CN109143209B - Four-degree-of-freedom sonar hoisting platform extension installation device for realizing six-degree-of-freedom test - Google Patents
Four-degree-of-freedom sonar hoisting platform extension installation device for realizing six-degree-of-freedom test Download PDFInfo
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- CN109143209B CN109143209B CN201811018626.XA CN201811018626A CN109143209B CN 109143209 B CN109143209 B CN 109143209B CN 201811018626 A CN201811018626 A CN 201811018626A CN 109143209 B CN109143209 B CN 109143209B
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- 238000012360 testing method Methods 0.000 title claims abstract description 21
- 238000009434 installation Methods 0.000 title claims abstract description 17
- 238000010586 diagram Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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- 238000013178 mathematical model Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52004—Means for monitoring or calibrating
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
Abstract
Four-degree-of-freedom sonar hoisting platform extension installation device for realizing six-degree-of-freedom test belongs to the technical field of sonar hoisting platform devices. The device comprises: the device comprises a rotating arm positioning chuck, a main rotating arm, a secondary rotating arm locking hoop, a secondary rotating arm and a positioning bolt. The device realizes the requirement of four-degree-of-freedom expansion to six-degree-of-freedom test by adjusting the fixed installation angle of the main rotating arm on the rotating arm positioning chuck and the rotation angle of the auxiliary rotating arm relative to the main rotating arm, and has strong flexibility; the device is composed of five main components, and the components, the device and the hoisting platform and the device and the sonar to be tested can be fixedly installed through positioning holes on each component, so that the adaptability is high; the detachable small-volume assembly is convenient to transport and store and has strong portability; the adjustment of the fixed angle of the main rotating arm and the rotation angle of the auxiliary rotating arm relative to the main rotating arm are respectively directly read out through the rotating arm positioning chuck and the rotating arm locking hoop reading window, and the adjustment quantity information is directly obtained, so that the intuitiveness is strong.
Description
Technical Field
The invention belongs to the technical field of sonar hoisting platform devices, and particularly relates to a four-degree-of-freedom sonar hoisting platform expansion and installation device for realizing six-degree-of-freedom test.
Background
The sonar test hoisting platform is a mechanical device which is necessary to be used for carrying out activities such as sonar test, calibration, measurement and the like in a laboratory pool environment, and can carry out the test of specific indexes of the sonar on a plurality of degrees of freedom on the premise of rigidly connecting the sonar with the test platform. At present, most of sonar testing hoisting platforms used in domestic and foreign service pools are four-degree-of-freedom hoisting platforms, namely, the sonar testing hoisting platforms can be horizontally rotated around a vertical axis (around the z axis) in front and back (y-y axis), left and right (-x and x axes), up and down (z-z axis) and around the vertical axis (around the z axis), and the sonar system can not be tested in any posture in six degrees of freedom. However, if the existing hoisting platform mainly with four degrees of freedom is replaced and the six-degree-of-freedom hoisting platform is designed and used, a series of high-tech fields such as machinery, hydraulic pressure, electricity, control, computers, sensors, space motion mathematical models, real-time signal transmission and processing and the like are involved, the technical complexity, difficulty, cost and the like are greatly improved, and huge waste is caused to the existing resources at present. How to design a mechanical structure based on the existing four-degree-of-freedom lifting platform and realize the lifting test of a six-degree-of-freedom sonar system is one of the effective ways for solving the problem.
Disclosure of Invention
The invention aims to provide a four-degree-of-freedom sonar hoisting platform expansion and installation device for realizing six-degree-of-freedom test. The invention provides the four-degree-of-freedom sonar hoisting platform extension installation device for realizing the six-degree-of-freedom test, which is convenient and flexible to use, low in processing and testing complexity and low in cost based on the existing four-degree-of-freedom sonar hoisting platform.
The purpose of the invention is realized in the following way:
the four-degree-of-freedom sonar hoisting platform extension installation device for realizing six-degree-of-freedom test comprises a rotating arm positioning chuck (1), a main rotating arm (2), a secondary rotating arm locking hoop (3), a secondary rotating arm (4) and a positioning bolt (5). The lifting flange plate (6) on the rotating arm positioning chuck (1) is fixed with the four-degree-of-freedom lifting platform by bolts; the rotary arm positioning chuck (1) utilizes a positioning bolt (5) to penetrate through a main positioning hole (7) on the main rotary arm (2) and a slave positioning hole (8) on the rotary arm positioning chuck (1) to fix the main rotary arm (2); the rotating arm positioning chuck (1) is provided with different auxiliary positioning holes (8) to adjust the installation angle of the main rotating arm (2); each slave positioning hole (8) corresponds to a positioning dial (15) on the rotating arm positioning chuck in indication angle; the reference graduation marks (12) on the flange plate (9) of the main rotating arm (2) provide references for the rotation angle of the slave rotating arm (4); a reading window (10) is designed on the slave rotating arm locking hoop (3) and is used for observing the rotating angle of the slave rotating arm (4) relative to the master rotating arm (2); the slave rotating arm (4) is fixed with the main rotating arm (2) through a flange (9) on the slave rotating arm locking hoop (3) and the main rotating arm (2) by bolts, the slave rotating arm locking hoop (3) is coated on the outer side of a locking end vertebral body (13) of the slave rotating arm (4), and the slave rotating arm (4) is pressed and fixed on the main rotating arm (2) through longitudinal pulling force when the slave rotating arm locking hoop (3) is fixed with the main rotating arm (2); the sonar to be detected is fixed from the lifting flange plate (11) of the rotating arm (4), and the dial (14) at the side surface of the locking end cone body (13) indicates the rotating angle of the rotating arm (4) relative to the main rotating arm (2).
The invention has the beneficial effects that:
(1) Flexibility: the four-degree-of-freedom expansion to six-degree-of-freedom test requirement can be realized only by adjusting the fixed mounting angle of the main rotating arm on the rotating arm positioning chuck and changing the rotating angle of the auxiliary rotating arm relative to the main rotating arm;
(2) Suitability for mounting: the device provided by the invention is composed of five main components, and the components, the device and the hoisting platform and the device and the sonar to be tested can be fixedly installed only through positioning holes on each component;
(3) Portability: the invention can be disassembled into small-volume components, and is convenient for transportation and storage;
(4) Intuitiveness: the adjustment of the fixed angle of the main rotating arm and the rotation angle of the auxiliary rotating arm relative to the main rotating arm can be directly read out through the rotating arm positioning chuck and the rotating arm locking hoop reading window respectively, and the adjustment quantity information is directly obtained.
Drawings
FIG. 1 is an overall assembly view of an extension mounting apparatus of the present invention;
FIG. 2 is a schematic diagram of a rotating arm positioning chuck;
FIG. 3 is a schematic diagram of a main rotating arm;
FIG. 4 is a schematic view of a slave rotary arm;
FIG. 5 is a schematic view of a rotating arm locking band;
FIG. 6 is a detail view of a rotation angle indication window of the rotating arm.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The invention relates to a four-degree-of-freedom sonar hoisting platform extension installation device for realizing six-degree-of-freedom test, which comprises: the device comprises a rotating arm positioning chuck, a main rotating arm, a secondary rotating arm locking hoop, a secondary rotating arm and a positioning bolt. The method is characterized in that: the flange plate on the rotating arm positioning chuck is fixed with the four-degree-of-freedom hoisting platform by bolts, the rotating arm positioning chuck passes through the main positioning hole and the angle adjusting positioning hole by using positioning bolts to fix the main rotating arm, and the installation angle of the main rotating arm can be adjusted by changing the angle adjusting positioning hole; the main rotating arm is fixed with the auxiliary rotating arm locking hoop by utilizing the upper flange plate of the main rotating arm, the auxiliary rotating arm is locked, and meanwhile, reference scale marks on the flange plate provide references for the rotation angle of the auxiliary rotating arm; the lifting flange of the slave rotating arm is used for fixing the sonar to be detected, and the dial plate on the side surface of the cone at the locking end indicates the rotating angle of the slave rotating arm relative to the master rotating arm; the slave rotating arm locking hoop is coated on the outer side of the vertebral body at the locking end of the slave rotating arm, the fixed connection between the master rotating arm and the slave rotating arm is realized through the longitudinal pulling force when the slave rotating arm locking hoop is fixed with the master rotating arm, and a reading window is designed on the slave rotating arm locking hoop and used for observing the rotating angle of the slave rotating arm relative to the master rotating arm. The two degrees of freedom of the original hoisting platform are expanded by changing the installation angle of the main rotating arm and the rotation angle of the auxiliary rotating arm.
The lifting flange plate on the rotating arm positioning chuck (1) is fixed with the four-degree-of-freedom lifting platform by bolts; the rotating arm positioning chuck (1) is used for fixing the main rotating arm (2) by penetrating the main positioning hole (7) and the angle adjusting positioning hole (8) through the positioning bolt (5); the installation angle of the main rotating arm (2) can be adjusted by selecting different auxiliary positioning holes (8) on the rotating arm positioning chuck (1); a positioning dial (15) corresponding to the angle from the positioning hole (8) is designed on the rotating arm positioning chuck (1); the main rotating arm (2) is fixed with the auxiliary rotating arm locking hoop (3) by utilizing the upper flange plate (9) of the main rotating arm, the auxiliary rotating arm (4) is locked, and meanwhile, reference graduation marks (12) on the flange plate of the main rotating arm (2) provide a reference for the rotating angle of the auxiliary rotating arm (4); the sonar to be detected is fixed from a lifting flange plate (11) of the rotating arm (4), and a rotation angle dial (14) at the side surface of the locking end cone body (13) indicates the rotation angle of the rotating arm (4) relative to the main rotating arm (2); the slave rotating arm locking hoop (3) is coated on the outer side of a locking end vertebral body (13) of the slave rotating arm (4), and the fixed connection between the master rotating arm (2) and the slave rotating arm (4) is realized through the longitudinal pulling force when the slave rotating arm locking hoop is fixed with the master rotating arm (2); a reading window is designed on the slave rotating arm locking hoop (3) and is used for observing the rotating angle of the slave rotating arm (4) relative to the master rotating arm (2).
As shown in fig. 1, the four-degree-of-freedom sonar hoisting platform expansion and installation device for realizing six-degree-of-freedom test provided by the invention comprises: the rotary arm positioning chuck (1), a main rotary arm (2), a slave rotary arm locking hoop (3), a slave rotary arm (4) and a positioning bolt (5).
The lifting flange plate (6) on the rotating arm positioning chuck (1) is fixed with the four-degree-of-freedom lifting platform by bolts, as shown in fig. 2.
The main rotating arm (2) adopts positioning bolts (5) to respectively penetrate through a main positioning hole (7) and a slave positioning hole (8) (as shown in figures 2 and 3) on the rotary positioning chuck (1) and the main rotating arm (2) to be fixed with the rotary positioning chuck (1), and the slave positioning holes (8) on the rotary positioning chuck (1) are selected to realize the fixed installation of the main rotating arm (2) at different angles, and each slave positioning hole (8) corresponds to the indication angle of a positioning dial (15) on the rotary arm positioning chuck, as shown in figure 2.
The slave rotating arm (4) is fixed with the flange plate (9) of the master rotating arm (2) through a bolt, and the slave rotating arm locking hoop (3) is fixed with the master rotating arm (2) in the following specific mode: the slave rotating arm locking hoop (3) is coated on the outer side of the locking end vertebral body (13) of the slave rotating arm (4), and the slave rotating arm (4) is pressed and fixed on the master rotating arm (2) through longitudinal pulling force when the slave rotating arm locking hoop (3) is fixed with the master rotating arm (2).
The lifting flange plate (11) of the slave rotating arm (4) is used for fixing the sonar to be detected, as shown in fig. 4.
The auxiliary rotating arm (4) can axially rotate around the main rotating arm (2) after the auxiliary rotating arm locking hoop (3) is loosened, and a dial (14) on the side face of the locking end cone (13) of the auxiliary rotating arm (4) indicates the rotating angle of the auxiliary rotating arm (4) relative to the main rotating arm (2), as shown in fig. 4.
The flange plate (9) of the main rotating arm (2) is provided with reference graduation marks (12) for providing reference for the rotation angle of the rotating arm (4), and the reference graduation marks are shown in fig. 3.
The slave rotating arm locking hoop (3) is provided with a reading window (10) (see figure 5) for observing the rotating angle of the slave rotating arm (4) relative to the master rotating arm (2), and the detail display is shown in figure 6.
In addition to the specific implementation of the above examples, all related technical solutions formed by adopting equivalent substitutions or equivalent variants fall within the protection scope of the patent claims of the present invention.
Claims (2)
1. Realize four degrees of freedom sonar hoisting platform extension installation device of six degrees of freedom test, its characterized in that: the device comprises a rotating arm positioning chuck (1), a main rotating arm (2), a secondary rotating arm locking hoop (3), a secondary rotating arm (4) and a positioning bolt (5); the first hoisting flange (6) on the rotating arm positioning chuck (1) is fixed with the four-degree-of-freedom hoisting platform by bolts; the rotary arm positioning chuck (1) utilizes a positioning bolt (5) to penetrate through a main positioning hole (7) on the main rotary arm (2) and a slave positioning hole (8) on the rotary arm positioning chuck (1) to fix the main rotary arm (2); the rotating arm positioning chuck (1) is provided with different auxiliary positioning holes (8) to adjust the installation angle of the main rotating arm (2); the slave rotating arm (4) is fixed with the main rotating arm (2) through a flange (9) on the slave rotating arm locking hoop (3) and the main rotating arm (2) by bolts, the slave rotating arm locking hoop (3) is coated on the outer side of a locking end vertebral body (13) of the slave rotating arm (4), and the slave rotating arm (4) is pressed and fixed on the main rotating arm (2) through longitudinal pulling force when the slave rotating arm locking hoop (3) is fixed with the main rotating arm (2); a second hoisting flange (11) of the slave rotating arm (4) is used for fixing a sonar to be detected, and a dial (14) on the side surface of the locking end cone (13) indicates the rotating angle of the slave rotating arm (4) relative to the main rotating arm (2); the slave positioning holes (8) correspond to the indication angles of the positioning dials (15) on the rotating arm positioning chuck; a reading window (10) is designed on the locking hoop (3) of the rotating arm.
2. The four-degree-of-freedom sonar hoisting platform extension mounting device for realizing six-degree-of-freedom test according to claim 1, wherein: the reference graduation marks (12) on the flange plate (9) of the main rotating arm (2) provide references for the rotation angle of the slave rotating arm (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811018626.XA CN109143209B (en) | 2018-09-03 | 2018-09-03 | Four-degree-of-freedom sonar hoisting platform extension installation device for realizing six-degree-of-freedom test |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811018626.XA CN109143209B (en) | 2018-09-03 | 2018-09-03 | Four-degree-of-freedom sonar hoisting platform extension installation device for realizing six-degree-of-freedom test |
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| Publication Number | Publication Date |
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| CN109143209A CN109143209A (en) | 2019-01-04 |
| CN109143209B true CN109143209B (en) | 2023-12-19 |
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| CN201811018626.XA Active CN109143209B (en) | 2018-09-03 | 2018-09-03 | Four-degree-of-freedom sonar hoisting platform extension installation device for realizing six-degree-of-freedom test |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111998810A (en) * | 2020-09-10 | 2020-11-27 | 深圳市博铭维智能科技有限公司 | Shaft branch pipe detection device |
| CN112083402B (en) * | 2020-09-15 | 2022-12-13 | 哈尔滨工程大学 | Underwater target sailing detection experimental method under pool condition |
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|---|---|---|---|---|
| JPH06214141A (en) * | 1993-01-18 | 1994-08-05 | Fujitsu Ltd | Optical device with easily adjutable optical axis |
| JPH08248129A (en) * | 1995-03-10 | 1996-09-27 | Nec Corp | Acoustic target for underwater sailing body |
| EP1974673A1 (en) * | 2007-03-29 | 2008-10-01 | Aloka Co., Ltd. | Load apparatus |
| CA2941624A1 (en) * | 2016-09-09 | 2018-03-09 | Kal Tire | Gravity assist system |
| KR20180087629A (en) * | 2017-01-25 | 2018-08-02 | 한국과학기술원 | Positioning robot |
| CN209070100U (en) * | 2018-09-03 | 2019-07-05 | 哈尔滨工程大学 | Realize that the four-degree-of-freedom sonar hoisting platform of six degree of freedom test extends mounting device |
-
2018
- 2018-09-03 CN CN201811018626.XA patent/CN109143209B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06214141A (en) * | 1993-01-18 | 1994-08-05 | Fujitsu Ltd | Optical device with easily adjutable optical axis |
| JPH08248129A (en) * | 1995-03-10 | 1996-09-27 | Nec Corp | Acoustic target for underwater sailing body |
| EP1974673A1 (en) * | 2007-03-29 | 2008-10-01 | Aloka Co., Ltd. | Load apparatus |
| CA2941624A1 (en) * | 2016-09-09 | 2018-03-09 | Kal Tire | Gravity assist system |
| KR20180087629A (en) * | 2017-01-25 | 2018-08-02 | 한국과학기술원 | Positioning robot |
| CN209070100U (en) * | 2018-09-03 | 2019-07-05 | 哈尔滨工程大学 | Realize that the four-degree-of-freedom sonar hoisting platform of six degree of freedom test extends mounting device |
Non-Patent Citations (1)
| Title |
|---|
| 吕银杰 ; 朱建军 ; 梁景然 ; 王文彤 ; 张亚斌 ; 白嵩.四自由度平台条件下的六自由度水声测试技术.《电子测量与仪器学报》.2019,全文. * |
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