CN104859812B - It is a kind of can automatic adjusument horizontal head - Google Patents
It is a kind of can automatic adjusument horizontal head Download PDFInfo
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- CN104859812B CN104859812B CN201510222829.0A CN201510222829A CN104859812B CN 104859812 B CN104859812 B CN 104859812B CN 201510222829 A CN201510222829 A CN 201510222829A CN 104859812 B CN104859812 B CN 104859812B
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Abstract
The present invention relates to it is a kind of can automatic adjusument horizontal head, including base, top cover, floating block, support, support support shaft, rolling bearing, head, screw；The base is an open-topped cuboid cavity container, the top cover is located at the top of base, and top cap central position is provided with osculum, and top cover two has a projection respectively at the middle position of side, projection center is provided with circular port, and two rolling bearings are arranged in circular port；Two pieces of identical floating blocks are connected at the frame bottom two ends, cradle top passes through the osculum of top cap central position, and is fixed by screws in head bottom, in the bracket between be provided with aperture at top position；The support support shaft is passed through in aperture, two ends insertion rolling bearing.The present invention can automatically adjust head to horizontal level in the presence of the opposite torque that floating block is produced, and equipment is worked unaffected, overall dimensions are without too big, it becomes possible to realize that automatic adjusument obtains function, easy to use, real-time is good.
Description
Technical field
The present invention relates to it is a kind of can automatic adjusument horizontal head, applied on unmanned surface vehicle hull, belong to nobody
Ship avoidance obstacle field.
Background technology
Because unmanned boat is in surface motions, the angle of pitch of hull can change at the moment, and what unmanned boat was carried is used to visit
Equipment such as the laser scanner of barrier is surveyed, it is necessary to moment holding posture level, otherwise the laser beam directive water surface or day space-time,
It will be unable to detect the barrier immediately ahead of unmanned boat exactly, the obstacle detection to unmanned boat brings extreme influence.
Existing level increases in steady head technology at present, is largely, using the self-contained attitude transducer of ship, to lead to
The attitude information such as angle of pitch of measurement hull in real time is crossed, by motor or servo driving executing agency, horizontal head deviation angle is realized
The correction of degree.Such horizontal head is complex due to control system, and the response time is long, it is impossible to embody the requirement of real-time.
Existing three kinds related level correction devices, a kind of such as 03146296.0 buoyancy positioning laser demarcation being related to
Instrument, levelness is kept during work automatically by simulating the hull swum on liquid, and the device is only applicable to carry small volume quality
Light object, when the measuring apparatus carried on head reaches certain mass, according to needed for buoyancy produces formula, generation buoyancy
Also accordingly increase could meet buoyancy and gravitational equilibrium for container, floating object size；201120455401.8 a kind of floating being related to
Flat bed laser spirit level realizes level correction using a kind of raft, also without the equipment matter in view of carrying when platform
The size limitation of whole device when measuring larger；98240111.6 a kind of horizontal vertical laser indication instrument device being related to, by laser
It is located in floating drum, using the characteristic of floating drum permanent holding level in liquid level, the moment keeps the laser projected to be horizontal and vertical side
To the problem of how device is without reference to build a horizontal stability augmentation platform.
The content of the invention
It is an object of the invention to solve, the problem of prior art is present is easy to use there is provided one kind, real-time is good, can be certainly
The horizontal head of regulation is adapted to, its principle based on floating body permanent holding level in liquid level.When the equipment carried on head
When different, corresponding weight is also different, therefore the method that the present invention gives the horizontal head lifting capacity of three kinds of regulations, and being can
The horizontal head subsequent applications of automatic adjusument provide reference.
The problem of in order to solve presently, there are, basic ideas of the invention are：The quality mistake of head and its institute's carrying equipment
When big, the floating object volume of required generation buoyancy also needs increase, and gravity can be only achieved balance with buoyancy.Therefore, the present invention passes through
A piece support support shaft bears the weight of head and equipment, when head is tilted, the axle center of the support shaft is considered as into a thick stick
The gravity of the fulcrum of linkage, head and equipment only can produce a moment loading to fulcrum, be set to torque X, and dynamic balance is asked
The problem of topic is with regard to that can be converted to equalising torque.It is well known that in leverage, the buoyancy torque that cause frame bottom to produce
Y can be balanced with cradle top head and the gravity torque X of equipment, and the buoyancy torque Y arm of force is much larger than the gravity arm of force, then institute
The buoyancy needed is smaller, and the volume that buoyancy and the floating object of generation arrange liquid is positively related.Therefore, can be adaptive in the present invention
The overall dimensions for the horizontal head that should be adjusted are without too big, it becomes possible to realize that automatic adjusument obtains function.
According to foregoing invention thinking, the present invention uses following technical proposals：
It is a kind of can automatic adjusument horizontal head, including base, top cover, floating block, support, support support shaft, the axis of rolling
Hold, head, screw；The base is an open-topped cuboid cavity container, and the top cover is located at the top of base, top
Lid center is provided with osculum, the side middle position of top cover two projection respectively, and projection center is provided with circular port, two institutes
Rolling bearing is stated in circular port；Two pieces of identical floating blocks are connected at the frame bottom two ends, cradle top passes through top
The osculum of lid center, and be fixed by screws in head bottom, in the bracket between be provided with aperture at top position；It is described
Support support shaft is passed through in aperture, two ends insertion rolling bearing.
The liquid that the chassis interior is contained is saturated brine, and density is 1.33g/cm3, liquid level is about substructure height
Half.
The floating block is arranged symmetrically at frame bottom two ends, and floating block is square cavity, because taking equal space
In the case of size, the volume of cube structure is maximum, and the structure type of cavity can reduce floating block to greatest extent certainly
The gravity of body, therefore this structure type can make it that the buoyancy suffered by floating block is maximum.
The support is the rod member of an inverted T-shape, and a leverage is formed by fulcrum of support support shaft so that floating
The buoyancy torque of block and the gravity torque of head are balanced.
Compared with prior art, the present invention has prominent substantive distinguishing features and significant advantage as follows：
The present invention it is a kind of can automatic adjusument horizontal head, the original based on floating body permanent holding level in liquid level
Reason, in the presence of the opposite torque that floating block is produced, can automatically adjust head to horizontal level, make equipment work not by shadow
Ring, overall dimensions are without too big, it becomes possible to realize that automatic adjusument obtains function, easy to use, real-time is good.
Brief description of the drawings
Fig. 1 for the present invention it is a kind of can automatic adjusument horizontal head structural representation.
Fig. 2 for can automatic adjusument horizontal head support local structural graph.
Fig. 3 for can automatic adjusument horizontal head tilt when force analysis figure.
Fig. 4 for can automatic adjusument horizontal head tilt when automatically return to horizontal level.
Embodiment
Below in conjunction with the accompanying drawings, the specific embodiment of the present invention is described further.
As depicted in figs. 1 and 2, it is a kind of can automatic adjusument horizontal head, including base 1, top cover 2, floating block 3, support
4th, support support shaft 5, rolling bearing 6, head 7, screw 8；The base 1 is an open-topped cuboid cavity container,
The top cover 2 is located at the top of base 1, and the center of top cover 2 is provided with osculum, and 2 liang of sides of top cover have one respectively at middle position
Projection, projection center is provided with circular port, and two rolling bearings 6 are arranged in circular port；Connect at the bottom two ends of support 4
Two pieces of identical floating blocks 3 are connect, the top of support 4 passes through the osculum of the center of top cover 2, and is fixed on the bottom of head 7 by screw 8
Portion, aperture is provided with the top position in the centre of support 4；The support support shaft 5 passes through aperture, two ends insertion rolling bearing 6
In.
The liquid that the inside of base 1 is contained is saturated brine, and density is 1.33g/cm3, liquid level is the height of base 1
Half.
The floating block 3 is arranged symmetrically at the bottom two ends of support 4, and floating block 3 is square cavity.
The support 4 is the rod member of an inverted T-shape, is fulcrum one leverage of formation with support support shaft 5 so that
The buoyancy torque of floating block 3 is balanced with the gravity torque of head 7.
The operation principle of the present invention is as follows：
The present invention can automatic adjusument horizontal head base 1 by bolt be arranged on unmanned boat the positive middle position of bow
Put, this is the optimum position that laser scanner or camera obtain front obstacle information.Half or so is contained in the inside of base 1
Saturated brine, so can prevent saturated brine from excessively overflowing, again ensure two floating blocks 3 result in buoyancy；The bottom of at
After seat 1 is installed, support 4 and floating block 3 are put into base 1, mode connects for screw is used between support 4 and floating block 3.Top cover
2, the top of support 4 is passed through at the center osculum of top cover 2, and top cover 2 is fixed together by screw with base 1.Support is supported
Axle 5 is arranged in the aperture at the top place of mid-stent and fixed, prevents the sliding axially along support support shaft 5 of support 4, causes
Equipment on head 7 is affected.The two ends of support support shaft 5 are put into rolling bearing 6 again, load the small of the top projection of top cover 2
Kong Zhong.Finally, the top of head 7 and support 4 is fixed using bolt.
As shown in figure 3, when can the horizontal head of automatic adjusument be mounted on unmanned surface vehicle as unmanned boat one is started shipment
When dynamic, right side is the ship's head of unmanned boat, if now unmanned boat bow is raised, can the horizontal head of automatic adjusument will occur
Layback, the laser direction for causing the laser scanner that is carried on head 7 to project deviate front and upward.Can automatic adjusument
Horizontal head inside, because base 1 is fixed at unmanned boat bow, its right side will also be raised with unmanned boat, but bottom
The water surface in seat 1 still keeps level, and left side floating block is largely immersed in the water, and the right floating block almost surfaces, and is now floated
Power is mainly the buoyancy F1 that left side floating block is produced, and it is clockwise to the moment loading direction at fulcrum on support 4.Clockwise
Under the moment loading in direction, head 7 and the equipment that it is carried are restored to horizontal level, as shown in Figure 4.Due to head 7 and
The line of gravity for the equipment that it is carried is straight down, and in the case of at inclination angle not being very big, it is to fulcrum on support 4
The arm of force at place is very short, much smaller than left end floating block 3 produce the buoyancy arm of force, as long as therefore a very little buoyancy, just can so that
Head 7 and the equipment that it is carried return to horizontal level.
Can the horizontal head of automatic adjusument be used for practical matter when, by the equipment quality that is carried it is different, it is necessary to
Device is modified according to actual conditions.Have following three kinds of methods can be used for modification can automatic adjusument horizontal head
Loading capacity：
1）Change and fluid density is contained in base 1, due to buoyancy formula, increase after the density for containing liquid, equivalent to increasing
Big buoyancy so that can automatic adjusument horizontal head loading capacity increase.
2）Change the bottom length of support 4, the buoyancy arm of force increase for producing floating block 3, by Calculating Torque during Rotary formula, increases the arm of force
That is, increase torque effect, equally can cause can automatic adjusument horizontal head loading capacity increase.
3）Increase the volume of floating block 3, by buoyancy formula, when the volume of floating block 3 increases, the volume of water is arranged in base 1
It is bigger, thus produce buoyancy it is bigger so that can automatic adjusument horizontal head loading capacity increase.
Claims (2)
1. it is a kind of can automatic adjusument horizontal head, it is characterised in that：Including base（1）, top cover（2）, floating block（3）, support
（4）, support support shaft（5）, rolling bearing（6）, head（7）, screw（8）；The base（1）It is one open-topped rectangular
Body cavity container, the top cover（2）Positioned at base（1）Top, top cover（2）Center is provided with osculum, top cover（2）Two sides
There is a projection at middle position respectively, projection center is provided with circular port, two rolling bearings（6）In circular port；
The support（4）Two pieces of identical floating blocks are connected at the two ends of bottom（3）, support（4）Top passes through top cover（2）Center it is small
Mouthful, and pass through screw（8）It is fixed on head（7）Bottom, in support（4）Aperture is provided with middle top position；The floating block
（3）In support（4）Bottom two ends are arranged symmetrically, floating block（3）For square cavity；The support（4）It is an inverted T-shape
Rod member, with support support shaft（5）For fulcrum one leverage of formation so that floating block（3）Buoyancy torque and head（7）Weight
Power equalising torque；The support support shaft（5）Through aperture, two ends insertion rolling bearing（6）In.
2. it is according to claim 1 can automatic adjusument horizontal head, it is characterised in that：The base（1）Contain inside
The liquid of dress is saturated brine, and density is 1.33g/cm3, liquid level is base（1）The half of height.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510222829.0A CN104859812B (en) | 2015-05-05 | 2015-05-05 | It is a kind of can automatic adjusument horizontal head |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510222829.0A CN104859812B (en) | 2015-05-05 | 2015-05-05 | It is a kind of can automatic adjusument horizontal head |
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| Publication Number | Publication Date |
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| CN104859812A CN104859812A (en) | 2015-08-26 |
| CN104859812B true CN104859812B (en) | 2017-09-26 |
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| CN201510222829.0A Active CN104859812B (en) | 2015-05-05 | 2015-05-05 | It is a kind of can automatic adjusument horizontal head |
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| 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 |
| 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 |
| 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 |
| CN106352220B (en) * | 2016-11-18 | 2018-04-13 | 国家海洋局第二海洋研究所 | A kind of seabed is shone, the stabilising arrangement of image mechanism |
| JP2019064402A (en) * | 2017-09-29 | 2019-04-25 | 東亜建設工業株式会社 | Monitoring system for ship navigation |
| CN109956020B (en) * | 2017-12-26 | 2020-06-26 | 浙江大学 | Agricultural unmanned aerodynamic ship with laser-assisted navigation system and navigation method |
| CN108227739B (en) * | 2017-12-29 | 2022-01-21 | 臻迪科技股份有限公司 | Close-range obstacle avoidance method of underwater automatic driving equipment and underwater automatic driving equipment |
| CN109131881A (en) * | 2018-08-21 | 2019-01-04 | 鲍灵杰 | A kind of unmanned dispatching aircraft |
| CN109229379B (en) * | 2018-08-21 | 2020-12-08 | 嘉兴管通机电科技有限公司 | Takeaway distribution method based on unmanned distribution aircraft |
| CN109814098B (en) * | 2019-02-26 | 2021-10-26 | 山东省物化探勘查院 | Single-hole geological radar instrument with adjusting function for coal mine detection |
| CN112046675B (en) * | 2020-07-31 | 2021-10-15 | 安庆船用电器有限责任公司 | Unmanned ship navigation obstacle recognition device |
| CN114893677A (en) * | 2022-06-13 | 2022-08-12 | 肖磊 | Level gauge for building supervision |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| DE102004039571A1 (en) * | 2004-08-14 | 2006-03-30 | 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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Effective date of registration: 20221116 Address after: 200444 Room 190, Building A, 5/F, Building 1, No. 1000 Zhenchen Road, Baoshan District, Shanghai Patentee after: Jinghai Intelligent Equipment Co.,Ltd. Address before: 200444 No. 99, upper road, Shanghai, Baoshan District Patentee before: Shanghai University |
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