CN109143209A - Realize that the four-degree-of-freedom sonar hoisting platform of six degree of freedom test extends mounting device - Google Patents
Realize that the four-degree-of-freedom sonar hoisting platform of six degree of freedom test extends mounting device Download PDFInfo
- Publication number
- CN109143209A CN109143209A CN201811018626.XA CN201811018626A CN109143209A CN 109143209 A CN109143209 A CN 109143209A CN 201811018626 A CN201811018626 A CN 201811018626A CN 109143209 A CN109143209 A CN 109143209A
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- rotating arm
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- sonar
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- 238000012360 testing method Methods 0.000 title claims abstract description 23
- 238000013461 design Methods 0.000 claims description 9
- 238000009434 installation Methods 0.000 abstract description 7
- 238000000034 method Methods 0.000 abstract description 4
- 230000001105 regulatory effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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)
- Ultra Sonic Daignosis Equipment (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
It realizes that the four-degree-of-freedom sonar hoisting platform of six degree of freedom test extends mounting device, belongs to sonar hoisting platform engineering device technique field.The device include: rotating arm positioning chuck, main rotating arm, from rotating arm locking strap, from rotating arm, positioning bolt.The device is by adjusting fixeds installation angle of the main rotating arm on rotating arm positioning chuck and extending to the demand of six degree of freedom test, strong flexibility with respect to the rotation angle realization four-degree-of-freedom of main rotating arm from rotating arm；There are five devices, and main component is constituted, and can realize fixed installation between component, between device and hoisting platform and by the location hole on each component between device and tested sonar, it is strong to fit dress property；Detachably at small size component, it is readily transported and stores, portability is strong；The adjusting of main rotating arm fixed angle and from rotating arm relative to the rotation angle of main rotating arm pass through respectively rotating arm positioning chuck and rotating arm locking strap reading window directly read, directly acquire regulated quantity information, intuitive is strong.
Description
Technical field
The invention belongs to sonar hoisting platform engineering device technique fields, and in particular to a kind of four selfs for realizing six degree of freedom test
Mounting device is extended by degree sonar hoisting platform.
Background technique
Sonar test hoisting platform is that the activity such as progress sonar test, calibration and metering is necessary under laboratory water tank environment
It is specific can to carry out in multiple degrees of freedom sonar under the premise of being rigidly connected sonar and test platform for the mechanical device used
The test of index.Currently, the sonar test hoisting platform overwhelming majority that in-service pond uses both at home and abroad is that four-degree-of-freedom lifting is flat
Platform can be realized at front and back (y ,-y-axis to), left and right (- x, x-axis to), up and down (z ,-z-axis to) and rotate horizontally around vertical axis
(rotating around z-axis) still can not achieve the test on Sonar system six-freedom degree under any attitude.But if replacement is at present with four
Hoisting platform based on freedom degree, design use six degree of freedom hoisting platform, then be involved in it is mechanical, hydraulic, electrical, control,
A series of high-tech areas such as computer, sensor, spatial movement mathematical model, real-Time Signal Transfer and processing, technology are complicated
Degree, difficulty, cost etc. can greatly improve, and also result in huge waste to current existing resource.It is how free based on existing four
It spends hoisting platform and designs mechanical structure, realize the lifting test of six degree of freedom Sonar system, be the effective way for solving the problems, such as this
One of diameter.
Summary of the invention
The purpose of the present invention is to provide a kind of four-degree-of-freedom sonar hoisting platform extension peaces for realizing six degree of freedom test
Assembling device.The six degree of freedom test of Sonar system is realized the present invention is based on existing four-degree-of-freedom sonar hoisting platform and one kind is provided
It is easy to use, flexible, the lower four-degree-of-freedom sonar lifting for realizing six degree of freedom test of processing, test complexity, cost
Platform extends mounting device.
The object of the present invention is achieved like this:
Realize that the four-degree-of-freedom sonar hoisting platform of six degree of freedom test extends mounting device, including rotating arm positioning chuck
(1), main rotating arm (2), from rotating arm locking strap (3), from rotating arm (4), positioning bolt (5).The rotating arm positioning card
Hoisting flange disk (6) on disk (1) is fixed using bolt with four-degree-of-freedom hoisting platform；Rotating arm positioning chuck (1) utilizes fixed
The slave location hole (8) that position bolt (5) passes through on master positioning hole (7) and rotating arm positioning chuck (1) on main rotating arm (2) is fixed
Main rotating arm (2)；It is different from location hole (8) realization main rotating arm (2) by selecting on the rotating arm positioning chuck (1)
The adjusting of setting angle；It is each opposite with positioning dial disc (15) the instruction angle on rotating arm positioning chuck from location hole (8)
It answers；Reference graduation line (12) provides benchmark to rotate angle from rotating arm (4) on the ring flange (9) of the main rotating arm (2)；
Design has reading window (10) on the slave rotating arm locking strap (3), for observing from rotating arm (4) with respect to main rotating arm
(2) rotation angle；The slave rotating arm (4) is bolted from rotating arm locking strap (3) and main rotating arm (2)
Ring flange (9) realizes the fixation between main rotating arm (2), and the locking end from rotating arm (4) is coated on from rotating arm locking strap (3)
On the outside of centrum (13), longitudinal pulling force when by fixing from rotating arm locking strap (3) and main rotating arm (2) will be from rotating arm (4)
It is pressed abd fixed on main rotating arm (2)；From the fixed sonar to be measured of the hoisting flange disk (11) of rotating arm (4), locking end centrum
(13) dial (14) of side is indicated from rotating arm (4) relative to the rotation angle of main rotating arm (2).
The beneficial effects of the invention are that:
(1) flexibility: only by adusting fixed installation angle and change of the main rotating arm on rotating arm positioning chuck
Four-degree-of-freedom can be realized relative to the rotation angle of main rotating arm from rotating arm and extend to the demand that six degree of freedom is tested；
(2) fit dress property: there are five main components to constitute for apparatus of the present invention, between component, between device and hoisting platform and fills
It sets and fixed installation only can be realized by the location hole on each component between tested sonar；
(3) portability: the present invention is readily transported and stores detachably at small size component；
(4) intuitive: the adjusting of main rotating arm fixed angle and equal relative to the rotation angle of main rotating arm from rotating arm
Window can be read by rotating arm positioning chuck and rotating arm locking strap respectively directly to read, directly acquire regulated quantity information.
Detailed description of the invention
Fig. 1 is the whole installation diagram of present invention extension mounting device；
Fig. 2 is rotating arm positioning chuck schematic diagram；
Fig. 3 is main rotating arm schematic diagram；
Fig. 4 is from rotating arm schematic diagram；
Fig. 5 is rotating arm locking strap schematic diagram；
Fig. 6 is that rotating arm rotates angle numeral window detail view.
Specific embodiment
The present invention is further described with reference to the accompanying drawing.
The present invention relates to a kind of four-degree-of-freedom sonar hoisting platforms for realizing six degree of freedom test to extend mounting device, packet
Include: rotating arm positioning chuck, main rotating arm, from rotating arm locking strap, from rotating arm, positioning bolt.It is characterized by: the rotation
Ring flange on pivoted arm positioning chuck is fixed using bolt with four-degree-of-freedom hoisting platform, and rotating arm positioning chuck utilizes positioning spiral shell
Bolt passes through master positioning hole and the fixed main rotating arm of angular adjustment location hole, changes angular adjustment location hole and main rotating arm peace is adjusted
Fill angle；The main rotating arm is fixed using its upper flange plate with from rotating arm locking strap, is locked from rotating arm, while ring flange
Upper reference graduation line provides benchmark to rotate angle from rotating arm；It is described to fix sonar to be measured from the hoisting flange disk of rotating arm,
The dial of locking end centrum side is indicated from rotating arm relative to the rotation angle of main rotating arm；It is described from rotating arm locking strap packet
Overlay on the outside of the locking end centrum of rotating arm, by with longitudinal pulling force of main rotating arm when fixed realize main rotating arm with from rotation
Pivoted arm is fixedly connected, and design has reading window from rotating arm locking strap, for observing from rotating arm with respect to main rotating arm
Rotate angle.By changing main rotating arm setting angle and rotating angle from rotating arm, two freedom of former hoisting platform are realized
The extension of degree.
Hoisting flange disk on the rotating arm positioning chuck (1) is fixed using bolt with four-degree-of-freedom hoisting platform；
Rotating arm positioning chuck (1) passes through master positioning hole (7) and angular adjustment location hole (8) fixed main rotation using positioning bolt (5)
Arm (2)；Main rotating arm (2) setting angle can be achieved from location hole (8) by the way that selection is different on rotating arm positioning chuck (1)
It adjusts；Design has the positioning dial disc (15) from location hole (8) corresponding angle on rotating arm positioning chuck (1)；Main rotating arm (2)
It is fixed, is locked from rotating arm (4), while the method for main rotating arm (2) with from rotating arm locking strap (3) using its upper flange plate (9)
Reference graduation line (12) provides benchmark to rotate angle from rotating arm (4) on blue disk；From the hoisting flange disk (11) of rotating arm (4)
Fixed sonar to be measured, corner dial (14) instruction of locking end centrum (13) side is from rotating arm (4) with respect to main rotating arm (2)
Rotation angle；Be coated on the outside of the locking end centrum (13) from rotating arm (4) from rotating arm locking strap (3), by with main rotation
Longitudinal pulling force when pivoted arm (2) is fixed realizes main rotating arm (2) and being fixedly connected from rotating arm (4)；From rotating arm locking strap
(3) design has reading window on, for observing the rotation angle from rotating arm (4) relative to main rotating arm (2).
As shown in Figure 1, the four-degree-of-freedom sonar hoisting platform of the present invention for realizing six degree of freedom test extends installation
Device, comprising: rotating arm positioning chuck (1), main rotating arm (2), from rotating arm locking strap (3), from rotating arm (4), positioning spiral shell
Bolt (5).
Hoisting flange disk (6) on the rotating arm positioning chuck (1) is realized flat with four-degree-of-freedom lifting using bolt
Platform is fixed, as shown in Figure 2.
The main rotating arm (2) is each passed through rotational positioning chuck (1) and main rotating arm (2) using positioning bolt (5)
On master positioning hole (7) and fixed from location hole (8) (such as Fig. 2, Fig. 3) and rotating arm positioning chuck (1), it is fixed by choosing rotation
Slave location hole (8) on position chuck (1) realizes the fixed installation of main rotating arm (2) different angle, each from location hole (8) and rotation
Positioning dial disc (15) instruction angle on pivoted arm positioning chuck is corresponding, sees Fig. 2.
The slave rotating arm (4) is bolted from rotating arm locking strap (3) and main rotating arm (2) ring flange (9)
Realize the fixation between main rotating arm (2), concrete mode are as follows: the locking from rotating arm (4) is coated on from rotating arm locking strap (3)
It holds on the outside of centrum (13), longitudinal pulling force when by fixing from rotating arm locking strap (3) and main rotating arm (2) will be from rotating arm
(4) it is pressed abd fixed on main rotating arm (2).
The fixed sonar to be measured of the hoisting flange disk (11) of the slave rotating arm (4), as shown in Figure 4.
The slave rotating arm (4) unclamp after rotating arm locking strap (3) can around main rotating arm (2) axial-rotation, from
The dial (14) of locking end centrum (13) side of rotating arm (4) is indicated from rotating arm (4) relative to the rotation of main rotating arm (2)
Angle is shown in Fig. 4.
It is to rotate angle from rotating arm (4) that design, which has reference graduation line (12), on main rotating arm (2) ring flange (9)
Benchmark is provided, sees Fig. 3.
Design has reading window (10) (see Fig. 5) on the slave rotating arm locking strap (3), for observing from rotating arm
(4) relative to the rotation angle of main rotating arm (2), details, which is shown, sees Fig. 6.
In addition to examples detailed above specific implementation, all related art schemes formed using same replacement or equivalent variations are fallen
In the protection scope that the invention patent requires.
Claims (4)
1. realizing that the four-degree-of-freedom sonar hoisting platform of six degree of freedom test extends mounting device, it is characterised in that: including rotation
Arm positioning chuck (1), main rotating arm (2), from rotating arm locking strap (3), from rotating arm (4), positioning bolt (5)；The rotation
Hoisting flange disk (6) on pivoted arm positioning chuck (1) is fixed using bolt with four-degree-of-freedom hoisting platform；Rotating arm positioning chuck
(1) using positioning bolt (5) pass through on master positioning hole (7) and rotating arm positioning chuck (1) on main rotating arm (2) from positioning
Hole (8) is fixed main rotating arm (2)；By selecting different realize from location hole (8) to lead on the rotating arm positioning chuck (1)
The adjusting of rotating arm (2) setting angle；The slave rotating arm (4) is bolted from rotating arm locking strap (3) and main rotation
Ring flange (9) on pivoted arm (2) realizes the fixation between main rotating arm (2), is coated on from rotating arm locking strap (3) from rotating arm
(4) on the outside of locking end centrum (13), longitudinal pulling force when by fixing from rotating arm locking strap (3) and main rotating arm (2) will
It is pressed abd fixed on main rotating arm (2) from rotating arm (4)；From the fixed sonar to be measured of the hoisting flange disk (11) of rotating arm (4), lock
The dial (14) of tight end centrum (13) side is indicated from rotating arm (4) relative to the rotation angle of main rotating arm (2).
2. the four-degree-of-freedom sonar hoisting platform according to claim 1 for realizing six degree of freedom test extends mounting device,
It is characterized by: described corresponding with positioning dial disc (15) the instruction angle on rotating arm positioning chuck from location hole (8).
3. the four-degree-of-freedom sonar hoisting platform according to claim 1 for realizing six degree of freedom test extends mounting device,
It is characterized by: the design from rotating arm locking strap (3) has reading window (10).
4. the four-degree-of-freedom sonar hoisting platform according to claim 1 for realizing six degree of freedom test extends mounting device,
It is characterized by: reference graduation line (12) is to rotate angle from rotating arm (4) on the ring flange (9) of the main rotating arm (2)
Benchmark is provided.
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 |
Applications Claiming Priority (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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109143209A true CN109143209A (en) | 2019-01-04 |
| CN109143209B CN109143209B (en) | 2023-12-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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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| Country | Link |
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| CN (1) | CN109143209B (en) |
Cited By (2)
| 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 |
| CN112083402A (en) * | 2020-09-15 | 2020-12-15 | 哈尔滨工程大学 | Underwater target sailing detection experimental method under pool condition |
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 |
-
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》 * |
Cited By (2)
| 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 |
| CN112083402A (en) * | 2020-09-15 | 2020-12-15 | 哈尔滨工程大学 | Underwater target sailing detection experimental method under pool condition |
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| Publication number | Publication date |
|---|---|
| CN109143209B (en) | 2023-12-19 |
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