CN111720485A - Embedded gyroscope type six-degree-of-freedom stable platform - Google Patents
Embedded gyroscope type six-degree-of-freedom stable platform Download PDFInfo
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- CN111720485A CN111720485A CN202010587483.5A CN202010587483A CN111720485A CN 111720485 A CN111720485 A CN 111720485A CN 202010587483 A CN202010587483 A CN 202010587483A CN 111720485 A CN111720485 A CN 111720485A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/023—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means
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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
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/44—Floating buildings, stores, drilling platforms, or workshops, e.g. carrying water-oil separating devices
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/023—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means
- F16F15/027—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means comprising control arrangements
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The invention provides a six-degree-of-freedom stable platform of an embedded gyroscope, which utilizes an anti-rolling gyroscope to realize active vibration isolation on the basis of a Stewart stable platform. The Stewart stable platform comprises a movable platform, a static platform and six hydraulic cylinders; the hydraulic cylinder is connected with the two platforms through a cross shaft and a universal joint; the bridge deck of the stable platform is fixedly connected with the upper surface of the movable platform; the anti-rolling gyroscope is a single-frame control moment gyroscope, and the gyroscope is embedded in a groove of the bridge deck. The embedded gyro type six-degree-of-freedom stable platform has the advantages that the secondary vibration source is introduced into a controlled system by utilizing active vibration isolation, the output is adjusted by the gyro controller, the generated moment is balanced with the external moment, and the embedded gyro type six-degree-of-freedom stable platform has the characteristics of good self-adaptability, simple structure, simplicity in control, capability of isolating low-frequency vibration and the like.
Description
Technical Field
The invention relates to the field of self-stabilizing platforms, in particular to a six-degree-of-freedom stabilizing platform with an embedded gyroscope.
Background
With the development of marine economy in China, the number of various marine operations, deep sea exploration, ocean transportation ships and the like is increasing. Under the action of sea wind, waves and gushes, the ship can generate multi-dimensional motions such as transverse oscillation, longitudinal oscillation, vertical oscillation, transverse oscillation, longitudinal oscillation, bow oscillation and the like. Under the action of a mooring or dynamic positioning system, the ship still generates three shaking motions of rolling, pitching and heaving.
The movement brings serious influence to safe transfer of personnel or goods, timely rush repair of faults of a wind power tower or a drilling platform and the like, particularly under the conditions of large surge and severe sea conditions, goods are difficult to load and unload, and safety risks exist in personnel transmission. The stable platform can compensate the swinging motion of the ship, so that the controlled object is kept relatively stable under an inertial system, personnel or goods can be safely conveyed, and the stable platform plays an important role in the economic construction and national defense safety of China.
The Stewart platform is a ship-based self-stabilizing platform, can establish a safe and stable channel, and can ensure the stability of the platform by compensating the motion in all directions according to the mechanical characteristics of the Stewart platform. The Stewart platform can be used for passive, active and active-passive integrated vibration isolation, and different controllers need to be designed for different conditions.
The existing six-degree-of-freedom stable platform feeds the motion condition of a ship back to a control system by monitoring the ship motion under the influence of waves in real time through a detection device on the ship, calculates the displacement direction and the displacement size of the six-degree-of-freedom stable platform needing compensation under the ship motion, and then generates a motion completely opposite to the ship motion to completely compensate the wave motion.
Disclosure of Invention
In order to make up for the defect of passive vibration isolation, the invention provides a six-degree-of-freedom stable platform of an embedded gyroscope, and the anti-rolling gyroscope is utilized on the basis of a Stewart stable platform to achieve active vibration isolation.
The Stewart main body structure comprises: the hydraulic system comprises an upper platform, a lower platform, six hydraulic cylinders, an electro-hydraulic servo valve, a universal joint seat, a driving rod and the like. The six-degree-of-freedom experiment table hydraulic control system is provided with six asymmetric hydraulic cylinders, the six asymmetric hydraulic cylinders are controlled by an electro-hydraulic servo valve to form six parallel channels, a displacement sensor arranged outside each hydraulic cylinder measures the length change of each hydraulic cylinder, a pump station supplies oil to the system to provide power, and an energy accumulator is adopted for flow compensation.
The anti-rolling gyroscope is a single-frame control moment gyroscope and mainly structurally comprises: the device comprises an outer frame, a high-speed rotor, a rotor rotation shaft, a frame shaft, a fixed support, a motor and the like. The gyro is embedded in the bridge floor recess, and one side that fixed bolster and last platform are connected the bridge floor is provided with electric eddy current displacement sensor and wiring hole, the motor chooses for use alternating current motor to install in gyro carousel frame, electric eddy current displacement sensor one end has connect the extension cable, inductive probe is equipped with to one side of extending the cable.
Preferably, the bottom end of the fixed support is fixedly connected with the surface of the upper platform, and the outer surface of the fixed support is coated with an anti-corrosion pattern layer.
Preferably, the outer side of the outer frame of one end of the rotor is provided with a rotating shaft, one end of the rotating shaft is fixedly connected with the rotor, the rotating shaft is movably connected with the support, and the rotor is movably connected with the fixed support through the rotating shaft.
Preferably, the rotor rotation shaft penetrates through a rotation slot arranged on the top frame to be connected with the motor.
Preferably, a bolt rod is arranged between the lower platform and the cabin and penetrates through the fixing base, a self-tightening washer is arranged below a bolt head at the outer end of the bolt rod, fixing sawteeth are arranged on the outer surface of the lower end of the self-tightening washer, and the fixing sawteeth are fixed to the self-tightening washer.
Preferably, the upper surface of lower platform is provided with six groups of universal joint seats, universal joint seat and cross swing joint, the universal joint seat is connected with the pneumatic cylinder.
Has the advantages that: the stable platform utilizes the active vibration isolation to introduce a secondary vibration source into a controlled system and adjusts output through the gyro controller, so that the generated moment is balanced with the external moment, and the stable platform has the characteristics of good self-adaptability, capability of isolating low-frequency vibration and the like. Compared with the prior art, the invention has the obvious advantages of simple structure and simple control, and is particularly suitable for the design of a ship stabilizing platform. The problems that the existing passive vibration isolation device or technology is easily interfered by the environment and has a complex structure are solved.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and not limit the invention.
FIG. 1 is a schematic structural diagram of the present invention;
FIG. 2 is a schematic structural view of the present invention;
FIG. 3 is a schematic cross-sectional view of a gyroscope according to the present invention;
FIG. 4 is a schematic view of a deck structure according to the present invention;
FIG. 5 is a cross-sectional view of the lower platform and the connecting plate according to the present invention;
FIG. 6 is an enlarged view of a gyro rotary groove in the present invention;
in the figure: 1. a bridge deck; 2. a movable platform; 3. a universal joint; 4. a cross shaft; 5. a hydraulic shaft; 6. a frame control moment gyro; 7. a hydraulic cylinder; 8. a lower platform; 9. a motor; 10. a gyro rotor; 11. a top frame; 12. a rotor rotation shaft; 13. a frame shaft; 14. a top support; 15. a sensor; 16. a wiring hole; 17. an inductive probe; 18. a cable; 19. a controller; 20. a bolt head; 21. a self-tightening washer; 22. antiskid surface, 23, fixed saw teeth; 24. a bolt shank; 25. cabin connecting plate.
Detailed Description
For the purpose of enhancing the understanding of the present invention, the present invention will be described in further detail with reference to the accompanying drawings and examples, which are provided for the purpose of illustration only and are not intended to limit the scope of the present invention.
As shown in fig. 1 to 6: a built-in gyroscope type six-degree-of-freedom stable platform comprises six groups of hydraulic cylinders 7, wherein six universal joints 3 on a lower platform 8 are connected with a cylinder body of the hydraulic cylinder 7 through a cross shaft 4; the upper and lower universal joints 3 are respectively fixed on the same circumference of the respective fixed planes; six universal joints 3 on the movable platform 2 are connected with a hydraulic shaft 5 through cross shafts 4. The bridge deck 1 is fixedly connected with the movable platform 2, and a hollow column groove is arranged in the middle.
As shown in fig. 3, the frame control moment gyro 6 is embedded in the hollow column groove, and the single frame control moment gyro 6 includes: the gyroscope comprises a motor 9, a gyroscope rotor 10, a gyroscope frame 11, a rotor rotation shaft 12, a frame shaft 13 and a gyroscope support 14; the gyro rotor 10 is fixed on the rotor free shaft 12, the rotor free shaft 12 is rotatably fixed in the gyro frame 11, the rotor rotation shaft 12 passes through a rotation slot arranged on the gyro frame 14 to be connected with the motor 9, and the gyro frame 11 is connected on the gyro support 14 through the frame shaft in a swinging way.
As shown in fig. 4: the bridge deck structure section schematic diagram, embedded in bridge deck 1 recess of frame control moment top 6, electric eddy current displacement sensor 15 sets up in the recess, and it is fixed in the upper surface of upper platform 2, still is provided with wiring hole 16 in the recess, electric eddy current displacement sensor 15 termination has cable 18, inductive probe 17 is equipped with to one side of cable 18.
Be provided with shank of bolt 24 between lower platform 8 and the cabin connecting plate 25, shank of bolt 24 runs through lower platform 8, there is bolt head 20 shank of bolt 24 top, the lower extreme of bolt head 20 and the upper end external surface fixed connection of shank of bolt 24, the below of the outer end bolt head 20 of shank of bolt 24 is provided with self-tightening washer 21, be provided with non-slip surface 22 between self-tightening washer 21 and the bolt head 20, non-slip surface 22 and the upper end external surface fixed connection of self-tightening washer 21, the quantity of self-tightening washer is six groups, the lower extreme surface of self-tightening washer is provided with fixed sawtooth 23.
During operation, can survey the swing range of deck through inductive probe 17, then pass the sensor 15 with the signal through cable 18, sensor 15 passes the signal to external controller 19 again, thereby the rotation speed of gyro rotor 10 is controlled in the operation of controller 19 control motor 9 according to the signal of telecommunication, when the boats and ships take place the roll and pitch, gyro rotor 10 produces the swing that resets through the frame axle thereby output stable momentum moment and offset the angle of swaying of moving platform 2, gyro frame 11 swings through frame axle 13, some pneumatic cylinders 7 receive the interior liquid discharge of rightting moment effect jar, hydraulic shaft 5 shrink, one side that corresponds moving platform 2 descends, remain some pneumatic cylinders 7 simultaneously and flow in liquid, hydraulic shaft 5 extension, it is steady with the assurance personnel and the material on the platform to correspond on one side moving platform 2.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. The utility model provides an embedded top formula six degrees of freedom stabilized platform which characterized in that includes: the hydraulic support device comprises six groups of hydraulic cylinders, the six groups of hydraulic cylinders are mutually connected in parallel to form a hydraulic pipeline system, and the hydraulic pipeline system is controlled by an electro-hydraulic servo valve; the single-frame control moment gyroscope is arranged on a central axis of the bridge deck; the ship vibration control device also comprises a sensor used for sensing the vibration of the ship, converting the vibration signal into a control signal and controlling the momentum moment of the single-frame control moment gyroscope.
2. The inline gyroscope six-degree-of-freedom stabilized platform according to claim 1, wherein the single-frame control moment gyroscope includes: the gyroscope comprises a motor, a gyroscope rotor, a gyroscope frame, a rotor rotation shaft, a frame shaft and a gyroscope support; the gyro rotor is fixed on the rotor free shaft, the rotor free shaft is rotatably fixed in the gyro frame, the rotor rotation shaft penetrates through a rotation groove formed in the gyro frame and is connected with the motor, and the gyro frame is connected on the gyro support in a swinging mode through the frame shaft.
3. The embedded gyro-type six-degree-of-freedom stabilized platform according to claim 1, further comprising a movable platform and a lower platform, wherein the movable platform is fixed under the bridge deck, the lower platform is fixed on the ship, and six sets of hydraulic supporting devices and hydraulic pipeline systems are arranged between the movable platform and the lower platform.
4. The embedded gyro type six-degree-of-freedom stabilized platform according to claim 3, further comprising universal joints and cross shafts, wherein the universal joints are respectively fixed at the ends of the hydraulic shaft and the hydraulic cylinder, and are respectively fixed on the movable platform and the lower platform through the cross shafts.
5. The embedded gyro type six-degree-of-freedom stable platform according to claim 3, wherein a groove is formed on the peripheral axis of the bridge deck, the single-frame control moment gyro is fixed in the groove, and a wiring hole is formed in the groove.
6. The embedded gyroscopic six degree-of-freedom stabilized platform of claim 1 in which the sensors include: the eddy current displacement sensor is fixed in the groove and is respectively connected with the inductive probe and the controller through the cable.
7. The embedded gyroscope six-degree-of-freedom stabilized platform according to claim 3, wherein the six sets of hydraulic support devices are located on the same circumference of the corresponding plane with the six connection points of the upper platform and the six connection points of the lower platform, respectively.
8. The embedded gyro type six-degree-of-freedom stable platform according to claim 3, wherein the fixing device comprises a bolt head, a self-tightening washer, an anti-slip surface, fixing saw teeth and a bolt rod, the lower platform is provided with a plurality of holes matched with the bolt rod to fix the lower platform, the bolt head and the bolt rod are integrally formed, the upper surface of the self-tightening washer is provided with the anti-slip surface, the lower surface of the self-tightening washer is provided with the fixing saw teeth, and the fixing saw teeth of the two sets of self-tightening washers are meshed with each other and penetrate through the bolt rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010587483.5A CN111720485A (en) | 2020-06-24 | 2020-06-24 | Embedded gyroscope type six-degree-of-freedom stable platform |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010587483.5A CN111720485A (en) | 2020-06-24 | 2020-06-24 | Embedded gyroscope type six-degree-of-freedom stable platform |
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| CN111720485A true CN111720485A (en) | 2020-09-29 |
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| CN202010587483.5A Pending CN111720485A (en) | 2020-06-24 | 2020-06-24 | Embedded gyroscope type six-degree-of-freedom stable platform |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114319291A (en) * | 2021-12-31 | 2022-04-12 | 中国海洋大学 | Floating support installation lifting device with motion compensation function |
| CN114715368A (en) * | 2022-04-29 | 2022-07-08 | 武汉理工大学 | Vibration isolation device for rim propeller and submarine |
| CN115452317A (en) * | 2022-09-02 | 2022-12-09 | 哈尔滨工程大学 | Four-degree-of-freedom hydrodynamic performance test device |
| CN115675900A (en) * | 2022-11-04 | 2023-02-03 | 哈尔滨工程大学 | Mobile carrier-based vertical take-off and landing unmanned aerial vehicle automatic leveling platform and leveling method |
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| CN115675900A (en) * | 2022-11-04 | 2023-02-03 | 哈尔滨工程大学 | Mobile carrier-based vertical take-off and landing unmanned aerial vehicle automatic leveling platform and leveling method |
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Application publication date: 20200929 |
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