CN110043772A - A kind of 4 leveling systems and its leveling method for water-bed landing platform - Google Patents
A kind of 4 leveling systems and its leveling method for water-bed landing platform Download PDFInfo
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- CN110043772A CN110043772A CN201910390551.6A CN201910390551A CN110043772A CN 110043772 A CN110043772 A CN 110043772A CN 201910390551 A CN201910390551 A CN 201910390551A CN 110043772 A CN110043772 A CN 110043772A
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000002459 sustained effect Effects 0.000 claims description 8
- 239000011159 matrix material Substances 0.000 claims description 3
- 239000007788 liquid Substances 0.000 claims 1
- 230000008859 change Effects 0.000 abstract description 3
- 238000012544 monitoring process Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000005457 optimization Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000019771 cognition Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 239000013049 sediment Substances 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
- F16M11/26—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other by telescoping, with or without folding
- F16M11/32—Undercarriages for supports with three or more telescoping legs
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M2200/00—Details of stands or supports
- F16M2200/02—Locking means
- F16M2200/025—Locking means for translational movement
- F16M2200/028—Locking means for translational movement by positive interaction, e.g. male-female connections
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M2200/00—Details of stands or supports
- F16M2200/08—Foot or support base
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Fluid Mechanics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mattresses And Other Support Structures For Chairs And Beds (AREA)
- Earth Drilling (AREA)
Abstract
The present invention relates to operation at sea apparatus field, in particular to a kind of 4 leveling systems for water-bed landing platform, it includes: platform: four supporting legs；Connection structure connects the slide bar and the connecting rod, can discharge the slide bar；Position limiting structure is set between the slide bar and the connecting rod, is limited the slide bar and is slided to the connecting rod；Four hydraulically extensible legs are located between two supporting legs.The present invention also provides a kind of leveling methods.The present invention is not only easy to operate, and can be also supported by supporting leg to platform during leveling, reduces the pressure of hydraulically extensible leg, convenient for accurate elongation hydraulically extensible leg；Moreover, be supported by supporting leg to platform after platform leveling, can prevent the platform inclination as caused by pressure change in hydraulically extensible leg, effective solution problems of the prior art.
Description
Technical field
The present invention relates to operation at sea apparatus field, in particular to a kind of 4 leveling systems for water-bed landing platform
And its leveling method.
Background technique
On the water when operation, it is often necessary to establish operation at sea platform, such as the mechanics for studying bottom sediment
Test platform.Due to water-bed often uneven, after job platform is placed in the bottom, it is also necessary to level job platform.
Currently, existing job platform, is mostly directly arranged to hydraulically extensible leg for supporting leg, after job platform is placed in the bottom, lead to
It crosses and successively extends each supporting leg, realize the leveling for entire job platform, using this kind of mode, due to straight using supporting leg
Support job platform is connect, is easy to cause platform unstable, moreover, supporting leg will put down because the hydraulic pressure of supporting leg changes
Platform is by tilt adjustments into horizontal process, and hydraulically extensible leg supports the total weight of entire platform, and hydraulically extensible leg stress is larger,
It is difficult to accurately control its elongation.
It should be noted that above content belongs to the technology category of cognition of inventor, the prior art is not necessarily constituted.
Summary of the invention
In order to solve the above-mentioned technical problems, the present invention provides a kind of 4 leveling systems for water-bed landing platform and
Its leveling method is not only easy to operate, and can be also supported by supporting leg to platform during leveling, reduces hydraulic stretch
The pressure of contracting leg, convenient for accurate elongation hydraulically extensible leg；Moreover, being propped up by supporting leg platform after platform leveling
Support, can prevent the platform inclination as caused by pressure change in hydraulically extensible leg, and effective solution is existing in the prior art
Problem.
To solve the above-mentioned problems, the present invention provides a kind of 4 leveling systems for water-bed landing platform, comprising: flat
Platform: four supporting legs are set to the bottom of the platform, and four supporting legs are located at the four corners of a rectangle, the branch
Support leg includes the connecting rod being connected with the platform, with the connecting rod slides the slide bar that is connected；Connection structure connects the cunning
Bar and the connecting rod, can discharge the slide bar；Position limiting structure is set between the slide bar and the connecting rod, limitation
The slide bar is slided to the connecting rod；Four hydraulically extensible legs are located between two supporting legs.
Further, the position limiting structure includes: casing, is connected with the connecting rod；Pawl, being set to for rotation are described
In casing；Ratchet is set to the inside of the slide bar, is obliquely installed obliquely；The sliding bar is set to described sleeve pipe
It is interior, and the pawl and the ratchet cooperate, and limiting section are formed in described sleeve pipe, to be connected to the ratchet in the pawl
When upper, the limiting section limits the pawl and is rotated up.
Further, the connection structure includes the acoustic releaser being connected with the connecting rod and the slide bar
Connected hook, it is described to be articulated on the acoustic releaser.
Further, the slide bar is equipped with clump weight.
Further, along the circumferencial direction of the slide bar, it is equipped at intervals with ratcheted section and guiding area on the slide bar,
The ratchet is set in the ratcheted section, and the guiding area is equipped with the guide rail of evagination, is equipped with described in supplying in described sleeve pipe
The sliding slot of guide rail sliding.
Further, the lower end of the slide bar is hemispherical.
Further, the bottom of the hydraulically extensible leg is equipped with pressure sensor.
The present invention also provides a kind of leveling methods for water-bed landing platform, using 4 points of above-mentioned any one
Leveling system, which comprises
The platform is placed in the bottom；
On the platform at each supporting leg position of correspondence, point A, point B, point C, point D are determined；
Leveling step: S1, identification are in the point of lowest position, and elongation is in hydraulic corresponding to lowest position point and stretches
Contracting leg, so that being in sustained height between point and opposite point in lowest position；
S2, in remaining two points, elongation is wherein in the corresponding hydraulically extensible leg of point at lower position, so that remaining
Two points are in sustained height；
Detecting step obtains the difference in height between each point, such as the maximum value of difference in height, is less than given threshold, then levels knot
Beam then repeats the leveling step, the detecting step if difference in height is greater than the given threshold.
Further, it provides and passes through the acoustics release after the platform is placed in the bottom such as above-mentioned connection structure
Device discharges the hook.
Further, the method also includes:
Establish coordinate system:
When in a horizontal state in platform, in platform plane, the intersection point with line between each supporting leg top is
Origin establishes space coordinates XYZ, wherein X-axis is conllinear with the origin and A point, Y-axis and the origin and the B
Point is conllinear, and the point A, point B, point C, the distance between point D and the origin are L；
The leveling step includes:
P1, provide an attitude transducer, obtain after platform is placed in the bottom, relative to before plateau levels Eulerian angles α,
β and γ；
Point A on P2, computing platform, point B, point C, the actual coordinate of point D:
P21, spin matrix is established；
P22, equivalent matrice is obtained；
P23, calculating；
P24, point A, point B, point C, the actual coordinate of point D are obtained；
ZA=-L sin β cos γ, ZB=L sin β sin γ, ZC=L sin β cos γ, ZD=-Lsin β sin γ；
P3, the elongation for determining hydraulically extensible leg:
Obtain the difference L between the ordinate of minimum point and the ordinate of, its opposite point1, determine that minimum point corresponds to position
The hydraulically extensible leg at the place of setting is that the elongation after water-bed abut is | L1|；
It determines in two points of residue, the difference L between the ordinate of lower point and the ordinate of, its opposite point2, really
The hydraulically extensible leg of fixed lower corresponding position is that the elongation after water-bed abut is | L2|。
The beneficial effects of the present invention are, the present invention provides a kind of 4 leveling systems for water-bed landing platform and
Its leveling method is not only easy to operate, and can be also supported by supporting leg to platform during leveling, reduces hydraulic stretch
The pressure of contracting leg, convenient for accurate elongation hydraulically extensible leg；Moreover, being propped up by supporting leg platform after platform leveling
Support, can prevent the platform inclination as caused by pressure change in hydraulically extensible leg, and effective solution is existing in the prior art
Problem.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes a part of the invention, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the structural schematic diagram of one embodiment of the invention；
Fig. 2 is the cross-sectional side structural schematic diagram in one embodiment of the invention at supporting leg；
Fig. 3 is the partial enlargement structural representation in Fig. 2 at A；
Lateral schematic cross-sectional view when Fig. 4 is one embodiment of the invention middle sleeve and slide bar cooperation；
Fig. 5 is the label schematic diagram of platform of the invention when rotation is in leveling.
Wherein: 1, platform；2, supporting leg；201, connecting rod；202, slide bar；3, hydraulically extensible leg；4, casing；5, pawl；
6, ratchet；7, acoustic releaser；8, it links up with；9, clump weight；10, guide rail；11, sliding slot；12, pressure sensor.
Specific embodiment
General idea of the invention is illustrated in order to clearer, is carried out in an illustrative manner in conjunction with Figure of description below
It is described in detail.
It needs to illustrate, in the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, still, this hair
Bright to be implemented using other than the one described here other modes, therefore, protection scope of the present invention is not by under
The limitation of specific embodiment disclosed in face.
In addition, in the description of the present invention, it is to be understood that, term " center ", "upper", "lower", "front", "rear",
The orientation of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", " axial direction ", " radial direction ", " circumferential direction "
Or positional relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and simplification of the description, and
It is not that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore
It is not considered as limiting the invention.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be direct phase
Even, can also indirectly connected through an intermediary, the interaction that can be connection or two elements inside two elements is closed
System.But it indicates and is directly connected to, illustrate to construct connection relationship not by excessive structural between two main bodys in connection ground, only pass through
Connection structure is connected to form an entirety.For the ordinary skill in the art, on can understanding as the case may be
State the concrete meaning of term in the present invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.In retouching for this specification
In stating, the description of reference term " one embodiment ", " some embodiments ", " example ", " specific example " or " some examples " etc.
Mean that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one of the invention
In embodiment or example.In the present specification, schematic expression of the above terms are necessarily directed to identical embodiment
Or example.Moreover, particular features, structures, materials, or characteristics described can be in any one or more of the embodiments or examples
It can be combined in any suitable manner.
In the present invention, a kind of 4 leveling systems for water-bed landing platform, 1: four supporting leg of platform are provided
2, be set to the bottom of the platform 1, four supporting legs 2 are located at the four corners of a rectangle, the supporting leg 2 include with
The connected connecting rod 201 of the platform 1 slides the slide bar 202 being connected with the connecting rod 201；Connection structure connects the cunning
Bar 202 and the connecting rod 201 can discharge the slide bar 202；Position limiting structure is set to the slide bar 202 and the connection
Between bar 201, limits the slide bar 202 and slided to the connecting rod 201；Four hydraulically extensible legs 3 are located at two branch
Between support leg 2.
Point leveling system of the invention when in use, is placed under water by leveling system of the invention, touches in each supporting leg 2
Behind bottom, the connection structure between slide bar 202 and connecting rod 201 discharges slide bar 202, by extending hydraulically extensible leg 3, will entirely put down
Platform 1 levels, and during leveling, with the elongation of hydraulically extensible leg 3, slide bar 202 is stretched out to the outside of connecting rod 201, and
Always it is abutted with water-bed ground, moreover, because the limitation of position limiting structure, so that entire supporting leg 2 can bear axial force, thus
Supporting leg 2 can be enabled to share the pressure on hydraulically extensible leg 3, be conducive to the length for accurately adjusting hydraulically extensible leg 3.
Moreover, supporting leg 2 changes as the length of hydraulically extensible leg 3 changes during leveling, it will not be to the tune of entire platform 1
It is flat to impact.After leveling, supporting leg 2 can be supported platform 1, can effectively prevent hydraulically extensible leg 3 due to
Platform 1 caused by hydraulic pressure changes tilts.
Further specifically, the position limiting structure includes: casing 4, is connected with the connecting rod 201；Pawl 5 turns
Dynamic is set in described sleeve pipe 4；Ratchet 6 is set to the inside of the slide bar 202, is obliquely installed obliquely；The slide bar
202 slidings are set in described sleeve pipe 4, and the pawl 5 and the ratchet 6 cooperate, and are formed with limit in described sleeve pipe 4
Portion, with when the pawl 5 is connected on the ratchet 6, the limiting section limits the pawl 5 and is rotated up.
Thus when slide bar 202 stretches out, pawl 5 can be rotated down, and formed the space that ratchet 6 passes through, passed through in ratchet 6
Afterwards, it is abutted between pawl 5 and ratchet 6, limiting section limitation pawl 5 is rotated up, direction of the slide bar 202 without normal direction connecting rod 201
It is mobile.In the present embodiment, it is additionally provided with torsional spring between pawl 5 and casing 4, so that after pawl 5 rotates down, it can be quick
Be rotated up, abutted with ratchet 6.
Be equipped with the mounting groove for installing pawl 5 in Fig. 2, embodiment shown in Fig. 3, in casing 4, mounting groove it is upper
Side wall forms limiting section, and limitation pawl 5 is rotated up.
When further specific, the connection structure includes the acoustics release being connected with the connecting rod 201
Device 7, the hook 8 being connected with the slide bar 202, the hook 8 are articulated on the acoustic releaser 7.It is set by entire platform 1
Behind the bottom, hook 8 is sloughed by acoustic releaser 7, discharges slide bar 202.
Further optimization place is that the slide bar 202 is equipped with clump weight 9.It is possible thereby to guarantee that slide bar 202 can
Slide downward, moreover, increasing weight by clump weight 9, it is also ensured that slide bar 202 can be supported effectively with water-bed bottom surface,
The phenomenon that preventing empty bottom.
In the embodiment shown in figure 2, hook 8 is directly connected with clump weight 9.
Further optimization place is, in a preferred embodiment, as shown in figure 4, along the circumference side of the slide bar 202
Upwards, 6 region of ratchet and guiding area are equipped at intervals on the slide bar 202, the ratchet 6 is set in 6 region of ratchet,
The guiding area is equipped with the guide rail 10 of evagination, and the sliding slot 11 for the guide rail 10 sliding is equipped in described sleeve pipe 4.
By so set, guide rail 10 may make with the power of the meter transmitting horizontal direction of casing 4, to prevent 5 level side of pawl
To stress, the service life of whole device is improved.
Further, the lower end of the slide bar 202 is hemispherical.It is possible thereby in rotatable platform 1, due to slide bar 202
Lower end be semi-spherical shape, can platform 1 adjust the angle when, convenient for 202 lower end of slide bar and the bottom bottom surface between phase occurs
Pair rotation, movement moreover, being arranged by hemispherical can also increase the contact area between slide bar 202 and water-bed bottom surface, energy
Stable support force is enough provided.
Further optimization place is that the bottom of the hydraulically extensible leg 3 is equipped with pressure sensor 12.It is possible thereby to logical
Setting pressure sensor 12 is crossed, the pressure value of extraneous monitoring device monitoring pressure sensor 12, whether is monitoring hydraulically extensible leg 3
It is contacted between water-bed bottom surface.
The present invention also provides a kind of leveling methods of water-bed landing platform 1, using any one of above-described embodiment
4 leveling systems, which comprises
The platform 1 is placed in the bottom；
On the platform 1 at each 2 position of supporting leg of correspondence, point A, point B, point C, point D are determined；
Leveling step: S1, identification are in the point of lowest position, and elongation is in hydraulic corresponding to lowest position point and stretches
Contracting leg 3, so that being in sustained height between point and opposite point in lowest position；
S2, in remaining two points, elongation is wherein in the corresponding hydraulically extensible leg 3 of point at lower position, so that surplus
Two points of remaininging are in sustained height；
Detecting step obtains the difference in height between each point, such as the maximum value of difference in height, is less than given threshold, then levels knot
Beam then repeats the leveling step, the detecting step if difference in height is greater than the given threshold.
Specifically as shown in figure 5, point a, point b, point c, point d, to correspond to the flat of each 3 top of hydraulically extensible leg under horizontality
Point on platform 1, point A, point B, point C, point D are that platform 1 is put into the virtual condition behind the bottom.Point e, point f, point g, point h are each supports
The point at 1 top of platform of 2 corresponding position of leg, point E, point F, point G, point H are that platform 1 is put into the virtual condition behind the bottom.It is adjusting
When whole, the corresponding hydraulically extensible leg 3 of point A is extended first, entire platform 1 is rotated by axis of GF, is between point A and point C
After sustained height, at this point, D point is lower than B point, then the hydraulically extensible leg 3 at elongation points D, at this point, entire platform 1 turns by axis of EF
Dynamic, after being in sustained height between point D and point B, point A, point B, point C, point D is rough in the same plane, at this time can be into
Row detecting step.
Using this method, can only extend the hydraulically extensible leg 3 at two positions can be completed leveling, convenience of calculation, easily
In control.
Further specifically, it in a preferred method, using the connection structure of diagram, is placed in by the platform 1
Behind the bottom, the hook 8 is discharged by the acoustic releaser 7.
When further specific, the method also includes:
Establish coordinate system:
It is when in a horizontal state in platform 1, in 1 plane of platform, with the intersection point of line between each 2 top of supporting leg
For origin, space coordinates XYZ is established, wherein X-axis is conllinear with the origin and A point, Y-axis and the origin and institute
It is conllinear to state B point, the point A, point B, point C, the distance between point D and the origin are L；
The leveling step includes:
P1, an attitude transducer is provided, after acquisition platform 1 is placed in the bottom, relative to the Eulerian angles before 1 level of platform
α, β and γ；
Point A on P2, computing platform 1, point B, point C, the actual coordinate of point D:
P21, spin matrix is established；
P22, equivalent matrice is obtained；
P23, calculating；
P24, point A, point B, point C, the actual coordinate of point D are obtained；
ZA=-L sin β cos γ, ZB=L sin β sin γ, ZC=L sin β cos γ, ZD=-L sin β sin γ；
P3, the elongation for determining hydraulically extensible leg 3:
Obtain the difference L between the ordinate of minimum point and the ordinate of, its opposite point1, determine that minimum point corresponds to position
The hydraulically extensible leg 3 at the place of setting is that the elongation after water-bed abut is | L1|；
It determines in two points of residue, the difference L between the ordinate of lower point and the ordinate of, its opposite point2, really
The hydraulically extensible leg 3 of fixed lower corresponding position is that the elongation after water-bed abut is | L2|。
Before the S1 for carrying out leveling step every time, the actual coordinate of each point is obtained by P1 step first, is then determined
The hydraulically extensible leg 3 for needing to adjust in S1, S2 and the sequence adjusted determine first as shown, the ordinate of point A is minimum
Then the corresponding hydraulically extensible leg 3 of elongation points A determines the hydraulically extensible leg 3 at elongation points D again, and then determine that adjusting sequence is,
Point A, point D.Then the difference L of the ordinate between point A and point C is determined again1, then determine the difference L of the ordinate between point D and point B2,
It can determine the extended length of each hydraulically extensible leg 3.
Wherein, it about hydraulically extensible leg 3 and the water-bed monitoring abutted, can be used as in previous embodiment, in hydraulically extensible
The mode of pressure sensor 12 is arranged in 3 bottom of leg, and other monitoring elements, monitoring method, such as push switch also can be used, then
Such as hydraulic pressure variation monitoring is counter pushes away.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for system reality
For applying example, since it is substantially similar to the method embodiment, so being described relatively simple, related place is referring to embodiment of the method
Part explanation.
The above description is only an example of the present application, is not intended to limit this application.For those skilled in the art
For, various changes and changes are possible in this application.All any modifications made within the spirit and principles of the present application are equal
Replacement, improvement etc., should be included within the scope of the claims of this application.
Claims (10)
1. a kind of 4 leveling systems for water-bed landing platform, which is characterized in that
Platform:
Four supporting legs, are set to the bottom of the platform, and four supporting legs are located at the four corners of a rectangle, the branch
Support leg includes the connecting rod being connected with the platform, with the connecting rod slides the slide bar that is connected；
Connection structure connects the slide bar and the connecting rod, can discharge the slide bar；
Position limiting structure is set between the slide bar and the connecting rod, is limited the slide bar and is slided to the connecting rod；
Four hydraulically extensible legs are located between two supporting legs.
2. a kind of 4 leveling systems for water-bed landing platform according to claim 1, which is characterized in that the limit
Bit architecture includes:
Casing is connected with the connecting rod；
Pawl, rotation are set in described sleeve pipe；
Ratchet is set to the inside of the slide bar, is obliquely installed obliquely；
The sliding bar is set in described sleeve pipe, and the pawl and the ratchet cooperate, and are formed in described sleeve pipe
Limiting section, with when the pawl is connected on the ratchet, the limiting section limits the pawl and is rotated up.
3. a kind of 4 leveling systems for water-bed landing platform according to claim 2, which is characterized in that the company
Binding structure includes the acoustic releaser being connected with the connecting rod, the hook being connected with the slide bar, the hook mounting
On the acoustic releaser.
4. a kind of 4 leveling systems for water-bed landing platform according to claim 2, which is characterized in that the cunning
Bar is equipped with clump weight.
5. a kind of 4 leveling systems for water-bed landing platform according to claim 2, which is characterized in that along described
On the circumferencial direction of slide bar, ratcheted section and guiding area are equipped at intervals on the slide bar, the ratchet is set to the ratchet
In region, the guiding area is equipped with the guide rail of evagination, and the sliding slot for guide rail sliding is equipped in described sleeve pipe.
6. a kind of 4 leveling systems for water-bed landing platform according to claim 1, which is characterized in that the cunning
The lower end of bar is hemispherical.
7. a kind of 4 leveling systems for water-bed landing platform according to claim 1, which is characterized in that the liquid
The bottom of Retractive leg is pressed to be equipped with pressure sensor.
8. a kind of leveling method for water-bed landing platform, which is characterized in that using the four of any one of claim 1-7
Point leveling system, which comprises
The platform is placed in the bottom；
On the platform at each supporting leg position of correspondence, point A, point B, point C, point D are determined；
Leveling step: S1, identification are in the point of lowest position, and elongation is in hydraulically extensible corresponding to lowest position point
Leg, so that being in sustained height between point and opposite point in lowest position；
S2, in remaining two points, elongation is wherein in the corresponding hydraulically extensible leg of point at lower position, so that two remaining
Point is in sustained height；
Detecting step obtains the difference in height between each point, such as the maximum value of difference in height, is less than given threshold, then leveling terminates, such as
If difference in height is greater than the given threshold, the leveling step, the detecting step are repeated.
9. a kind of leveling method for water-bed landing platform according to claim 8, which is characterized in that provide such as right
It is required that connection structure described in 3 discharges the hook by the acoustic releaser after the platform is placed in the bottom.
10. a kind of leveling method for water-bed landing platform according to claim 8, which is characterized in that the method
Further include:
Establish coordinate system:
It is when in a horizontal state in platform, in platform plane, using the intersection point of line between each supporting leg top as origin,
Establish space coordinates XYZ, wherein X-axis is conllinear with the origin and A point, and Y-axis and the origin and B point are total to
Line, the point A, point B, point C, the distance between point D and the origin are L；
The leveling step includes:
P1, provide an attitude transducer, obtain after platform is placed in the bottom, relative to before plateau levels Eulerian angles α, β and
γ；
Point A on P2, computing platform, point B, point C, the actual coordinate of point D:
P21, spin matrix is established；
P22, equivalent matrice is obtained；
P23, calculating；
P24, point A, point B, point C, the actual coordinate of point D are obtained；
ZA=-Lsin β cos γ, ZB=Lsin β sin γ, ZC=Lsin β cos γ, ZD=-Lsin β sin γ；
P3, the elongation for determining hydraulically extensible leg:
Obtain the difference L between the ordinate of minimum point and the ordinate of, its opposite point1, determine minimum point corresponding position
Hydraulically extensible leg is that the elongation after water-bed abut is | L1|；
It determines in two points of residue, the difference L between the ordinate of lower point and the ordinate of, its opposite point2, determine compared with
The hydraulically extensible leg of low point corresponding position is that the elongation after water-bed abut is | L2|。
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| CN112033639A (en) * | 2020-04-30 | 2020-12-04 | 中船第九设计研究院工程有限公司 | Underwater bottom-sitting type movable installation and adjustment platform |
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