CN110816866B - Variable-topology foldable and unfoldable shipborne helicopter take-off and landing stable platform - Google Patents
Variable-topology foldable and unfoldable shipborne helicopter take-off and landing stable platform Download PDFInfo
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- CN110816866B CN110816866B CN201911001588.1A CN201911001588A CN110816866B CN 110816866 B CN110816866 B CN 110816866B CN 201911001588 A CN201911001588 A CN 201911001588A CN 110816866 B CN110816866 B CN 110816866B
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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
- B64F1/12—Ground or aircraft-carrier-deck installations for anchoring aircraft
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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 for handling aircraft
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Abstract
The invention provides a variable-topology foldable and unfoldable take-off and landing stable platform of a ship-based helicopter, which belongs to the field of ship-based platforms and comprises a take-off and landing platform, a first mounting base and a second mounting base which are symmetrically arranged on two sides of a deck, two parallelogram folding and unfolding mechanisms which are respectively accommodated in the first mounting base or the second mounting base and have the same structure, and a moving branch chain for adjusting the movement of the take-off and landing platform. When the stable platform needs to start stable work, the stable platform can be unfolded to a higher working position and an initial working attitude, the rigidity of the whole structure is ensured, a larger working space is provided, and the swaying motion of four degrees of freedom of rolling, pitching, yawing and heaving of the ship body can be compensated; when the helicopter lands on the landing platform and needs to be pulled into the hangar, the stable platform can be changed into an extremely low folded state, so that the helicopter is conveniently pulled into the hangar, and the helicopter has the technical advantages of convenience in transportation, small reconstruction on ships and warships and convenience in maintenance.
Description
Technical Field
The invention relates to the field of ship-based platforms, in particular to a variable-topology foldable ship-based helicopter take-off and landing stable platform.
Background
At present, helicopters are arranged on naval protective ships, scientific research ships and engineering operation ships, and when the ships are in navigation, due to the influence of sea waves, six-dimensional swinging motion can be generated on ship bodies, which has great adverse effect on the safe take-off and landing of carrier-borne helicopters, endangers the life safety of drivers and the safety of ships, greatly reduces the take-off and landing efficiency of the helicopters under severe sea conditions, and delays the mission progress or normal operation progress.
The patent document with the application number of 201610114472.9 discloses a composite ship-based anti-impact stabilizing platform based on six-degree-of-freedom parallel platforms and a method thereof, wherein the stabilizing 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 stabilizing platform is passively damped, the upper part of the stabilizing platform is actively stabilized, six swinging actions of a ship can be well isolated, and the stabilizing platform can resist impact, but the stabilizing platform cannot be folded, the lifting platform at the top cannot be descended to the height of a ship deck, so that a helicopter cannot be conveniently moved to the lifting platform and cannot be conveniently pulled into a hangar, and the helicopter cannot be applied to assisting the lifting of a ship-based helicopter.
Patent document No. 201310750970.9 discloses a ship-based heavy-duty stabilized platform, which can accurately compensate the angle of the ship rolling and pitching, but cannot compensate the pitching movement which is crucial to the take-off and landing of the helicopter, and cannot be used to assist the take-off and landing of the ship-based helicopter because the stabilized platform cannot be lowered to the height of the deck.
Patent document No. 201510359417.1 discloses a stabilized platform for a ship-based helicopter, which can make a landing platform flush with a deck, thereby facilitating the take-off and the pulling into a hangar of the ship-based helicopter, but because the mechanical body of the stabilized platform needs to be embedded into the deck of the ship, the self structure of the ship needs to be greatly improved, the practical application is inconvenient, and the ship reconstruction cost and the maintenance cost of the stabilized platform are relatively high.
Disclosure of Invention
The invention aims to provide a variable-topology foldable ship-based helicopter take-off and landing stable platform, which is provided with two groups of parallelogram folding and unfolding mechanisms, and when the stable platform needs to start stable work, the stable platform can be unfolded to a higher working position and an initial working attitude, so that the stable platform has a larger working space while ensuring the rigidity of the whole structure, can compensate the swinging motion of four degrees of freedom, namely rolling, pitching, yawing and heaving of a ship body, has the characteristic of weak ground effect, and is convenient for taking off and landing of a helicopter; when the helicopter lands to the take-off and landing platform and needs to be pulled into the hangar, the stable platform can be changed into an extremely low folded state, so that the helicopter is conveniently pulled into the hangar, and the helicopter has the technical advantages of convenience in transportation, small reconstruction on ships and warships and convenience in maintenance.
In order to achieve the above purpose of the present invention, the following technical solutions are adopted:
a variable-topology foldable and unfoldable ship-based helicopter taking-off and landing stable platform comprises a taking-off and landing platform, a first mounting base and a second mounting base which are symmetrically arranged on two sides of a deck, two parallelogram folding and unfolding mechanisms which are respectively contained in the first mounting base or the second mounting base and have the same structure, and a moving branched chain for adjusting the movement of the taking-off and landing platform;
the lower surface of the lifting platform is symmetrically and inwards obliquely provided with two linear sliding assemblies, and each linear sliding assembly comprises a translation driving unit, a sliding block and a sliding rail;
the two parallelogram folding and unfolding mechanisms respectively comprise a driving rod, a follower rod, a connecting rod and a folding and unfolding driving unit, two ends of the connecting rod are respectively connected with the driving rod and the follower rod, the other ends of the driving rod and the follower rod are respectively rotatably connected with the first mounting base, the driving rod, the connecting rod, the follower rod and the first mounting base form a parallelogram mechanism, and the folding and unfolding driving unit is arranged on the outer side of the driving rod and used for driving the parallelogram folding and unfolding mechanisms to fold and unfold;
The two groups of moving branched chains comprise a first moving branched chain and a second moving branched chain which have the same structure, and a third moving branched chain and a fourth moving branched chain which have the same structure; the first moving branched chain and the second moving branched chain respectively comprise a first branched chain connecting rod and a first lifting driving unit, the upper end of the first branched chain connecting rod is connected with the lifting platform, the lower end of the first branched chain connecting rod is connected with a sliding block arranged on the follower rod, and the first lifting driving unit is arranged on the inner side of the follower rod and used for driving the sliding block to reciprocate along the rod length direction of the follower rod; the third moving branched chain and the fourth moving branched chain respectively comprise a second branched chain connecting rod, a third branched chain connecting rod and a second lifting driving unit, the upper end of the second branched chain connecting rod is connected with the lifting platform, the upper end of the third branched chain connecting rod is connected with a sliding block in the linear sliding assembly, the lower ends of the second branched chain connecting rod and the third branched chain connecting rod are connected with the sliding block arranged on the driving rod, and the second lifting driving unit is arranged on the inner side of the driving rod and used for driving the sliding block to reciprocate along the rod length direction of the driving rod.
Further, in a preferred embodiment of the present invention, the front left and right sides of the lower surface of the lifting platform are symmetrically provided with a first ball socket and a second ball socket, the middle left and right sides are symmetrically provided with a third ball socket and a fourth ball socket, the rear left and right sides are symmetrically provided with two linear sliding assemblies, the sliding block of the two linear sliding assemblies is provided with a fifth ball socket and a sixth ball socket, the upper ends of the two first branched links are respectively connected with the first ball socket and the second ball socket, the upper ends of the two second branched links are respectively connected with the third ball socket and the fourth ball socket, the upper ends of the two third branched links are respectively connected with the fifth ball socket and the sixth ball socket, and the centers of the six ball sockets are distributed at six angles of a left and right symmetrical hexagon and have the same height from the lower surface of the lifting platform.
Further, in a preferred embodiment of the present invention, the first branched link and the third branched link have the same length.
Further, in a preferred embodiment of the present invention, the first mounting base and the second mounting base are rectangular groove bodies, long sides of the groove bodies are parallel to a longitudinal center line of a deck, a first rotating pair mounting seat, a second rotating pair mounting seat and a third rotating pair mounting seat are arranged at a groove bottom of the first mounting base, a fourth rotating pair mounting seat, a fifth rotating pair mounting seat and a sixth rotating pair mounting seat are symmetrically arranged at a groove bottom of the second mounting base, rotating pair axes of the rotating pair mounting seats are parallel to each other, bottom ends of the two driving rods are respectively connected to the first rotating pair mounting seat and the fourth rotating pair mounting seat, and bottom ends of the two follower rods are respectively connected to the second rotating pair mounting seat and the fifth rotating pair mounting seat.
Further, two folding and unfolding drive units all include a fixed cylinder and an extension rod, one end of the extension rod is connected with the fixed cylinder, the other end of the extension rod is connected with a seventh rotating pair mounting seat fixedly connected with the outer side surface of the driving rod, and the tail ends of the fixed cylinders are respectively connected with a third rotating pair mounting seat and a sixth rotating pair mounting seat.
Further, in a preferred embodiment of the present invention, the two first lifting driving units are installed with installation fixing parts fixedly connected to the inner side surface of the follower rod in parallel, and the two first lifting driving units are installed with movement connecting parts fixedly connected to the sliding block arranged on the follower rod; two the installation fixed part of second lift drive unit installation links firmly in the medial surface of actuating lever in parallel, two the motion adapting unit of second lift drive unit installation with set up in slide block on the actuating lever links firmly.
Further, in a preferred embodiment of the present invention, the slide rails of the two linear sliding assemblies are fixedly connected to the lower surface of the lifting platform, the slide block is connected to the slide rails through a sliding pair, the translational driving unit is disposed on the side surfaces of the slide rails, the mounting and fixing part of the translational driving unit is fixedly connected to the lower surface of the lifting platform, and the moving part of the translational driving unit is fixedly connected to the slide block.
Further, in a preferred embodiment of the present invention, the lifting platform is a hollow grid structure, and four helicopter mooring blocks or plane following intelligent mooring devices are arranged at four corners of the lifting platform.
Further, in a preferred embodiment of the present invention, a landing guide millimeter wave radar speed measurement and ranging sensor is installed on one side of the upper surface of the take-off and landing platform, and a landing guide infrared binocular imaging range finder is installed on the other side of the upper surface of the take-off and landing platform, so as to guide the helicopter to accurately land on the take-off and landing platform.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a variable-topology foldable ship-based helicopter taking-off and landing stable platform, which is characterized in that under severe sea conditions, when a helicopter needs to land on a ship, the stable platform is unfolded from an extremely-low folded state into a working state, and starts to work after working attitude, so that the swinging motion of the ship is compensated, and a weak ground effect landing platform which is static relative to an inertial coordinate system is provided for the helicopter; after the helicopter lands on the landing platform, the stabilizing platform is folded to an extremely low folding state from the working posture, so that the helicopter is conveniently pulled into a hangar. When the helicopter needs to take off under severe sea conditions, the helicopter can be pulled to the take-off and landing platform, then the stable platform is unfolded from a folded state to a working height and to a working posture, and finally the stable platform works, so that a stable weak ground effect take-off platform is provided for the helicopter. The stable platform for taking off and landing has at least the following beneficial effects:
(1) The stable platform can be folded to be flush with a deck, so that the helicopter is conveniently pulled into a hangar, and the stable platform also has the technical advantages of convenience in transportation, no need of great modification on a ship structure and convenience in maintenance;
(2) the stable platform has larger working space while ensuring the rigidity of the whole structure, can compensate the swaying motion of four degrees of freedom of the ship body, namely the rolling, the pitching, the yawing and the heaving, and covers three swaying motions of the rolling, the pitching and the heaving which have larger influence on the lifting of the helicopter;
(3) the stable platform of the ship-based helicopter is arranged at the stern, and the landing platform is in a high position and far away from the position of the ship after being in a working posture, so that the influence of the ship flow on the landing of the helicopter can be effectively avoided, and the accident rate is greatly reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.
FIG. 1 is a schematic attitude view of a variable topology foldable and unfoldable shipboard helicopter take-off and landing stabilized platform according to the present invention in a working state;
FIG. 2 is a schematic diagram of the attitude of a variable topology foldable shipboard helicopter take-off and landing stabilized platform according to the present invention in a fully folded state;
Fig. 3 is a schematic diagram of a semi-overhead structure (hidden installation base) of the variable topology foldable shipboard helicopter take-off and landing stabilized platform according to the present invention;
FIG. 4 is a schematic diagram of a semi-elevation structure of a variable topology foldable and unfoldable shipboard helicopter take-off and landing stabilized platform according to the present invention (hidden installation base);
FIG. 5 is a bottom elevation view of a landing platform and its components of a variable topology collapsible shipboard helicopter landing stabilization platform according to the present invention;
FIG. 6 is a schematic diagram of two groups of parallelogram folding and unfolding mechanisms (hidden mounting bases) of the variable topology foldable shipboard helicopter take-off and landing stable platform according to the invention;
FIG. 7 is a schematic view of a first moving branched chain structure (hidden mounting base) of the variable topology foldable shipboard helicopter take-off and landing stabilized platform according to the present invention;
FIG. 8 is a schematic diagram of a second moving branch structure (hidden mounting base) of the variable topology foldable shipboard helicopter take-off and landing stabilized platform according to the present invention;
FIG. 9 is a schematic diagram of a third moving branched chain structure (hidden mounting base) of the variable topology foldable shipboard helicopter take-off and landing stabilized platform according to the present invention;
FIG. 10 is a schematic diagram of a fourth moving branch structure (hidden mounting base) of the variable topology foldable shipboard helicopter take-off and landing stabilized platform according to the present invention;
Fig. 11 is a side view (hidden mounting base) of the working attitude of the variable topology foldable shipboard helicopter take-off and landing stabilized platform according to the invention;
FIG. 12 is a front view (hidden mounting base) of the working attitude of the variable topology foldable shipboard helicopter take-off and landing stabilized platform according to the present invention;
fig. 13 is a side view (hidden mounting base) of a folding preparation attitude of a variable topology foldable shipboard helicopter take-off and landing stabilized platform according to the invention;
FIG. 14 is a front view (hidden mounting base) of a folding preparation attitude of a variable topology foldable shipboard helicopter take-off and landing stabilized platform according to the present invention;
FIG. 15 is a schematic diagram of a mechanical limiting method when a folding and unfolding mechanism follower rod of the variable topology foldable and unfoldable shipboard helicopter take-off and landing stable platform is perpendicular to a deck plane according to the present invention;
FIG. 16 is a side view (hidden mounting base) of a variable topology foldable shipboard helicopter take-off and landing stabilized platform according to the present invention in a semi-folded state;
FIG. 17 is a side view (hidden mounting base) of a variable topology collapsible shipboard helicopter landing stabilizing platform according to the present invention in a fully collapsed state;
FIG. 18 is an isometric view of a variable topology collapsible shipboard helicopter landing stability platform in accordance with the present invention in a fully collapsed state;
Fig. 19 is a schematic diagram of a mechanical limiting method of the variable topology foldable shipboard helicopter take-off and landing stabilized platform in a fully folded state according to the present invention;
FIG. 20 is a top view (hiding the take-off and landing platform) of the branched chain states when the variable topology foldable shipboard helicopter take-off and landing stabilized platform according to the present invention is in a fully folded state;
FIG. 21 is a schematic diagram of a variable topology foldable shipboard helicopter take-off and landing stabilized platform with a planar following intelligent mooring device according to the present invention in a working state;
FIG. 22 is a schematic diagram of a variable topology collapsible shipboard helicopter take-off and landing stabilized platform with a planar following intelligent mooring device according to the present invention in a collapsed state;
FIG. 23 is a top view of a planar following intelligent mooring device of the variable topology foldable and expandable shipboard helicopter take-off and landing stable platform according to the present invention;
FIG. 24 is a schematic view of a state of a variable topology foldable stable platform for taking off and landing a ship-based helicopter in accordance with the present invention to balance the roll of a ship hull;
FIG. 25 is a schematic view of a state in which a variable topology foldable platform for stabilizing the take-off and landing of a shipboard helicopter according to the present invention balances pitching of the hull; and
FIG. 26 is a schematic view of a state of a variable topology foldable ship-based helicopter take-off and landing stabilized platform balancing the yawing of a ship hull.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive efforts based on the embodiments of the present invention, are within the scope of protection of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
Example 1
The embodiment provides a variable-topology foldable ship-based helicopter take-off and landing stable platform, which is shown in fig. 1 and fig. 2. The folding and unfolding device comprises a first mounting base 391, a second mounting base 392, a first parallelogram folding and unfolding mechanism 32, a second parallelogram folding and unfolding mechanism 33, a first moving branched chain 34, a second moving branched chain 35, a third moving branched chain 36, a fourth moving branched chain 37 and a lifting platform 31.
As shown in fig. 18 and 6, the first mounting base 391 and the second mounting base 392 are rectangular grooves, the two mounting bases are arranged on the left and right sides of the deck 11 in parallel and symmetrically, the long sides of the two mounting bases are both parallel to the longitudinal center line of the deck 11, the first mounting base 391 is provided with a first rotating pair mounting base 381, a second rotating pair mounting base 382 and a third rotating pair mounting base 383, and the second mounting base 392 is provided with a fourth rotating pair mounting base 384, a fifth rotating pair mounting base 385 and a sixth rotating pair mounting base 386 symmetrically; the axis of each revolute pair mounting seat is parallel to each other.
As shown in fig. 5, the landing platform 31 is octagonal, the lower surface of the landing platform is symmetrically provided with a first ball socket 311 and a second ball socket 312 at the front left and right sides, symmetrically provided with a third ball socket 313 and a fourth ball socket 315 at the middle left and right sides, and symmetrically provided with a first linear sliding assembly 314 and a second linear sliding assembly 316 at the rear left and right sides and obliquely inwards. The first linear sliding assembly 314 includes a first slide rail 3141, a first slider 3142, and a first translation driving unit 3143; the second linear sliding assembly 316 includes a second slide rail 3161, a second slider 3162, and a second translation driving unit 3164. The first sliding rail 3141 and the second sliding rail 3161 are fixedly connected to the lower surface of the lifting platform 31, the first sliding block 3142 and the second sliding block 3162 are respectively connected to the first sliding rail 3141 and the second sliding rail 3161 through the first sliding pair 3101 and the second sliding pair 3102, and the back surfaces of the two sliding blocks are respectively provided with a ball socket, namely a fifth ball socket and a sixth ball socket; the centers of the six ball sockets are distributed on six angles of the same bilateral symmetry hexagon, and the heights from the lower surface of the lifting platform 31 are equal. The first translation driving unit 3143 and the second translation driving unit 3163 are respectively disposed on the side surfaces of the first sliding rail 3141 and the second sliding rail 3161 in parallel, and the mounting and fixing components thereof are respectively fixedly connected with the lower surface of the lifting platform 31, and the moving components thereof are respectively fixedly connected with the first slider 3142 and the second slider 3162, so as to respectively drive the first slider 3142 and the second slider 3162 to reciprocate along the first sliding rail 3141 and the second sliding rail 3161.
As shown in fig. 6 (right), the first parallelogram folding mechanism 32 includes a first driving lever 323, a first follower lever 321, a first link 322, a first folding drive unit 324, and a seventh revolute pair mount 325. The first folding driving unit 324 includes a first fixed cylinder 3242 and a first protruding rod 3241, and the first protruding rod 3241 is connected to the first fixed cylinder 3242 through a first cylinder pair; one end of the first connecting rod 322 is connected with one end of the first driving rod 323 through a first revolute pair 3201, the other end of the first connecting rod is connected with one end of the first follower rod 321 through a second revolute pair 3202, the seventh revolute pair mounting seat 325 is fixedly connected to the inclined plane of the outer side surface of the first driving rod 323, and the top end of the first extension rod 3241 is connected with the seventh revolute pair mounting seat 325 through a third revolute pair 3203; the other end of the first driving rod 323 is connected with a first rotating pair mounting seat 381 on the first mounting base 391 through a fourth rotating pair 3204, the other end of the first follower rod 321 is connected with a second rotating pair mounting seat 382 on the first mounting base 391 through a fifth rotating pair 3205, and the tail end of the first fixed barrel 3242 is connected with a third rotating pair mounting seat 383 on the first mounting base 391 through a sixth rotating pair 3206, so that a parallelogram mechanism is formed among the first driving rod 323, the first connecting rod 322, the first follower rod 321 and the first mounting base 391.
As shown in fig. 6 (left), the second parallelogram folding mechanism 33 includes a second driving lever 333, a second follower lever 331, a second link 332, a second folding driving unit 334, and an eighth revolute pair mount 335. The second folding driving unit 334 includes a second fixed cylinder 3342 and a second extended rod 3341, and the second extended rod 3341 is connected to the second fixed cylinder 3342 through a second cylindrical pair; one end of the second connecting rod 332 is connected with one end of the second driving rod 333 through a seventh revolute pair 3301, the other end of the second connecting rod is connected with one end of the second follower rod 331 through an eighth revolute pair 3302, the eighth revolute pair mounting seat 335 is fixedly connected to the inclined surface of the outer side surface of the second driving rod 333, and the top end of the second extension bar 3341 is connected with the eighth revolute pair mounting seat 335 through a ninth revolute pair 3303; the other end of the second driving rod is connected to the fourth revolute pair mounting seat 384 of the second mounting base 392 through the tenth revolute pair 3304, the other end of the second follower rod 331 is connected to the fifth revolute pair mounting seat 385 of the second mounting base 392 through the eleventh revolute pair 3305, and the end of the second fixed cylinder 3342 is connected to the sixth revolute pair mounting seat 386 of the second mounting base 392 through the twelfth revolute pair 3306, so that a parallelogram mechanism is formed among the second driving rod 333, the second connecting rod 332, the second follower rod 331 and the second mounting base 392.
The fourth revolute pair 3204 axis of the first parallelogram folding mechanism 32 and the second parallelogram folding mechanism 33 coincides with the tenth revolute pair 3304 axis, the fifth revolute pair 3205 axis coincides with the eleventh revolute pair 3305 axis, the sixth revolute pair 3206 axis coincides with the twelfth revolute pair 3306 axis, and the first driving rod 323 and the second driving rod 333 are equal in length.
There are two sets of moving branches, including first moving branch 34 and second moving branch 35, which are identical in structure, and third moving branch 36 and fourth moving branch 37, which are identical in structure.
As shown in fig. 7 and 8, each of the first moving branch chain 34 and the second moving branch chain 35 includes a first branch chain connecting rod and a first lifting driving unit, the upper end of the first branch chain connecting rod is connected to the lifting platform, the lower end of the first branch chain connecting rod is connected to a sliding block disposed on the follower rod, and the first lifting driving unit is mounted inside the follower rod and used for driving the sliding block to reciprocate along the rod length direction of the follower rod. Specifically, the first link includes a third link 341 and a fourth link 351, and the first elevation driving unit includes a third elevation driving unit 344 and a fourth elevation driving unit 354.
As shown in fig. 7, the first moving branch 34 includes a third link 341, a first universal hinge mount 342, a third slider 343, and a third elevation driving unit 344. The lower end of the third connecting rod 341 is connected with a first universal hinge mounting seat 342 through a first universal hinge 3402, and the first universal hinge mounting seat 342 is fixedly connected to a third sliding block 343; the upper end of the third connecting rod 341 is connected to the first ball socket 311 of the landing platform 31 through a first ball pair 3401, and the third slider 343 is connected to the first follower rod 321 through a third kinematic pair 3403; the mounting and fixing component 3441 of the third elevation driving unit 344 is fixedly connected to the inner side surface of the first follower rod 321 in parallel, and the moving connecting component 3442 thereof is fixedly connected to the third slider 343, so that the third slider 343 can be driven to reciprocate along the rod length direction on the inner side surface of the first follower rod 321 through the third moving pair 3403.
As shown in fig. 8, the second moving branch 35 includes a fourth link 351, a second universal hinge mount 352, a fourth slider 353, and a fourth elevation driving unit 354. The lower end of the fourth connecting rod 351 is connected with a second universal hinge mounting seat 352 through a second universal hinge 3502, and the second universal hinge mounting seat 352 is fixedly connected to the fourth sliding block 353; the upper end of the fourth connecting rod 351 is connected with the second ball socket 312 of the take-off and landing platform through a second ball pair 3501, and the fourth slider 353 is connected with the second follower rod 331 through a fourth moving pair 3503; the mounting and fixing member 3541 of the fourth elevation driving unit 354 is fixedly connected to the inner side surface of the second follower rod 331 in parallel, the moving connecting member 3542 thereof is fixedly connected with the fourth slider 353, and the fourth slider 353 can be driven to reciprocate in the rod length direction of the inner side surface of the second follower rod 331 through the fourth moving pair 3503.
As shown in fig. 9 and 10, each of the third moving branch chain 36 and the fourth moving branch chain 37 includes a second branch chain connecting rod, a third branch chain connecting rod, and a second lifting driving unit, the upper end of the second branch chain connecting rod is connected to the lifting platform, the upper end of the third branch chain connecting rod is connected to a slider in the linear driving assembly, the lower ends of the second branch chain connecting rod and the third branch chain connecting rod are connected to a slider disposed on the driving rod, and the second lifting driving unit is mounted on the inner side of the driving rod and used for driving the slider to reciprocate along the rod length direction of the driving rod. Specifically, the second branched link includes a fifth link 361 and a seventh link 371, the third branched link includes a sixth link 362 and an eighth link 372, and the second elevation driving unit includes a fifth elevation driving unit 365 and a sixth elevation driving unit 375.
As shown in fig. 9, the third moving branch 36 includes a fifth connecting rod 361, a sixth connecting rod 362, a third universal hinge mounting base 363, a fifth slider 364, and a fifth lifting drive unit 365. The lower end of the fifth connecting rod 361 is connected with a third universal hinge mounting base 363 through a third universal hinge 3602, the lower end of the sixth connecting rod 362 is connected with the third universal hinge mounting base 363 through a fourth universal hinge 3604, and the third universal hinge mounting base 363 is fixedly connected to a fifth sliding block 364; the upper end of a fifth connecting rod 361 is connected with a third ball socket 313 of the lifting platform through a third ball pair 3601, the upper end of a sixth connecting rod 362 is connected with a ball socket on a first sliding block 3142 through a fourth ball pair 3603, and a fifth sliding block 364 is connected with a first driving rod 323 through a fifth sliding pair 3605; the mounting and fixing part 3651 of the fifth lifting and driving unit 365 is fixedly connected to the inner side surface of the first driving rod 323 in parallel, and the moving connecting part 3652 is fixedly connected with the fifth slider 364, so that the fifth slider 364 can be driven to reciprocate along the rod length direction of the inner side surface of the first driving rod 323 through the fifth revolute pair 3605.
As shown in fig. 10, the fourth moving branch 37 includes a seventh link 371, an eighth link 372, a fourth gimbal mount 373, a sixth slider 374, and a sixth elevation drive unit 375. The lower end of the seventh connecting rod 371 is connected with a fourth universal hinge mounting seat 373 through a fifth universal hinge 3702, the lower end of the eighth connecting rod 372 is connected with the fourth universal hinge mounting seat 373 through a sixth universal hinge 3704, and the fourth universal hinge mounting seat 373 is fixedly connected to a sixth sliding block 374; the upper end of the seventh connecting rod 371 is connected with the fourth ball socket 315 of the lifting platform through a fifth ball pair 3701, the upper end of the eighth connecting rod 372 is connected with the ball socket on the second sliding block 3162 through a sixth ball pair 3703, and the sixth sliding block 374 is connected with the second driving rod 333 through a sixth sliding pair 3705; the mounting and fixing component 3751 of the sixth elevation driving unit 375 is fixedly connected to the inner side surface of the second driving rod 333 in parallel, and the moving connecting component 3752 is fixedly connected to the sixth sliding block 373, so that the sixth sliding block 374 can be driven to reciprocate along the rod length direction of the inner side surface of the second driving rod 333 through the sixth moving pair 3705.
When the third slider 343, the fourth slider 353, the fifth slider 364 and the sixth slider 374 are positioned at the same height, the line connecting the centers of the first ball pair 3401 and the second ball pair 3501 and the line connecting the centers of the hinge points of the first universal hinge 3402 and the second universal hinge 3502 are parallel to each other, the line connecting the centers of the third ball pair 3601 and the fifth ball pair 3701 and the line connecting the centers of the hinge points of the third universal hinge 3602 and the fifth universal hinge 3702 are also parallel to each other, and the projection distances of the common perpendicular line segments of the first ball pair 3401 and the second ball pair 3701 on the four slider determining plane are equal. The third link 341, the fourth link 351, the sixth link 362, and the eighth link 372 are equal in length.
The extended length of the first folding drive unit 324 of the first parallelogram folding mechanism 32 and the extended length of the second folding drive unit 334 of the second parallelogram folding mechanism 33 are kept equal; the moving displacement of the first slider 3142 relative to the first slide rail 3141 and the moving displacement of the second slider 3162 relative to the second slide rail 3161 of the landing platform 31 are kept equal, and when the stable platform is in a stable working state, a connecting line of the center of the fourth ball pair 3603 and the center of the first ball pair 3401 and a connecting line of the center of the sixth ball pair 3703 and the center of the second ball pair 3501 are parallel to each other, and are perpendicular to a connecting line of the center of the third ball pair 3601 and the center of the fifth ball pair 3701.
As shown in fig. 18-20, when the first parallelogram folding mechanism 32 and the second parallelogram folding mechanism 33 are folded, they can be folded into the first mounting base 391 and the first mounting base 392, which are symmetrical to each other, respectively, and the lower surfaces of the first connecting rod 322 on the first parallelogram folding mechanism 32 and the second connecting rod 332 on the second parallelogram folding mechanism 33 are respectively overlapped with the upper surfaces of the rear sides of the first mounting base 391 and the second mounting base 392, and simultaneously the lower surface of the lifting platform 31 is overlapped with the upper surfaces of the first connecting rod 322 and the second connecting rod 332, so as to perform the functions of mechanical limit and load bearing; when the first parallelogram folding mechanism 32 and the second parallelogram folding mechanism 33 are in the unfolded state, the front surfaces of the first driving rod 323 and the second driving rod 333 are respectively overlapped with the limiting surfaces in front of the first mounting base 391 and the first mounting base 392, so as to perform the function of mechanical limiting.
As shown in fig. 1 and 2, a landing guide millimeter wave radar speed and distance measuring sensor 4 is installed on one side of the upper surface of the landing platform 31, and a landing guide infrared binocular imaging range finder 5 is installed on the other side of the upper surface of the landing platform 31, so that the helicopter 2 can be guided to safely land on the landing platform 31 of the stable platform on the ship 1 in a long distance and a short distance respectively.
The octagonal take-off and landing platform 31 is of a hollowed-out grid-shaped structure, so that a take-off and landing platform with weak ground effect can be provided for the helicopter, and the accident rate of the helicopter during take-off and landing is reduced; four helicopter mooring blocks 317 are also arranged at the four corners of the landing platform 31, and the helicopters are tightened on the landing platform through ropes.
In other embodiments of the present invention, the helicopter mooring block 317 may also be replaced with a plane following intelligent mooring device, as shown in fig. 23, which includes two transverse chutes 3171, two movable longitudinal sliding rails 3172, a mobile mooring platform 3173, four mooring locking devices 3174, two take-off and landing platform fixed sliding rails 3175, and two deck fixed sliding rails 3176; the two transverse sliding grooves 3171 are equal in length and are arranged in parallel in front of and behind the upper surface of the lifting platform 31, and the central axis direction of the transverse sliding grooves is along the left-right direction of the lifting platform 31; the two movable longitudinal sliding rails 3172 have equal length and are fixed at intervals, and are connected with the two transverse sliding grooves 3171 in parallel through a seventh sliding pair, the direction of the seventh sliding pair is parallel to the direction of the transverse sliding grooves 3171, and the central axes of the two movable longitudinal sliding rails 3172 are both perpendicular to the direction of the transverse sliding grooves 3171 and parallel to the upper surface of the lifting platform 31; the lower surface of the movable mooring table 3173 is connected with the two movable longitudinal sliding rails 3172 through an eighth sliding pair, and the direction of the eighth sliding pair is parallel to the central axis of the longitudinal sliding rails 3172; the mooring locking device 3174 is connected with a lug on the upper surface of the movable mooring platform 3173 through a ninth moving pair, and the direction of the ninth moving pair is parallel to the direction of the transverse sliding groove 3171; the two fixed sliding rails 3175 of the lifting platform are equal in length and are fixedly connected to the middle of the upper surface of the lifting platform in parallel, the central axes are parallel to the axis of the movable longitudinal sliding rail 3172, the front end surfaces of the fixed sliding rails are coincided with the front end surface of the lifting platform 31, and the rear end surfaces of the fixed sliding rails are coincided with the front end surfaces of the movable longitudinal sliding rails 3172; the two deck fixing slide rails 3176 are equal in length and are fixedly connected to the middle part of the ship deck in parallel, the central axis is parallel to the longitudinal central line of the ship body, and the rear end surfaces of the two deck fixing slide rails are overlapped with the front surfaces of the grooves of the deck 11; the distance between the two fixed sliding rails 3175 of the lifting platform and the distance between the two fixed sliding rails 3176 of the deck are equal to the distance between the two movable longitudinal sliding rails 3172; when the stabilized platform is in a folded state, the front end surfaces of the two take-off and landing platform fixed slide rails 3175 are respectively superposed with the rear end surfaces of the two deck fixed slide rails 3176, and the central axes of the two take-off and landing platform fixed slide rails are correspondingly superposed, so that the helicopter can enter the hangar along the longitudinal movable slide rail, the take-off and landing platform fixed slide rail and the deck fixed slide rail in sequence under the traction of the movable mooring platform.
The steps of unfolding the foldable ship-based helicopter stabilized platform from the folded state to the working state are as follows:
s1, synchronously driving the two groups of parallelogram folding and unfolding driving units 324 and 334 and the two groups of translation driving units 3143 and 3163 to enable the two groups of parallelogram folding and unfolding mechanisms 32 and 33 to be unfolded backwards together, simultaneously moving the first sliding block 3142 and the second sliding block 3162 on the lifting platform 31 forwards relative to the first sliding rail 3141 and the second sliding rail 3161 respectively until the first driving rod 323 and the second driving rod 333 are both vertical to the plane of the deck groove 11, and then locking the two folding and unfolding driving units 324 and 334;
s2: synchronously driving two groups of translation driving units 3143 and 3163 under the lifting platform 31 and four groups of lifting driving units 344, 354, 364 and 374 on four moving branched chains to enable the lifting platform to horizontally translate forwards until the first slider 3142 and the second slider 3162 reach positions corresponding to working postures, and then locking the linear driving units 3143 and 3163;
s3: four sets of lifting drive units 344, 354, 364, 374 on the four moving branches 34, 35, 36 and 37 are driven to lift the lifting platform 31 in a posture parallel to the deck 11 until the lifting platform 31 reaches a working height.
The steps of changing the working state of the foldable shipboard helicopter stabilized platform into the folded state are as follows:
s1: four sets of lifting drive units 344, 354, 364 and 374 on the four moving branched chains 34, 35, 36 and 37 are driven, so that the four sliders 343, 353, 364 and 374 on the branched chains are at the same height, namely the lifting platform 31 is parallel to the plane of the deck 11;
s2, synchronously driving the four groups of lifting driving units 344, 354, 364 and 374 to make the lifting platform 31 descend in a posture parallel to the deck 11 until the lifting platform 31 descends to a folding height;
s3: the two sets of translation driving units 3143 and 3163 and the four sets of lifting driving units 344, 354, 364 and 374 under the lifting platform 31 are synchronously driven, so that the lifting platform 31 moves horizontally and backwards at a lower height until the two sliders 3142 and 3162 reach the positions corresponding to the folding postures, namely, the process from fig. 11 to fig. 13 is carried out. At this time, the planes of the fifth and seventh links 361 and 371 are parallel to the planes of the first and second driving levers 323 and 333, and the planes of the third and fourth links 341 and 351 are parallel to the planes of the first and second follower levers 321 and 331;
and S4, locking the four sets of lifting driving units 344, 354, 364 and 374, and synchronously driving the two sets of translation line driving units 3143 and 3163 and the two sets of parallelogram folding driving units 324 and 334, so that the two sets of parallelogram folding mechanisms 32 and 33 synchronously fold forward while the first slider 3142 and the second slider 3162 on the lifting platform 31 synchronously move backward relative to the first slide rail 3141 and the second slide rail 3161 respectively, namely moving from the process of FIG. 13 to the process of FIG. 16. The position relation of each link of S3 is maintained all the time in the folding process until the first follower bar 321 and the second follower bar 331 are parallel to the plane of the deck 11, and simultaneously the first link 322 and the second link 332 coincide with the upper surfaces of the rear sides of the first mounting base 391 and the second mounting base 392, respectively, and the lower surface of the lifting platform 31 coincides with the upper surfaces of the first link 322 and the second link 332, thereby completing the folding of the mechanical limiting and stabilizing platform.
Finally, it should be noted that: the above-mentioned embodiments are only used for illustrating the technical solution of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A variable-topology foldable and unfoldable ship-based helicopter taking-off and landing stable platform is characterized by comprising a taking-off and landing platform, a first mounting base and a second mounting base which are symmetrically arranged on two sides of a deck, two parallelogram folding and unfolding mechanisms which are respectively accommodated in the first mounting base or the second mounting base and have the same structure, and a moving branch chain for adjusting the movement of the taking-off and landing platform;
the lower surface of the lifting platform is symmetrically and inwards obliquely provided with two linear sliding assemblies, and each linear sliding assembly comprises a translation driving unit, a sliding block and a sliding rail;
the two parallelogram folding and unfolding mechanisms respectively comprise a driving rod, a follower rod, a connecting rod and a folding and unfolding driving unit, two ends of the connecting rod are respectively connected with the driving rod and the follower rod, the other ends of the driving rod and the follower rod are respectively rotatably connected with the first mounting base, the driving rod, the connecting rod, the follower rod and the first mounting base form a parallelogram mechanism, and the folding and unfolding driving unit is arranged on the outer side of the driving rod and used for driving the parallelogram folding and unfolding mechanisms to fold and unfold;
The moving branched chains comprise two groups, namely a first moving branched chain and a second moving branched chain which have the same structure, and a third moving branched chain and a fourth moving branched chain which have the same structure; the first moving branched chain and the second moving branched chain respectively comprise a first branched chain connecting rod and a first lifting driving unit, the upper end of the first branched chain connecting rod is connected with the lifting platform, the lower end of the first branched chain connecting rod is connected with a sliding block arranged on the follower rod, and the first lifting driving unit is arranged on the inner side of the follower rod and used for driving the sliding block to reciprocate along the rod length direction of the follower rod; the third movement branched chain and the fourth movement branched chain respectively comprise a second branched chain connecting rod, a third branched chain connecting rod and a second lifting driving unit, the upper end of the second branched chain connecting rod is connected with the lifting platform, the upper end of the third branched chain connecting rod is connected with a sliding block in the linear sliding assembly, the lower ends of the second branched chain connecting rod and the third branched chain connecting rod are respectively connected with the sliding block arranged on the driving rod, and the second lifting driving unit is arranged on the inner side of the driving rod and used for driving the sliding block to reciprocate along the rod length direction of the driving rod.
2. The variable topology foldable shipboard helicopter take-off and landing stable platform of claim 1, the left side and the right side of the front of the lower surface of the lifting platform are symmetrically provided with a first ball socket and a second ball socket, the left side and the right side of the middle of the lower surface of the lifting platform are symmetrically provided with a third ball socket and a fourth ball socket, the left side and the right side of the rear of the lower surface of the lifting platform are symmetrically provided with two linear sliding assemblies, a slider in each linear sliding assembly is provided with a fifth ball socket and a sixth ball socket, the upper ends of two first branched connecting rods are respectively connected with the first ball socket and the second ball socket, the upper ends of two second branched connecting rods are respectively connected with the third ball socket and the fourth ball socket, the upper ends of two third branched connecting rods are respectively connected with the fifth ball socket and the sixth ball socket, and the centers of the six ball sockets are distributed at six angles of a left-right symmetric hexagon and the heights from the lower surface of the lifting platform are equal.
3. The variable topology collapsible shipboard helicopter take-off and landing stabilized platform of claim 1, wherein the first branch link and the third branch link are equal in length.
4. The variable topology foldable shipboard helicopter take-off and landing stable platform of claim 1, wherein the first mounting base and the second mounting base are rectangular troughs, the long sides of the tank body are parallel to the longitudinal central line of the deck, the tank bottom of the first mounting base is provided with a first rotating pair mounting seat, a second rotating pair mounting seat and a third rotating pair mounting seat, the bottom of the second mounting base is symmetrically provided with a fourth rotating pair mounting seat, a fifth rotating pair mounting seat and a sixth rotating pair mounting seat, the axes of rotating pairs of the rotating pair mounting seats are parallel to each other, the bottom ends of the two driving rods are respectively connected with the first rotating pair mounting seat and the fourth rotating pair mounting seat, and the bottom ends of the two follower rods are respectively connected with the second rotating pair mounting seat and the fifth rotating pair mounting seat.
5. The variable topology foldable and expandable ship-based helicopter take-off and landing stable platform of claim 4, wherein each of the two foldable and expandable driving units comprises a fixed cylinder and an extension rod, one end of the extension rod is connected with the fixed cylinder, the other end of the extension rod is connected with a seventh rotating pair mounting seat fixedly connected to the outer side surface of the driving rod, and the tail ends of the two fixed cylinders are respectively connected with a third rotating pair mounting seat and a sixth rotating pair mounting seat.
6. The variable topology foldable ship-based helicopter take-off and landing stable platform of claim 1, wherein the mounting and fixing parts installed on the two first lifting driving units are fixedly connected to the inner side surface of a follower rod in parallel, and the motion connecting parts installed on the two first lifting driving units are fixedly connected with a sliding block arranged on the follower rod; two the installation fixed part of second lift drive unit installation links firmly in the medial surface of actuating lever in parallel, two the motion adapting unit of second lift drive unit installation with set up in slide block on the actuating lever links firmly.
7. The variable topology foldable ship-based helicopter take-off and landing stable platform of claim 1, wherein the slide rails of the two linear sliding assemblies are fixedly connected to the lower surface of the take-off and landing platform, the slide blocks are connected to the slide rails through sliding pairs, the translational driving unit is arranged on the side surfaces of the slide rails, the installation fixing part of the translational driving unit is fixedly connected to the lower surface of the take-off and landing platform, and the moving part of the translational driving unit is fixedly connected to the slide blocks.
8. The variable-topology foldable and unfoldable shipborne helicopter take-off and landing stable platform according to claim 1, wherein the take-off and landing platform is of a hollow grid-shaped structure, and four helicopter mooring blocks or plane following intelligent mooring devices are arranged at four corners of the take-off and landing platform.
9. The variable-topology foldable and expandable ship-based helicopter taking-off and landing stable platform according to claim 1, characterized in that one side of the upper surface of the taking-off and landing platform is provided with a landing guide millimeter wave radar speed and distance measuring sensor, and the other side is provided with a landing guide infrared binocular imaging distance measuring instrument, so as to guide a helicopter to accurately land on the taking-off and landing platform.
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| CN112706939A (en) * | 2020-12-01 | 2021-04-27 | 中国舰船研究设计中心 | Motor-driven telescopic hangar |
| CN113022793B (en) * | 2021-04-06 | 2022-12-13 | 清华大学 | Compensation device and ship |
| CN113860192A (en) * | 2021-09-27 | 2021-12-31 | 广东金风科技有限公司 | Hoisting transportation method, transport ship and hoisting transportation equipment |
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