CN110816865B - Compensation type four-degree-of-freedom ship-based take-off and landing platform - Google Patents
Compensation type four-degree-of-freedom ship-based take-off and landing platform Download PDFInfo
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- CN110816865B CN110816865B CN201911001560.8A CN201911001560A CN110816865B CN 110816865 B CN110816865 B CN 110816865B CN 201911001560 A CN201911001560 A CN 201911001560A CN 110816865 B CN110816865 B CN 110816865B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G11/00—Aircraft carriers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/02—Arresting gear; Liquid barriers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/22—Ground or aircraft-carrier-deck installations installed for handling aircraft
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- Aviation & Aerospace Engineering (AREA)
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Ship Loading And Unloading (AREA)
Abstract
The invention relates to a compensation type four-degree-of-freedom ship-based take-off and landing platform which comprises a bottom plate, a supporting upright post, a connecting beam, a front guide body, a rear guide body, an extension body, a sliding support, a first mortise lock device, a first sliding block, an outer take-off and landing combined platform, a connecting rod mechanism and an inner take-off and landing platform. The invention provides a compensation type four-degree-of-freedom ship-based take-off and landing platform which can compensate four degrees of freedom of rolling, swaying, pitching and heaving of a ship in the process of landing a helicopter, and greatly improves the safety and stability of landing the helicopter. Meanwhile, the shipborne take-off and landing platform can be integrated with a hangar of a ship, when the ship is landed without a helicopter, the take-off and landing platform can be directly used as the top of the hangar, and the space below the take-off and landing platform can be used as a passageway or used for temporarily parking the helicopter, so that waste of the space on the ship is avoided, and the integral attractiveness of the ship is not influenced.
Description
Technical Field
The invention belongs to the technical field of shipborne take-off and landing platforms, and particularly relates to a compensation type four-degree-of-freedom shipborne take-off and landing platform.
Background
The shipborne take-off and landing platform is mainly applied to the field of navigation, and due to the action of wind surge and the influence of self motion of a ship, the motion states of a helicopter and the ship cannot be kept consistent in the take-off and landing process of the helicopter on the ship, so that accidents occur at a high probability when the helicopter lands on the ship, which is a great hidden danger for the personal safety of pilots and the safety of equipment, and the safety problem of the landing of the helicopter is to be solved urgently. Through analysis, the motion of the ship is six degrees of freedom, including rolling, pitching, yawing, heaving, wherein the effect of the heaving of the ship on the landing of the helicopter is very small and can be almost ignored, and the effect of the pitching of the ship on the landing of the helicopter is very small and can be ignored. Therefore, by means of experience and practice of years of related industries, the inventor provides a compensation type four-degree-of-freedom carrier-based take-off and landing platform to overcome the defects of the prior art, and the compensation type four-degree-of-freedom carrier-based take-off and landing platform can compensate four degrees of freedom in the process of landing a helicopter, so that the safety and the stability of landing the helicopter are greatly improved.
The patent document with the application number of 201610114472.9 discloses a composite carrier-based anti-impact stable platform based on a six-degree-of-freedom parallel platform and a method, wherein the stable platform is divided into an upper six-degree-of-freedom parallel platform and a lower six-degree-of-freedom parallel platform, the lower part of the stable platform is passively damped, the upper part of the stable platform is actively stable, although the stable platform can well isolate the six-dimensional swinging motion of a ship and can resist impact, the stable platform compensates two degrees of freedom, and the control is; the lifting platform at the top of the helicopter cannot land to the height of a deck of a ship, so that the helicopter cannot be conveniently moved into a hangar from the stable platform; secondly, the ship can not be integrated into a hangar, occupies a larger space of the ship, has no other functions when being idle, and influences the attractiveness of the ship to a certain extent.
Disclosure of Invention
In view of the above situation, the invention provides a compensation type four-degree-of-freedom carrier-based take-off and landing platform, which can compensate four degrees of freedom in the process of landing a helicopter, and greatly improves the safety and stability of landing the helicopter. Meanwhile, the compensation type four-degree-of-freedom ship-based take-off and landing platform can be integrated with a hangar of a ship, when the ship is landed without a helicopter, the take-off and landing platform can be directly used as the top of the hangar, the space below the take-off and landing platform can be used as a passageway or used for temporarily parking the helicopter, waste of the space on the ship is avoided, and the integral attractiveness of the ship is not influenced.
The invention adopts the technical scheme that the compensation type four-degree-of-freedom ship-based take-off and landing platform comprises a bottom plate, supporting stand columns, connecting cross beams, a front guide body, a rear guide body, an extension body, a sliding support, a first mortise lock device, a first sliding block, an outer take-off and landing combined platform, a connecting rod mechanism and an inner take-off and landing platform, wherein the supporting stand columns are uniformly distributed at the corners of the bottom plate, the connecting cross beams are arranged at the first ends of every two adjacent supporting stand columns, the first end of the front guide body is rotatably connected with the front end of the bottom plate through a revolute pair, the first end of the rear guide body is fixedly connected with the rear end of the bottom plate, and the second end of the rear guide body is fixedly connected with the connecting cross beams; the extension body is respectively arranged in the front guide body and the rear guide body and is respectively connected with the front guide body and the rear guide body through a first moving pair, the first end of the extension body is connected with the first sliding block ball pair through a ball socket, the sliding supports are respectively arranged on the inner side surfaces of the supporting upright posts and are connected with the supporting upright posts through a second moving pair, the first mortise lock device is arranged on the first end surface of the sliding support, and the inner lifting platform and the sliding support can be locked through the first mortise lock device; and the outer take-off and landing combined platform comprises a middle flat plate, six sets of guide modules, a first folding plate, a second folding plate and six sets of second mortise lock devices, wherein the middle position of the middle flat plate is provided with a through hole which is completely the same as the appearance size of the inner take-off and landing platform, the six sets of guide modules are symmetrically arranged on the first end surface of the middle flat plate in the front-back direction, four sets of guide modules at the edge of the middle flat plate are connected with the first sliding block through a third moving pair, the six sets of second mortise lock devices are symmetrically arranged on the first end surface of the middle flat plate in the left-right direction, the inner take-off and landing platform can be locked with the middle flat plate through the six sets of second mortise lock devices, the first folding plate is symmetrically arranged on the first side surface and the second side surface of the middle flat plate and is connected with the rotating pair of the middle flat plate, the second folding plate is symmetrically arranged on the third side surface and the fourth side surface of the middle, and with middle dull and stereotyped revolute pair is connected, the second terminal surface of middle flat board still is equipped with radar speed measuring range sensor and binocular formation of image distancer, outer take-off and land combined platform front and back symmetry is equipped with link mechanism, link mechanism's long connecting rod pass through the revolute pair with first slider is connected, link mechanism's second slider pass through the fourth sliding pair with the direction module at middle dull and stereotyped middle part is connected.
Further, the link mechanism comprises two long connecting rods, two short connecting rods and a second sliding block, the length of each long connecting rod is twice that of each short connecting rod, the first ends of the two long connecting rods are connected through revolute pairs, the second ends of the two long connecting rods are connected with the first sliding block on the same side through revolute pairs respectively, the first ends of the two short connecting rods are connected with the middle positions of the two long connecting rods through revolute pairs respectively, and the second ends of the two short connecting rods are connected with the second sliding block through revolute pairs.
Preferably, the support post includes four support posts, four support post equipartitions are located the edge of bottom plate, just four support post's mounting point is in proper order the line encloses into rectangle or square.
Preferably, three sets of direction module equidistance of the first terminal surface front end of middle dull and stereotyped arrange and lie in same straight line, three sets of direction module equidistance of the first terminal surface rear end of middle dull and stereotyped arrange and lie in same straight line.
Preferably, the second end of the front guide body is connected with the connecting beams on the left side and the right side of the bottom plate respectively through a plane pair or an arc guide rail pair.
Furthermore, the inner lifting platform is provided with a hollow grid, and the four mooring devices are arranged on the first end face of the inner lifting platform and are circumferentially and uniformly arranged.
Preferably, link mechanism can adopt the linear drive unit, the linear drive unit includes four sets of linear drive units, four sets of linear drive unit two liang front and back symmetries are located on the middle flat board, just four sets of linear drive unit's stiff end respectively through the revolute pair with first slider is connected, four sets of linear drive unit's the end that stretches out respectively through the revolute pair with middle dull and stereotyped the connection.
Preferably, the third moving pair is a follower moving pair, the first moving pair, the second moving pair, the fourth moving pair and the linear driving unit are active moving pairs, and the first moving pair, the second moving pair, the fourth moving pair and the linear driving unit can be driven by a hydraulic pressure or an electric cylinder, or can be driven by a rack and pinion or a lead screw.
Furthermore, the four mooring devices can adopt a two-degree-of-freedom intelligent tracking mooring platform, the two-degree-of-freedom intelligent tracking mooring platform comprises a guide rail, a moving platform and hand grips, the guide rail is respectively connected with the outer lifting combined platform and the inner lifting combined platform through moving pairs, the moving platform is installed on the guide rail and is connected with the guide rail moving pairs, and the hand grips are uniformly distributed at the corners of the moving platform through rotating pairs.
Preferably, when the first end of the front guide body is fixedly connected with the front end of the bottom plate and the first end of the extension body is connected with the first sliding block through a revolute pair, the carrier-based take-off and landing platform has three degrees of freedom, and a three-degree-of-freedom carrier-based take-off and landing platform is formed.
The invention has the characteristics and beneficial effects that:
1. the compensation type four-degree-of-freedom ship-based take-off and landing platform provided by the invention can compensate three degrees of freedom of rolling, pitching and heaving of a ship by controlling the motion of the extension body in the process of landing the ship by a helicopter, and meanwhile, the degree of freedom of rolling of the ship is compensated by driving the second sliding block to cooperate with the motion, so that the safety and the stability of landing of the helicopter are greatly improved.
2. The compensation type four-degree-of-freedom ship-based take-off and landing platform provided by the invention can be integrated with a hangar of a ship, when no helicopter lands on the ship, the inner take-off and landing platform can be directly used as the top of the hangar, and the space below the inner take-off and landing platform can be used as a passageway or used for temporarily parking the helicopter.
3. The compensation type four-degree-of-freedom ship-based take-off and landing platform provided by the invention reasonably utilizes space, does not waste space on a ship, and does not influence the integral attractiveness of the ship.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of the present invention in a first state;
FIG. 3 is a schematic structural diagram of a second state of the present invention;
FIG. 4 is a schematic structural view of the external take-off and landing combined platform of the present invention in a flat state;
FIG. 5 is a schematic structural view of the external take-off and landing combined platform of the present invention in a folded state;
FIG. 6 is a schematic structural view of the link mechanism of the present invention;
FIG. 7 is a schematic structural diagram of the present invention in which a link mechanism is replaced with a linear driving unit;
FIG. 8 is a schematic structural diagram of a two-degree-of-freedom intelligent tracking mooring platform of the present invention;
FIG. 9 is a schematic structural diagram of a four-degree-of-freedom ship-based take-off and landing platform of the present invention changed into three degrees of freedom; and
fig. 10 is an overall effect diagram of the ship-based take-off and landing platform provided by the invention installed on a ship.
The main reference numbers:
a base plate 1; a support column 2; a connecting beam 3; a front guide body 4; a rear guide body 4'; a protrusion 5; a sliding support 6; a first mortise lock device 7; a first slider 8; an external take-off and landing combined platform 9; a middle plate 901; a guide module 902; a first folding plate 903; a second folding plate 904; a second mortise locking device 905; a link mechanism 10; a long link 1001; a short link 1002; a second slider 1003; an inner lifting platform 11; a helicopter 12; a mooring device 13; a binocular imaging rangefinder 14; a radar speed and distance measuring sensor 15; a linear drive unit 16; a two-degree-of-freedom intelligent tracking mooring platform 17; a guide rail 1701; a mobile platform 1702; a hand grip 1703; a ship 18.
Detailed Description
The technical contents, structural features, attained objects and effects of the present invention are explained in detail below with reference to the accompanying drawings.
The invention provides a compensation type four-degree-of-freedom ship-based take-off and landing platform, which comprises a base plate 1, supporting upright posts 2, connecting cross beams 3, front guide bodies 4, rear guide bodies 4 ', extension bodies 5, sliding supports 6, a first mortise locking device 7, a first sliding block 8, an outer take-off and landing combined platform 9, a connecting rod mechanism 10 and an inner take-off and landing platform 11, wherein the supporting upright posts 2 are uniformly distributed at the corners of the base plate 1, the first ends of every two adjacent supporting upright posts 2 are provided with the connecting cross beams 3, the first end of the front guide body 4 is rotatably connected with the front end of the base plate 1 through a rotating pair, the first end of the rear guide body 4' is fixedly connected with the rear end of the base plate 1, the second end of the rear guide body 4 'is fixedly connected with the connecting cross beams 3, the extension bodies 5 are respectively arranged in the front guide bodies 4 and the rear guide bodies 4', and the extension bodies 5 are respectively connected with the front guide bodies 4 'and the rear guide bodies 4' through a first moving pair, the first end of the extension body 5 is connected with a ball pair of a first sliding block 8 through a ball socket, the sliding supports 6 are respectively arranged on the inner side surfaces of the supporting upright posts 2 and are connected with the supporting upright posts 2 through a second moving pair, the first mortise lock device 7 is arranged on the first end surface of the sliding support 6, and the inner lifting platform 11 and the sliding support 6 can be locked through the first mortise lock device 7.
Specifically, the support post 2 includes four support posts 2, and the edge of bottom plate 1 is located to four support post 2 equipartitions, and four support post 2's mounting point is in proper order the line encloses into rectangle or square.
The second end of the front guide body 4 is respectively connected with the connecting beams 3 at the left side and the right side of the bottom plate 1 through a plane pair or an arc guide rail pair.
As shown in fig. 4 and 5, the outer lifting combined platform 9 includes a middle plate 901, six sets of guiding modules 902, a first folding plate 903, a second folding plate 904, and six sets of second mortise lock devices 905, a through hole having the same shape and size as the inner lifting platform 11 is provided in the middle of the middle plate 901, the six sets of guiding modules 902 are symmetrically provided at the first end surface of the middle plate 901 in front and back, and the four sets of guiding modules 902 at the corners of the middle plate 901 are connected to the first slider 8 through a third moving pair, the six sets of second mortise lock devices 905 are symmetrically provided at the first end surface of the middle plate 901 in left and right, and the inner lifting platform 11 can be locked with the middle plate 901 through the six sets of second mortise lock devices 905, the first folding plate 903 is symmetrically provided at the first side surface and the second side surface of the middle plate 901 in left and right, and is connected to the middle plate rotation pair 901, the second folding plate 904 is symmetrically provided at the third side surface and the fourth side surface of the middle plate 901 in front and back, and is connected with the middle flat plate 901 revolute pair; when the combined platform 9 for taking off and landing is in a flat state, the two first folding plates 903, the two second folding plates 904 and the middle flat plate 901 are kept parallel and level, on the basis, the two first folding plates 903 are turned upwards for 90 degrees, and after the two second folding plates 904 are also turned upwards for 90 degrees, the combined platform 9 for taking off and landing is in a folded state.
Specifically, three sets of guide modules 902 at the front end of the first end face of the middle flat plate 901 are equidistantly arranged and located on the same straight line, three sets of guide modules 902 at the rear end of the first end face of the middle flat plate 901 are equidistantly arranged and located on the same straight line, and the second end face of the middle flat plate 901 is further provided with a radar speed-measuring distance-measuring sensor 15 and a binocular imaging distance-measuring instrument 14.
In the first state, the inner lifting platform 11 is in locking connection with the outer lifting combined platform 9 through six sets of second mortise lock devices 905; in the second state, the inner lifting platform 11 is in locking connection with the four sliding brackets 6 through four sets of first mortise lock devices 7.
The inner lifting platform 11 is provided with a hollow grid, and the four mooring devices 13 are arranged on the first end face of the inner lifting platform 11 and are circumferentially and uniformly arranged.
As shown in fig. 6, the link mechanism 10 includes two long links 1001, two short links 1002 and a second slider 1003, the length of the long link 1001 is twice the length of the short link 1002, the first ends of the two long links 1001 are connected through a revolute pair, the second ends of the two long links 1001 are respectively connected to the first slider 8 on the same side through a revolute pair, the first ends of the two short links 1002 are respectively connected to the middle positions of the two long links 1001 through a revolute pair, the second ends of the two short links 1002 are connected to the second slider 1003 through a revolute pair, and the second slider 1003 is connected to the guide module 902 in the middle of the middle plate 901 through a fourth revolute pair.
As shown in fig. 7, the link mechanism 10 can adopt a linear driving unit 16, the linear driving unit 16 includes four sets of linear driving units 16, the four sets of linear driving units 16 are symmetrically arranged on the middle plate 901 in pairs, the fixed ends of the four sets of linear driving units 16 are respectively connected with the first slider 8 through revolute pairs, and the extending ends of the four sets of linear driving units 16 are respectively connected with the middle plate 901 through revolute pairs.
Specifically, the third sliding pair is a follower sliding pair, the first sliding pair, the second sliding pair, the fourth sliding pair and the linear driving unit 16 are active sliding pairs, and the first sliding pair, the second sliding pair, the fourth sliding pair and the linear driving unit 16 can be driven by hydraulic pressure, electric cylinder, gear rack and screw rod.
As shown in fig. 8, the four mooring devices 13 can adopt a two-degree-of-freedom intelligent tracking mooring platform 17, the two-degree-of-freedom intelligent tracking mooring platform 17 comprises a guide rail 1701, a moving platform 1702 and hand fingers 1703, the guide rail 1701 is respectively connected with the outer lifting and landing combined platform 9 and the inner lifting and landing platform 11 through moving pairs, the moving platform 1702 is mounted on the guide rail 1701 and is connected with the guide rail 1701 moving pairs, and the hand fingers 1703 are uniformly arranged at the corners of the moving platform 1702 through rotating pairs.
The specific working process of the two-degree-of-freedom intelligent tracking mooring platform 17 is as follows: in the process that the helicopter 12 approaches the whole lifting platform, the two-degree-of-freedom intelligent tracking mooring platform 17 adjusts the position of the movable platform 1702 through the two moving pairs and tracks the helicopter 12 in real time, after the helicopter 12 falls on the movable platform 1702, the four grippers 1703 grab the skid of the helicopter 12 to realize mooring, and then the position of the movable platform 1702 is adjusted through the two moving pairs, so that the helicopter 12 is located at the center of the inner lifting platform 11.
As shown in fig. 9, when the first end of the current guiding body 4 is fixedly connected with the front end of the bottom plate 1, and the first ends of the extending bodies are connected with the first sliding block through the revolute pair, the two extending bodies 5 on the left side of the bottom plate 1 do synchronous motion, the two extending bodies 5 on the right side of the bottom plate 1 also do synchronous motion, and the first ends of the extending bodies 5 are connected with the first sliding block 8 through the revolute pair, the shipboard lifting platform has three degrees of freedom, and forms a three-degree-of-freedom shipboard lifting platform which can compensate the rolling, swaying and heaving motions of a ship.
The method comprises the following specific operation steps:
as shown in fig. 9 and 10, when the helicopter 12 lands on the ship, the outer lifting and landing combined platform 9 is in a flat state and is overlapped with the hangar top of the ship 18, the inner lifting and landing platform 11 is in locking connection with the outer lifting and landing combined platform 9 through six sets of second mortise lock devices 905, so that the inner lifting and landing combined platform 11 and the outer lifting and landing combined platform 9 are integrated, the outer lifting and landing combined platform 9 is higher than the hangar top by a certain distance by driving the four extending bodies 5, the four extending bodies 5 are controlled to move to make the outer lifting and landing combined platform 9 compensate four degrees of freedom of the ship 18, the moving state of the outer lifting and landing combined platform 9 is basically consistent with the moving state of the helicopter 12, the helicopter 12 is landed on the inner lifting and landing platform 11 through the guidance of the ship-guiding millimeter wave radar speed and distance measuring sensor 15 and the ship-guiding infrared binocular imaging distance measuring instrument 14, and the mooring device 13 on the inner lifting and landing platform 11 moors the helicopter 12, then the outer lifting combined platform 9 is turned to a folded state, then the outer lifting combined platform 9 returns to the top of the hangar, six sets of second mortise lock devices 905 on the outer lifting combined platform 9 are unlocked, so that the inner lifting platform 11 is separated from the outer lifting combined platform 9, then the inner lifting platform 11 and the four sliding supports 6 are connected into a whole through the four sets of first mortise lock devices 7, then the sliding supports 6 are driven to drive the inner lifting platform 11 to move downwards along the four support upright posts 2 to the bottom plate 1, then the four sets of first mortise lock devices 7 are unlocked, and the helicopter 12 is pulled into the hangar.
In use, the four degrees of freedom are compensated as follows: the three degrees of freedom of the ship 18 of rolling, pitching and heaving are compensated by controlling the motion of the four extending bodies 5, and the degree of freedom of the ship 18 of rolling is compensated by driving the two second sliding blocks 1003 or four sets of linear driving units 16 to cooperatively move.
The process from the hangar to take off and leave the ship of the helicopter 12 is opposite to the process from the landing of the helicopter 12 to the entering of the hangar, firstly, the outer lifting and landing combined platform 9 is in a folded state, at the moment, the outer lifting and landing combined platform 9 is on the top of the hangar, the inner lifting and landing platform 11 is connected with four sliding supports 6 into a whole through four sets of first mortise lock devices 7, at the moment, the inner lifting and landing platform 11 is on the bottom plate 1, the helicopter 12 is pulled from the hangar to the inner lifting and landing platform 11 and is tied on the inner lifting and landing platform 11 through a tying device 13, the inner lifting and landing platform 11 is lifted to a position which is level with the outer lifting and landing combined platform 9 through the driving sliding supports 6, then the four sets of first mortise lock devices 7 are unlocked, the inner lifting and landing platform 11 is locked and connected with the outer lifting and landing combined platform 9 through six sets of second mortise lock devices 905, then the four extending bodies 5 are driven to enable the outer lifting and landing combined platform 9 to be higher than the, and then the combined take-off and landing platform 9 is rotated to be in a flat state, and the movement of the four extending bodies 5 is controlled to enable the combined take-off and landing platform 9 to compensate the four degrees of freedom of the ship 18, so that the helicopter 12 is kept parallel to the sea level, the take-off process of the helicopter 12 is not influenced by the movement of the ship 18, and after the helicopter 12 safely flies away from the ship 18, the movement of the four extending bodies 5 is controlled to enable the combined take-off and landing platform 9 to return to the top of the garage.
When the ship-borne multi-degree-of-freedom combined platform is used, the ship-borne multi-degree-of-freedom combined platform can be used as a viewing platform of a ship 18, the compensation type four-degree-of-freedom ship-borne lifting platform is enabled to be in a first state, the outer lifting combined platform 9 is attached to the top of a hangar, after relevant personnel come to the inner lifting platform 11, the outer lifting combined platform 9 is turned to be in a folded state, the guardrail is achieved, then the four extending bodies 5 are driven to enable the outer lifting combined platform 9 to be higher than the top of the hangar for a certain distance, the movement of the outer lifting combined platform 9 is controlled to compensate the four degrees of freedom of the ship 18, the outer lifting combined platform 9 is enabled to be parallel to the sea level, and the relevant personnel can watch.
The invention provides a compensation type four-degree-of-freedom carrier-based take-off and landing platform which can compensate four degrees of freedom in a carrier landing process of a helicopter, and greatly improves the safety and stability of the carrier landing of the helicopter. Meanwhile, the compensation type four-degree-of-freedom ship-based take-off and landing platform can be integrated with a hangar of a ship, when the ship is landed without a helicopter, the take-off and landing platform can be directly used as the top of the hangar, the space below the take-off and landing platform can be used as a passageway or used for temporarily parking the helicopter, waste of the space on the ship is avoided, and the integral attractiveness of the ship is not influenced.
The foregoing is a preferred embodiment of the present application and is not intended to limit the scope of the invention, it should be understood that various modifications and adaptations can be made by those skilled in the art without departing from the principles of the present application and should be considered as within the scope of the present application.
Claims (9)
1. A compensation type four-degree-of-freedom ship-based take-off and landing platform is characterized by comprising a bottom plate, a supporting upright post, a connecting beam, a front guide body, a rear guide body, an extension body, a sliding support, a first mortise lock device, a first sliding block, an outer take-off and landing combined platform, a connecting rod mechanism and an inner take-off and landing platform,
the supporting upright columns are uniformly distributed at the corners of the bottom plate, the first ends of every two adjacent supporting upright columns are provided with the connecting cross beam, the first end of the front guide body is rotatably connected with the front end of the bottom plate through a revolute pair, the first end of the rear guide body is fixedly connected with the rear end of the bottom plate, and the second end of the rear guide body is fixedly connected with the connecting cross beam;
the extension body is respectively arranged in the front guide body and the rear guide body and is respectively connected with the front guide body and the rear guide body through a first moving pair, the first end of the extension body is connected with the first sliding block ball pair through a ball socket, the sliding supports are respectively arranged on the inner side surfaces of the supporting upright posts and are connected with the supporting upright posts through a second moving pair, the first mortise lock device is arranged on the first end surface of the sliding support, and the inner lifting platform and the sliding support can be locked through the first mortise lock device;
the outer lifting combined platform comprises a middle flat plate, six sets of guide modules, a first folding plate, a second folding plate and six sets of second mortise lock devices, wherein the middle position of the middle flat plate is provided with a through hole which is completely the same as the appearance size of the inner lifting platform, the six sets of guide modules are symmetrically arranged on the first end surface of the middle flat plate in the front-back direction, four sets of guide modules at the edge of the middle flat plate are connected with the first sliding block through a third moving pair, the six sets of second mortise lock devices are symmetrically arranged on the first end surface of the middle flat plate in the left-right direction, the inner lifting platform can be locked with the middle flat plate through the six sets of second mortise lock devices, the first folding plate is symmetrically arranged on the first side surface and the second side surface of the middle flat plate and is connected with the rotating pair of the middle flat plate, the second folding plate is symmetrically arranged on the third side surface and the fourth side surface of the middle flat plate in the front-back direction, the second end surface of the middle flat plate is also provided with a radar speed and distance measuring sensor and a binocular imaging distance measuring instrument, the outer lifting combined platform is symmetrically provided with the link mechanisms in the front and back direction, a long link of the link mechanism is connected with the first sliding block through a revolute pair, and a second sliding block of the link mechanism is connected with a guide module in the middle of the middle flat plate through a fourth moving pair;
the connecting rod mechanism comprises two long connecting rods, two short connecting rods and a second sliding block, the length of each long connecting rod is twice that of each short connecting rod, the first ends of the two long connecting rods are connected through revolute pairs, the second ends of the two long connecting rods are connected with the first sliding block on the same side through revolute pairs respectively, the first ends of the two short connecting rods are connected with the middle positions of the two long connecting rods through revolute pairs respectively, and the second ends of the two short connecting rods are connected with the second sliding block through revolute pairs.
2. The compensated four-degree-of-freedom ship-based take-off and landing platform according to claim 1, wherein the support columns comprise four support columns, the four support columns are uniformly distributed at corners of the bottom plate, and mounting points of the four support columns are sequentially connected to form a rectangle or a square.
3. The compensated four-degree-of-freedom ship-based take-off and landing platform according to claim 1, wherein the three sets of guide modules at the front end of the first end face of the middle flat plate are equidistantly arranged and located on the same straight line, and the three sets of guide modules at the rear end of the first end face of the middle flat plate are equidistantly arranged and located on the same straight line.
4. The compensated four-degree-of-freedom ship-based take-off and landing platform as claimed in claim 1, wherein the second end of the front guide body is connected with the connecting beams on the left side and the right side of the bottom plate respectively through a plane pair or an arc guide rail pair.
5. The compensated four-degree-of-freedom ship-based take-off and landing platform according to claim 1, wherein the inner take-off and landing platform is provided with a hollow grid, and the four mooring devices are arranged on the first end face of the inner take-off and landing platform and are circumferentially and uniformly arranged.
6. The compensated four-degree-of-freedom ship-based take-off and landing platform according to claim 1, wherein the link mechanism can adopt a linear driving unit, the linear driving unit comprises four sets of linear driving units, the four sets of linear driving units are symmetrically arranged on the middle flat plate in a pairwise manner, fixed ends of the four sets of linear driving units are respectively connected with the first sliding block through revolute pairs, and extending ends of the four sets of linear driving units are respectively connected with the middle flat plate through revolute pairs.
7. The compensated four-degree-of-freedom ship-based take-off and landing platform as claimed in claim 1, wherein the third moving pair is a follower moving pair, the first moving pair, the second moving pair, the fourth moving pair and the linear driving unit are all active moving pairs, and the first moving pair, the second moving pair, the fourth moving pair and the linear driving unit can be driven by hydraulic pressure or an electric cylinder or can be driven by a gear rack or a lead screw.
8. The compensated four-degree-of-freedom ship-based take-off and landing platform according to claim 5, wherein the four mooring devices can adopt a two-degree-of-freedom intelligent tracking mooring platform, the two-degree-of-freedom intelligent tracking mooring platform comprises a guide rail, a moving platform and hand grips, the guide rail is respectively connected with the outer take-off and landing combined platform and the inner take-off and landing platform through moving pairs, the moving platform is installed on the guide rail and is connected with the guide rail moving pairs, and the hand grips are uniformly distributed at corners of the moving platform through rotating pairs.
9. The compensated four-degree-of-freedom ship-based take-off and landing platform as claimed in claim 1, wherein when the first end of the front guide body is fixedly connected with the front end of the bottom plate and the first end of the extension body is connected with the first slider through a revolute pair, the ship-based take-off and landing platform has three degrees of freedom, and a three-degree-of-freedom ship-based take-off and landing platform is formed.
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| CN111532440B (en) * | 2020-04-16 | 2022-04-08 | 广东工业大学 | Multi-adaptive electromagnetic adsorption unmanned aerial vehicle recovery system |
| CN112340058B (en) * | 2020-11-05 | 2022-05-06 | 燕山大学 | Test platform for carrier-based helicopter landing auxiliary equipment and operation method thereof |
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