)(jing)過粗(cu)調(diao)(diao)(diao)的(de)(de)(de)(de)(de)(de)一個行(xing)(xing)(xing)(xing)程(cheng)(cheng)后(hou)，mcu判斷裝(zhuang)(zhuang)(zhuang)置(zhi)(zhi)(zhi)是否(fou)需要下(xia)一個粗(cu)調(diao)(diao)(diao)行(xing)(xing)(xing)(xing)程(cheng)(cheng)，若(ruo)(ruo)需要，重復上(shang)(shang)(shang)(shang)面的(de)(de)(de)(de)(de)(de)粗(cu)調(diao)(diao)(diao)動(dong)作，若(ruo)(ruo)不(bu)(bu)需要，則啟動(dong)升(sheng)(sheng)(sheng)降(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)細(xi)調(diao)(diao)(diao)支(zhi)路(lu)9；升(sheng)(sheng)(sheng)降(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)細(xi)調(diao)(diao)(diao)支(zhi)路(lu)9帶動(dong)下(xia)法(fa)蘭(lan)17升(sheng)(sheng)(sheng)降(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)，同(tong)樣通過讀取(qu)第(di)二(er)超(chao)(chao)聲(sheng)(sheng)波傳(chuan)(chuan)感器(qi)3.2計(ji)算下(xia)法(fa)蘭(lan)17的(de)(de)(de)(de)(de)(de)升(sheng)(sheng)(sheng)降(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)速(su)度(du)，并(bing)調(diao)(diao)(diao)節升(sheng)(sheng)(sheng)降(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)速(su)度(du)，升(sheng)(sheng)(sheng)降(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)細(xi)調(diao)(diao)(diao)的(de)(de)(de)(de)(de)(de)停(ting)止信(xin)號由(you)第(di)三(san)超(chao)(chao)聲(sheng)(sheng)波傳(chuan)(chuan)感器(qi)3.3發(fa)出(chu)(chu)，當(dang)檢測(ce)到(dao)當(dang)前(qian)浮(fu)子24與(yu)(yu)外(wai)框架22上(shang)(shang)(shang)(shang)邊(bian)緣(yuan)的(de)(de)(de)(de)(de)(de)距(ju)離(li)值在(zai)安(an)全(quan)范圍以內(nei)，則發(fa)出(chu)(chu)升(sheng)(sheng)(sheng)降(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)停(ting)止信(xin)號，裝(zhuang)(zhuang)(zhuang)置(zhi)(zhi)(zhi)整個一次的(de)(de)(de)(de)(de)(de)升(sheng)(sheng)(sheng)降(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)(jiang)動(dong)作完成。

如圖7所示，本發明的(de)(de)(de)轉(zhuan)向(xiang)(xiang)(xiang)控(kong)制過程(cheng)(cheng)(cheng)的(de)(de)(de)工(gong)作原理(li)如下(xia)：陀(tuo)螺(luo)儀(yi)2角度傳感器檢測裝(zhuang)置(zhi)(zhi)此時(shi)在海中(zhong)的(de)(de)(de)角度值，mcu1讀取(qu)該角度值并(bing)且與波(bo)浪(lang)浮標21讀取(qu)到(dao)的(de)(de)(de)波(bo)浪(lang)方(fang)向(xiang)(xiang)(xiang)值進(jin)行(xing)(xing)(xing)對(dui)比(bi)(bi)，判(pan)斷(duan)此時(shi)裝(zhuang)置(zhi)(zhi)是否(fou)需要進(jin)行(xing)(xing)(xing)轉(zhuan)向(xiang)(xiang)(xiang)；若需要進(jin)行(xing)(xing)(xing)轉(zhuan)向(xiang)(xiang)(xiang)，mcu首先(xian)通(tong)過第(di)一(yi)(yi)行(xing)(xing)(xing)程(cheng)(cheng)(cheng)開(kai)(kai)關5.1、第(di)二(er)行(xing)(xing)(xing)程(cheng)(cheng)(cheng)開(kai)(kai)關5.2的(de)(de)(de)狀(zhuang)態(tai)判(pan)斷(duan)插(cha)(cha)(cha)(cha)銷(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)16的(de)(de)(de)狀(zhuang)態(tai)，第(di)一(yi)(yi)行(xing)(xing)(xing)程(cheng)(cheng)(cheng)開(kai)(kai)關5.1、第(di)二(er)行(xing)(xing)(xing)程(cheng)(cheng)(cheng)開(kai)(kai)關5.2行(xing)(xing)(xing)程(cheng)(cheng)(cheng)開(kai)(kai)關含有一(yi)(yi)個(ge)翹片，作為(wei)機械式觸(chu)(chu)點。當插(cha)(cha)(cha)(cha)銷(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)16插(cha)(cha)(cha)(cha)入(ru)(ru)(ru)插(cha)(cha)(cha)(cha)銷(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)孔(kong)(kong)18中(zhong)時(shi)，插(cha)(cha)(cha)(cha)銷(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)軸壁會(hui)壓(ya)緊該觸(chu)(chu)點，行(xing)(xing)(xing)程(cheng)(cheng)(cheng)開(kai)(kai)關5內部電路(lu)(lu)(lu)接通(tong)，通(tong)過信(xin)號(hao)輸(shu)出(chu)引(yin)腳輸(shu)出(chu)高電平(ping)，若mcu1讀取(qu)到(dao)高電平(ping)信(xin)號(hao)，則(ze)判(pan)斷(duan)插(cha)(cha)(cha)(cha)銷(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)16已(yi)經(jing)(jing)插(cha)(cha)(cha)(cha)入(ru)(ru)(ru)插(cha)(cha)(cha)(cha)銷(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)孔(kong)(kong)18中(zhong)；反之，插(cha)(cha)(cha)(cha)銷(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)16未插(cha)(cha)(cha)(cha)入(ru)(ru)(ru)插(cha)(cha)(cha)(cha)銷(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)孔(kong)(kong)18中(zhong)時(shi)，插(cha)(cha)(cha)(cha)銷(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)軸壁不會(hui)碰觸(chu)(chu)到(dao)該觸(chu)(chu)點，行(xing)(xing)(xing)程(cheng)(cheng)(cheng)開(kai)(kai)關內部電路(lu)(lu)(lu)斷(duan)開(kai)(kai)，通(tong)過信(xin)號(hao)輸(shu)出(chu)引(yin)腳輸(shu)出(chu)低電平(ping)，若mcu1讀取(qu)到(dao)低電平(ping)信(xin)號(hao)，則(ze)判(pan)斷(duan)插(cha)(cha)(cha)(cha)銷(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)未插(cha)(cha)(cha)(cha)入(ru)(ru)(ru)孔(kong)(kong)中(zhong)。如果插(cha)(cha)(cha)(cha)銷(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)16未插(cha)(cha)(cha)(cha)入(ru)(ru)(ru)在插(cha)(cha)(cha)(cha)銷(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)孔(kong)(kong)18中(zhong)，則(ze)先(xian)驅動插(cha)(cha)(cha)(cha)銷(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)支路(lu)(lu)(lu)10插(cha)(cha)(cha)(cha)入(ru)(ru)(ru)插(cha)(cha)(cha)(cha)銷(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)16。在插(cha)(cha)(cha)(cha)銷(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)16已(yi)經(jing)(jing)進(jin)入(ru)(ru)(ru)插(cha)(cha)(cha)(cha)銷(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)(xiao)孔(kong)(kong)18的(de)(de)(de)前(qian)提下(xia)，mcu1驅動第(di)四(si)(si)三位四(si)(si)通(tong)電磁換向(xiang)(xiang)(xiang)閥11.1，從而導通(tong)轉(zhuan)向(xiang)(xiang)(xiang)支路(lu)(lu)(lu)，裝(zhuang)置(zhi)(zhi)進(jin)行(xing)(xing)(xing)轉(zhuan)向(xiang)(xiang)(xiang)工(gong)作；同樣地，mcu1會(hui)一(yi)(yi)直通(tong)過陀(tuo)螺(luo)儀(yi)2返(fan)回裝(zhuang)置(zhi)(zhi)的(de)(de)(de)當前(qian)角度值，并(bing)于波(bo)浪(lang)浮標21讀取(qu)到(dao)的(de)(de)(de)波(bo)浪(lang)方(fang)向(xiang)(xiang)(xiang)值進(jin)行(xing)(xing)(xing)重新對(dui)比(bi)(bi)判(pan)斷(duan)，若得到(dao)兩者的(de)(de)(de)角度值相同時(shi)，則(ze)發出(chu)停止信(xin)號(hao)，裝(zhuang)置(zhi)(zhi)一(yi)(yi)次轉(zhuan)向(xiang)(xiang)(xiang)工(gong)作完成。

如圖8所示，浮(fu)子(zi)振(zhen)蕩式波浪發電裝(zhuang)置的整體機械結構以裝(zhuang)置中間(jian)的支(zhi)承柱(zhu)13為對(dui)稱(cheng)中心，支(zhi)承柱(zhu)上排(pai)布一列間(jian)距(ju)相等的插(cha)銷孔18，從(cong)上至(zhi)下(xia)分別安(an)裝(zhuang)在(zai)支(zhi)承柱(zhu)上的是(shi)上法(fa)(fa)(fa)蘭(lan)(lan)14、中法(fa)(fa)(fa)蘭(lan)(lan)15、下(xia)法(fa)(fa)(fa)蘭(lan)(lan)17，其中上中法(fa)(fa)(fa)蘭(lan)(lan)用(yong)于(yu)升(sheng)降粗(cu)調、下(xia)法(fa)(fa)(fa)蘭(lan)(lan)用(yong)于(yu)升(sheng)降細調，上中法(fa)(fa)(fa)蘭(lan)(lan)用(yong)粗(cu)調油(you)缸19相連接，中下(xia)法(fa)(fa)(fa)蘭(lan)(lan)用(yong)細調油(you)缸20相連接。其中上法(fa)(fa)(fa)蘭(lan)(lan)14和法(fa)(fa)(fa)蘭(lan)(lan)15上均安(an)裝(zhuang)有插(cha)銷16，分別為上插(cha)銷16.1與(yu)下(xia)插(cha)銷16.2。

圖9為(wei)超聲波模(mo)塊3.3安(an)裝(zhuang)(zhuang)的(de)(de)位置圖，超聲波模(mo)塊3.3安(an)裝(zhuang)(zhuang)在(zai)外框(kuang)(kuang)架22的(de)(de)上(shang)邊緣(yuan)內(nei)部，時刻(ke)檢測(ce)(ce)浮子24與(yu)外框(kuang)(kuang)架22之(zhi)間的(de)(de)高度，并將其作為(wei)依據判斷裝(zhuang)(zhuang)置是否需要升降。圖10為(wei)插(cha)(cha)銷(xiao)(xiao)(xiao)(xiao)(xiao)16的(de)(de)示意(yi)圖，上(shang)插(cha)(cha)銷(xiao)(xiao)(xiao)(xiao)(xiao)16.1與(yu)下插(cha)(cha)銷(xiao)(xiao)(xiao)(xiao)(xiao)16.2均(jun)采用(yong)這(zhe)種形式(shi)。每(mei)一對插(cha)(cha)銷(xiao)(xiao)(xiao)(xiao)(xiao)16上(shang)均(jun)安(an)裝(zhuang)(zhuang)了激(ji)光(guang)傳感器(qi)4，在(zai)插(cha)(cha)銷(xiao)(xiao)(xiao)(xiao)(xiao)旁安(an)裝(zhuang)(zhuang)用(yong)于檢測(ce)(ce)插(cha)(cha)銷(xiao)(xiao)(xiao)(xiao)(xiao)16運動情況的(de)(de)行(xing)程開(kai)關5，插(cha)(cha)銷(xiao)(xiao)(xiao)(xiao)(xiao)16正常插(cha)(cha)入，讀(du)取(qu)到(dao)高電平信(xin)號，插(cha)(cha)銷(xiao)(xiao)(xiao)(xiao)(xiao)正常拔出，讀(du)取(qu)到(dao)低電平信(xin)號。

如圖11所(suo)示，本(ben)發(fa)明(ming)裝置(zhi)的油(you)(you)(you)路(lu)(lu)(lu)系統由升(sheng)降(jiang)粗(cu)調(diao)(diao)(diao)油(you)(you)(you)路(lu)(lu)(lu)、升(sheng)降(jiang)細調(diao)(diao)(diao)油(you)(you)(you)路(lu)(lu)(lu)、插銷插拔油(you)(you)(you)路(lu)(lu)(lu)、轉向馬達油(you)(you)(you)路(lu)(lu)(lu)、蓄能(neng)器(qi)(qi)油(you)(you)(you)路(lu)(lu)(lu)構成(cheng)。本(ben)發(fa)明(ming)控制(zhi)第(di)一三位(wei)四通電(dian)(dian)磁換向閥(fa)(fa)8.1處(chu)(chu)在左(zuo)位(wei)、中(zhong)位(wei)和右(you)位(wei)來實現(xian)升(sheng)降(jiang)粗(cu)調(diao)(diao)(diao)油(you)(you)(you)缸(gang)的伸(shen)長、停止和縮短。控制(zhi)第(di)一電(dian)(dian)磁節流閥(fa)(fa)8.3來調(diao)(diao)(diao)整升(sheng)降(jiang)粗(cu)調(diao)(diao)(diao)油(you)(you)(you)缸(gang)的伸(shen)長和收(shou)縮的速度。兩位(wei)三通電(dian)(dian)磁閥(fa)(fa)8.2一般處(chu)(chu)于(yu)左(zuo)位(wei)，即與(yu)油(you)(you)(you)箱(xiang)連通；僅(jin)當升(sheng)降(jiang)粗(cu)調(diao)(diao)(diao)油(you)(you)(you)缸(gang)伸(shen)長且波浪(lang)能(neng)發(fa)電(dian)(dian)裝置(zhi)下降(jiang)時，兩位(wei)三通電(dian)(dian)磁閥(fa)(fa)8.2才(cai)置(zhi)于(yu)右(you)位(wei)，將(jiang)波浪(lang)能(neng)發(fa)電(dian)(dian)裝置(zhi)下降(jiang)的重(zhong)力勢能(neng)儲存到蓄能(neng)器(qi)(qi)12.3中(zhong)。

蓄(xu)能(neng)(neng)支(zhi)(zhi)路12包括蓄(xu)能(neng)(neng)器(qi)(qi)(qi)12.3、第(di)(di)三電磁(ci)球(qiu)閥(fa)12.1、第(di)(di)一單向閥(fa)12.2。蓄(xu)能(neng)(neng)器(qi)(qi)(qi)12.3內的高(gao)壓(ya)(ya)油通過蓄(xu)能(neng)(neng)器(qi)(qi)(qi)出(chu)油管輸(shu)出(chu)，為馬達(da)支(zhi)(zhi)路11和插銷支(zhi)(zhi)路10提供工(gong)作所需高(gao)壓(ya)(ya)油。當蓄(xu)能(neng)(neng)器(qi)(qi)(qi)12.3內油壓(ya)(ya)不足(zu)以驅動支(zhi)(zhi)路工(gong)作時，油泵支(zhi)(zhi)路開始工(gong)作為支(zhi)(zhi)路供能(neng)(neng)。蓄(xu)能(neng)(neng)支(zhi)(zhi)路12中的第(di)(di)一溢流閥(fa)可(ke)以保證蓄(xu)能(neng)(neng)器(qi)(qi)(qi)12.3的壓(ya)(ya)力過高(gao)時可(ke)以將高(gao)壓(ya)(ya)油排出(chu)，保證波浪能(neng)(neng)發電裝置可(ke)以繼續平穩(wen)下降。

除(chu)上述實施(shi)例外，本發(fa)明還可(ke)以有其他實施(shi)方式。凡任何背離(li)本專利的精(jing)神實質與原理下(xia)所作的改變、修飾、替代、組合、簡化均應為等效的置換方式，都(dou)包含(han)在本發(fa)明要求的保護范圍(wei)。