CN104859812A - Self-adaptation adjustment level cloud platform - Google Patents

Self-adaptation adjustment level cloud platform Download PDF

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Publication number
CN104859812A
CN104859812A CN201510222829.0A CN201510222829A CN104859812A CN 104859812 A CN104859812 A CN 104859812A CN 201510222829 A CN201510222829 A CN 201510222829A CN 104859812 A CN104859812 A CN 104859812A
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China
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support
cloud terrace
cover
base
horizontal
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CN201510222829.0A
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CN104859812B (en
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彭艳
瞿栋
罗均
朱倩
丁峰
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University of Shanghai for Science and Technology
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University of Shanghai for Science and Technology
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Abstract

The invention relates to a self-adaptation adjustment level cloud platform, which comprises a base, a top cover, floating blocks, a support, a support supporting shaft, rolling bearings, a cloud platform and a screw, wherein the base is a rectangular cavity container with an opening on the top; the top cover is located on the top portion of the base; a small opening is opened in the middle of the top cover; a bump is respectively set in the middle of two side edges of the top cover; a round hole is opened in the middle of the bump; two rolling bearings are mounted inside the round hole; two ends on the bottom of the support are connected to two identical floating blocks; the top portion of the support is penetrated through the small opening in the middle of the top cover and is fixed on the bottom of the cloud platform through the screw; a small hole is opened on the position above the middle of the support; the support supporting shaft is penetrated through the small hole; and the rolling bearings are inserted into the two ends. According to the invention, under the effect of the opposite torque produced by the floating blocks, the cloud platform can be automatically adjusted to a level position, so the work of the apparatus won't be influenced; and the function of self-adaptation adjustment can be realized without needing a large whole size, thus the cloud platform provided herein is convenient to use and has good practicality.

Description

A kind of can the horizontal The Cloud Terrace of Automatic adjusument
Technical field
The present invention relates to a kind of can the horizontal The Cloud Terrace of Automatic adjusument, be applied on unmanned surface vehicle hull, belong to unmanned boat avoidance obstacle field.
Background technology
Because unmanned boat is when surface motions, the pitch angle of hull can change in the moment, the equipment for detecting obstacles thing that unmanned boat carries is as laser scanner, the moment is needed to keep attitude level, otherwise when the laser beam directive water surface or sky, the obstacle in unmanned boat dead ahead cannot be detected exactly, bring extreme influence to the obstacle detection of unmanned boat.
Current existing level increases in steady The Cloud Terrace technology, and major part is the attitude sensor utilizing boats and ships self-contained, by measuring the attitude informations such as the pitch angle of hull in real time, by motor or servo driving actuating unit, realizes the correction of horizontal The Cloud Terrace deviation angle.Such horizontal The Cloud Terrace due to control system comparatively complicated, response time is long, cannot embody the requirement of real-time.
Existing three kinds of relevant horizontal alignment devices, as the 03146296.0 a kind of Buoyance positioning laser reference line projector related to, automatically levelness is kept by the simulation hull swum on liquid during work, this device is only applicable to carry the light object of the little quality of volume, when the measuring equipment that The Cloud Terrace carries reaches certain mass, produce formula according to buoyancy, the container of generation needed for buoyancy, floating debris size also corresponding increase could meet buoyancy and gravitational equilibrium; The 201120455401.8 a kind of floating platform type laser leveling instruments related to utilize a kind of raft to realize horizontal alignment, do not consider the dimensional restriction of the whole device when the equipment quality that platform carries is larger equally; 98240111.6 a kind of horizontal vertical laser indication instrument device related to, by source, laser apparatus in floating drum, utilize the characteristic of floating drum permanent maintenance level in liquid level, the moment keeps the laser of injection to be horizontal and vertical direction, and how this device builds the problem that a level increases steady platform if not relating to.
Summary of the invention
The object of the invention is to solve prior art Problems existing, provide a kind of easy to use, real-time good, can the horizontal The Cloud Terrace of Automatic adjusument, it is based on the principle of floating body permanent maintenance level in liquid level.When equipment that The Cloud Terrace carries is different, corresponding weight is also different, and therefore the present invention gives the method for three kinds of horizontal The Cloud Terrace load-carrying abilitys of adjustment, for the horizontal The Cloud Terrace subsequent applications of Automatic adjusument providing reference.
In order to solve current Problems existing, basic ideas of the present invention are: when the quality of The Cloud Terrace and institute's carrying equipment thereof is excessive, and the floating debris volume of required generation buoyancy also needs to increase, just gravity and buoyancy can reach balance.Therefore, the present invention bears the weight of The Cloud Terrace and equipment by a stent support axle, when The Cloud Terrace tilts, the axle center of this pivot shaft is considered as the fulcrum of a leverage, the gravity of The Cloud Terrace and equipment only can produce a moment loading to fulcrum, be set to moment X, the problem of force balance just can be converted to the problem of moment balance.As everyone knows, in leverage, the buoyancy torque Y that frame bottom is produced can balance with the gravity torque X of cradle top The Cloud Terrace and equipment, and the arm of force of buoyancy torque Y is much larger than the gravity arm of force, then required buoyancy is smaller, and the volume that the buoyancy of generation and floating debris arrange liquid is positively related.Therefore, in the present invention can the overall dimensions of horizontal The Cloud Terrace of Automatic adjusument without the need to too large, just can realize Automatic adjusument and obtain function.
According to foregoing invention thinking, the present invention adopts following technical proposals:
Can the horizontal The Cloud Terrace of Automatic adjusument, comprise base, top cover, floating block, support, stent support axle, antifriction-bearing box, The Cloud Terrace, screw; Described base is an open-topped cuboid cavity container, described top cover is positioned at the top of base, and top cap central position has osculum, and top cover dual-side middle position place has a projection respectively, projection center has circular port, and two described antifriction-bearing boxs are arranged in circular port; Described frame bottom two ends place connects two pieces of identical floating blocks, and cradle top through the osculum of top cap central position, and is fixed by screws in bottom The Cloud Terrace, and position top in the bracket has aperture; Described stent support axle is through aperture, and two ends are inserted in antifriction-bearing box.
The liquid of described chassis interior splendid attire is saturated brine, and density is 1.33g/cm 3, electrolyte level is about the half of substructure height.
Described floating block is arranged symmetrically at frame bottom two ends, floating block is square cavity, because when taking equal bulk, the volume of cube structure is maximum, and the version of cavity can reduce the gravity of floating block self to greatest extent, therefore this version can make the buoyancy suffered by floating block maximum.
Described support is the rod member of an inverted T-shape, forms a leverage with stent support axle for fulcrum, and the buoyancy torque of floating block and the gravity torque of The Cloud Terrace are balanced.
Compared with prior art, the present invention has following outstanding substantive distinguishing features and significant advantage:
Of the present invention a kind of can the horizontal The Cloud Terrace of Automatic adjusument, based on the principle of floating body permanent maintenance level in liquid level, under the effect of the contrary moment of floating block generation, can automatically regulate The Cloud Terrace to level attitude, make equipment work unaffected, overall dimensions, without the need to too large, just can realize Automatic adjusument and obtain function, easy to use, real-time good.
Accompanying drawing explanation
Fig. 1 is that the present invention is a kind of can the structural representation of horizontal The Cloud Terrace of Automatic adjusument.
Fig. 2 is can the local structural graph of horizontal The Cloud Terrace support of Automatic adjusument.
Fig. 3 be can Automatic adjusument horizontal The Cloud Terrace tilt time force analysis figure.
Fig. 4 be can Automatic adjusument horizontal The Cloud Terrace tilt time automatically return to level attitude.
Detailed description of the invention
Below in conjunction with accompanying drawing, specific embodiments of the invention are described further.
As depicted in figs. 1 and 2, a kind of can the horizontal The Cloud Terrace of Automatic adjusument, comprise base 1, top cover 2, floating block 3, support 4, stent support axle 5, antifriction-bearing box 6, The Cloud Terrace 7, screw 8; Described base 1 is an open-topped cuboid cavity container, described top cover 2 is positioned at the top of base 1, and top cover 2 center has osculum, and top cover 2 dual-side middle position place has a projection respectively, projection center has circular port, and two described antifriction-bearing boxs 6 are arranged in circular port; Bottom described support 4, two ends place connects two pieces of identical floating blocks 3, and support 4 top through the osculum of top cover 2 center, and is fixed on bottom The Cloud Terrace 7 by screw 8, and in the middle of support 4, top position has aperture; Described stent support axle 5 is through aperture, and two ends are inserted in antifriction-bearing box 6.
The liquid of the inner splendid attire of described base 1 is saturated brine, and density is 1.33g/cm 3, electrolyte level is the half of base 1 height.
Described floating block 3 is arranged symmetrically at two ends bottom support 4, and floating block 3 is square cavity.
Described support 4 is rod members of an inverted T-shape, forms a leverage with stent support axle 5 for fulcrum, and the buoyancy torque of floating block 3 and the gravity torque of The Cloud Terrace 7 are balanced.
Principle of work of the present invention is as follows:
The present invention the base 1 of horizontal The Cloud Terrace of Automatic adjusument can be arranged on the bow center position of unmanned boat by bolt, this is the optimum position that laser scanner or camera obtain preceding object thing information.Saturated brine about half is contained in the inside of base 1, can prevent saturated brine from too much overflowing like this, ensures that again two floating blocks 3 can obtain buoyancy; After base 1 installs, support 4 and floating block 3 are put into base 1, between support 4 and floating block 3, adopt screw to connect.Top cover 2, the top of support 4 is passed from top cover 2 center osculum, and top cover 2 is fixed together by screw and base 1.Stent support axle 5 is arranged in the aperture at the top place of mid-stent also fixing, prevents support 4 sliding axially along stent support axle 5, cause the equipment on The Cloud Terrace 7 to be affected.Again stent support axle 5 two ends are put antifriction-bearing box 6, load in the aperture of top cover 2 top projection.Finally, bolt is utilized to be fixed at the top of The Cloud Terrace 7 with support 4.
As shown in Figure 3, when can the horizontal The Cloud Terrace of Automatic adjusument be mounted in unmanned surface vehicle moves together along with unmanned boat time, right side is the ship's head of unmanned boat, if now unmanned boat bow is raised, the horizontal The Cloud Terrace of Automatic adjusument can will swing back, cause the laser direction of the laser scanner injection that The Cloud Terrace 7 carries to depart from dead ahead and upward.Can the inside of horizontal The Cloud Terrace of Automatic adjusument, because base 1 is fixed on unmanned boat bow place, also will raise along with unmanned boat on the right side of it, but the water surface in base 1 still keeps level, left side floating block major part is immersed in the water, and the right floating block almost surfaces, now buoyancy is mainly the buoyancy F1 that left side floating block produces, and it is cw to the moment loading direction at fulcrum place on support 4.Under moment loading in the clockwise direction, The Cloud Terrace 7 and its equipment that carries will return to level attitude, as shown in Figure 4.Because The Cloud Terrace 7 and its line of gravity of equipment of carrying are for straight down, when leaning angle is not very large, it is very short to the arm of force at fulcrum place on support 4, much smaller than the buoyancy arm of force that left end floating block 3 produces, as long as a therefore very little buoyancy, The Cloud Terrace 7 and its equipment that carries just can be made to get back to level attitude.
Can the horizontal The Cloud Terrace of Automatic adjusument be used for practical matter time, because carried equipment quality is different, need to modify to device according to actual conditions.Having following three kinds of methods to may be used for revising can the load carrying ability of horizontal The Cloud Terrace of Automatic adjusument:
1) change carrying liquid density in base 1, due to buoyancy formula, after strengthening the density of carrying liquid, be equivalent to increase buoyancy, thus make the load carrying ability of horizontal The Cloud Terrace of Automatic adjusument to increase.
2) change support 4 bottom length, the buoyancy arm of force that floating block 3 is produced increases, and by Calculating Torque during Rotary formula, increases the effect that namely arm of force is equivalent to increase moment, and can make equally can the load carrying ability increase of horizontal The Cloud Terrace of Automatic adjusument.
3) increase the volume of floating block 3, by buoyancy formula, when the volume of floating block 3 increases, the volume arranging water in base 1 is larger, and the buoyancy therefore produced is larger, and making can the load carrying ability increase of horizontal The Cloud Terrace of Automatic adjusument.

Claims (4)

1. can the horizontal The Cloud Terrace of Automatic adjusument, it is characterized in that: comprise base (1), top cover (2), floating block (3), support (4), stent support axle (5), antifriction-bearing box (6), The Cloud Terrace (7), screw (8); Described base (1) is an open-topped cuboid cavity container, described top cover (2) is positioned at the top of base (1), top cover (2) center has osculum, top cover (2) dual-side middle position place has a projection respectively, projection center has circular port, and two described antifriction-bearing boxs (6) are arranged in circular port; Two ends place, described support (4) bottom connects two pieces of identical floating blocks (3), support (4) top is through the osculum of top cover (2) center, and be fixed on The Cloud Terrace (7) bottom by screw (8), in the middle of support (4), top position has aperture; Described stent support axle (5) is through aperture, and two ends are inserted in antifriction-bearing box (6).
2. according to claim 1 can the horizontal The Cloud Terrace of Automatic adjusument, it is characterized in that: the liquid of described base (1) inner splendid attire is saturated brine, and density is 1.33g/cm 3, electrolyte level is the half of base (1) height.
3. according to claim 1 can the horizontal The Cloud Terrace of Automatic adjusument, it is characterized in that: described floating block (3) is arranged symmetrically at two ends, support (4) bottom, and floating block (3) is square cavity.
4. according to claim 1 can the horizontal The Cloud Terrace of Automatic adjusument, it is characterized in that: described support (4) is the rod member of an inverted T-shape, form a leverage with stent support axle (5) for fulcrum, the gravity torque of the buoyancy torque of floating block (3) and The Cloud Terrace (7) is balanced.
CN201510222829.0A 2015-05-05 2015-05-05 It is a kind of can automatic adjusument horizontal head Active CN104859812B (en)

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105552512A (en) * 2015-12-31 2016-05-04 郦伟 Liquid suspension type antenna frame and Satcom on the Move antenna automatic tracking platform
CN106195453A (en) * 2016-07-28 2016-12-07 成都高普石油工程技术有限公司 A kind of self-adapting type oil pipeline road supporting construction
CN106247015A (en) * 2016-07-28 2016-12-21 成都高普石油工程技术有限公司 A kind of self-cleaning system of oil transportation device
CN106352220A (en) * 2016-11-18 2017-01-25 国家海洋局第二海洋研究所 Stabilizing device of seabed photo taking and camera shooting mechanism
CN108227739A (en) * 2017-12-29 2018-06-29 北京臻迪科技股份有限公司 The closely barrier-avoiding method and underwater autopilot facility of underwater autopilot facility
CN109131881A (en) * 2018-08-21 2019-01-04 鲍灵杰 A kind of unmanned dispatching aircraft
CN109229379A (en) * 2018-08-21 2019-01-18 鲍灵杰 A kind of take-away allocator based on unmanned dispatching aircraft
CN109814098A (en) * 2019-02-26 2019-05-28 广州市沙唯士电子科技有限公司 A kind of single hole geological radar instrument with regulatory function for coal mine detection
CN109956020A (en) * 2017-12-26 2019-07-02 浙江大学 Agricultural unmanned aerodynamic ship and air navigation aid with laser assisted navigation system
CN112046675A (en) * 2020-07-31 2020-12-08 安庆船用电器有限责任公司 Unmanned ship navigation obstacle recognition device

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CN1472506A (en) * 2003-07-09 2004-02-04 雄 武 Buoyance positioning laser reference line projector
WO2006018011A1 (en) * 2004-08-14 2006-02-23 Panther Gmbh Tripod head for film and television cameras and other devices
CN201362348Y (en) * 2009-03-06 2009-12-16 上海海事大学 Marine horizontal platform
CN103851318A (en) * 2012-12-04 2014-06-11 陈达平 Handheld video camera stabilizer

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CN86209574U (en) * 1986-11-29 1987-09-16 湖北省鄂东北地质大队 Compass photographing device
CN1472506A (en) * 2003-07-09 2004-02-04 雄 武 Buoyance positioning laser reference line projector
WO2006018011A1 (en) * 2004-08-14 2006-02-23 Panther Gmbh Tripod head for film and television cameras and other devices
CN201362348Y (en) * 2009-03-06 2009-12-16 上海海事大学 Marine horizontal platform
CN103851318A (en) * 2012-12-04 2014-06-11 陈达平 Handheld video camera stabilizer

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105552512A (en) * 2015-12-31 2016-05-04 郦伟 Liquid suspension type antenna frame and Satcom on the Move antenna automatic tracking platform
CN105552512B (en) * 2015-12-31 2018-06-26 罗帆飞 Liquid suspension formula antenna holder and antenna for satellite communication in motion autotracking platform
CN106247015B (en) * 2016-07-28 2019-01-04 成都高普石油工程技术有限公司 A kind of self-cleaning system of oil transportation device
CN106195453A (en) * 2016-07-28 2016-12-07 成都高普石油工程技术有限公司 A kind of self-adapting type oil pipeline road supporting construction
CN106247015A (en) * 2016-07-28 2016-12-21 成都高普石油工程技术有限公司 A kind of self-cleaning system of oil transportation device
CN106195453B (en) * 2016-07-28 2019-01-04 成都高普石油工程技术有限公司 A kind of self-adapting type oil pipeline road support construction
CN106352220A (en) * 2016-11-18 2017-01-25 国家海洋局第二海洋研究所 Stabilizing device of seabed photo taking and camera shooting mechanism
CN109956020B (en) * 2017-12-26 2020-06-26 浙江大学 Agricultural unmanned aerodynamic ship with laser-assisted navigation system and navigation method
CN109956020A (en) * 2017-12-26 2019-07-02 浙江大学 Agricultural unmanned aerodynamic ship and air navigation aid with laser assisted navigation system
CN108227739A (en) * 2017-12-29 2018-06-29 北京臻迪科技股份有限公司 The closely barrier-avoiding method and underwater autopilot facility of underwater autopilot facility
CN109131881A (en) * 2018-08-21 2019-01-04 鲍灵杰 A kind of unmanned dispatching aircraft
CN109229379A (en) * 2018-08-21 2019-01-18 鲍灵杰 A kind of take-away allocator based on unmanned dispatching aircraft
CN109814098A (en) * 2019-02-26 2019-05-28 广州市沙唯士电子科技有限公司 A kind of single hole geological radar instrument with regulatory function for coal mine detection
CN112046675A (en) * 2020-07-31 2020-12-08 安庆船用电器有限责任公司 Unmanned ship navigation obstacle recognition device

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