CN114212219B - Compact underwater parallel stable platform and working method thereof - Google Patents
Compact underwater parallel stable platform and working method thereof Download PDFInfo
- Publication number
- CN114212219B CN114212219B CN202111361748.0A CN202111361748A CN114212219B CN 114212219 B CN114212219 B CN 114212219B CN 202111361748 A CN202111361748 A CN 202111361748A CN 114212219 B CN114212219 B CN 114212219B
- Authority
- CN
- China
- Prior art keywords
- module
- middle support
- seat
- table top
- electric cylinder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Actuator (AREA)
Abstract
The invention discloses a compact underwater parallel stable platform and a working method thereof, wherein the platform comprises: the device comprises an upper table top module, a lower table top, a middle support rod module, a support seat, a waterproof electric cylinder module, an upper cross hinge, a lower cross hinge and a central cross hinge; the upper mounting surface of the supporting seat is fixedly connected with the middle supporting seat of the middle supporting rod module; one end of the middle support rod module is fixedly connected with the center of the upper table top module, and the other end of the middle support rod module is fixedly connected with the center of the lower table top through a central cross hinge; the three waterproof electric cylinder modules respectively penetrate through the three mounting holes in the supporting seat; one end of the waterproof electric cylinder module is fixedly connected with the upper table top module through an upper cross hinge, and the other end of the waterproof electric cylinder module is fixedly connected with the lower table top through a lower cross hinge. The invention adopts a compact configuration design, and realizes high rigidity and low space occupation of the stable platform; through the waterproof electric jar module of peculiar, ensured that stable platform has better waterproof sealing performance, made stable platform can work under water for a long time.
Description
Technical Field
The invention belongs to the technical field of stable platforms, and particularly relates to a compact underwater parallel stable platform and a working method thereof.
Background
The underwater stabilized platform is generally installed in the bottom of a ship or inside a ship moon pool, can transfer the carried detection equipment to underwater, can compensate the change of the attitude angle of the ship in real time, enables the spatial attitude of the measurement equipment to keep relatively stable, improves the measurement precision of the measurement equipment, and is generally used for underwater sonar detection equipment and the like.
At present, a traditional stabilizing platform cannot be directly carried on a ship for underwater stable work, and the main reasons are as follows:
(1) The traditional stable platform (no matter a frame type, a parallel type or a serial type stable platform) has no waterproof sealing design aiming at the underwater environment, and cannot work underwater for a long time;
(2) A series of stable platforms represented by a frame type stable platform and a multi-axis parallel stable platform have insufficient structure compactness, occupy too large space and are difficult to carry on a small ship;
(3) A series of stable platforms represented by a series-type stable platform are calculated with the same mass, the rigidity of the series-type stable platform is generally low, and the stability precision of the series-type stable platform is greatly influenced by external interference such as lateral water flow impact in an underwater environment.
Disclosure of Invention
The technical problem of the invention is solved: the defects of the prior art are overcome, and the compact underwater parallel stable platform and the working method thereof are provided, and the compact configuration design is adopted, so that the high rigidity and the low space occupation of the stable platform are realized; through the waterproof electric jar module of peculiar, ensured that stable platform has better waterproof sealing performance, made stable platform can work under water for a long time.
In order to solve the technical problem, the invention discloses a compact underwater parallel stable platform, which comprises: the device comprises an upper table top module, a lower table top, a middle support rod module, a support seat, a waterproof electric cylinder module, an upper cross hinge, a lower cross hinge and a central cross hinge;
the lower mounting surface of the support seat is fixedly connected with a mounting flange of the ship body through a screw, and the upper mounting surface of the support seat is fixedly connected with a middle support seat of the middle support rod module through a screw; the center of the supporting seat is provided with a central round hole, three mounting round holes are uniformly distributed on the outer side of the central round hole in the circumferential direction, and a wiring round hole is arranged right behind the central round hole;
one end of the middle support rod module is fixedly connected with the center of the upper table top module through a screw, and the other end of the middle support rod module is fixedly connected with the center of the lower table top through a central cross hinge through a screw;
the three waterproof electric cylinder modules respectively penetrate through the three mounting round holes on the supporting seat and are circumferentially and uniformly distributed outside the middle supporting rod module; one end of the waterproof electric cylinder module is fixedly connected with the upper table top module through an upper cross hinge by a screw, and the other end of the waterproof electric cylinder module is fixedly connected with the lower table top module through a lower cross hinge by a screw.
In above-mentioned compact is parallelly connected stable platform under water, middle support rod module is telescopic rod formula structure, includes: the middle supporting rod, the sealing ring seat, the guide shaft sleeve, the middle supporting seat and the middle supporting column are arranged on the middle supporting rod;
the middle support rod, the sealing ring seat, the guide shaft sleeve, the middle support seat and the middle support column are sequentially arranged from top to bottom;
a plurality of fixing screws which are uniformly distributed in the circumferential direction sequentially penetrate through the flange plate and the sealing ring seat on the lower end face of the middle supporting rod from top to bottom and then are fixed in threaded holes in the middle supporting seat;
the guide shaft sleeve is arranged between the middle supporting seat and the middle supporting column and is tightly pressed and fixed in the middle supporting seat through the sealing ring seat;
sealing ring seats and middle supporting seats are arranged at positions close to the lower end face, and sealing rubber rings for holes are arranged for preventing lubricating grease near the guide shaft sleeve from leaking;
the middle support rod is a hollow sleeve, the middle support column can slide in the hollow sleeve along the axial direction, and lubrication and axial positioning are realized through the guide shaft sleeve and the seal rings at the two ends of the guide shaft sleeve.
In the above-described compact underwater parallel stable platform,
one end of the middle support rod, which is far away from the middle support column, is fixedly connected with the center of the upper table-board module through a screw;
one end of the middle support column, which is far away from the middle support rod, penetrates through a central circular hole of the support seat and is fixedly connected with the center of the lower table top through a central cross hinge by a screw;
the middle supporting rod module is fixedly connected with the upper mounting surface of the supporting seat through the middle supporting seat.
In the above-described compact underwater parallel stable platform,
an anti-rotation stop block is arranged on the middle support column; the anti-rotation stop block is fixed on the outer surface of the top of the middle support column through a screw; the anti-rotation stop block is in a strip shape, and the length direction of the anti-rotation stop block is parallel to the axis of the middle support column;
a chute is arranged in the cavity of the middle support rod, and the depth direction of the chute penetrates through the wall of the single side cylinder of the middle support rod; the sliding groove is a strip-shaped hole, and the length direction of the sliding groove is parallel to the central axis of the middle supporting rod; the sliding groove and the anti-rotation stop block are in clearance fit;
when the middle support column slides up and down in the middle support rod, the anti-rotation stop block can slide in the sliding groove but cannot rotate around the axis, and the length of the sliding groove is limited, so that the sliding movement range of the anti-rotation stop block along the axis is limited, and the middle support column can be prevented from falling off or rotating.
In above-mentioned compact is parallelly connected stable platform under water, go up mesa module, include: the device comprises an upper table surface seat, an upper table surface cover, a diaphragm air pump, an air cylinder, attitude sensing equipment and an attitude sensing equipment mounting seat;
the diaphragm air pump, the attitude sensing equipment and the attitude sensing equipment mounting seat are mounted inside the upper table top seat and are packaged through the upper table top cover, so that the interior of the upper table top seat is sealed; the attitude sensing equipment is fixedly installed through an attitude sensing equipment installation seat;
the gas cylinder is arranged in the center of the lower surface of the upper table seat, is coaxial with the central axis of the table body and is placed in a cavity at the other end of the middle support column close to the middle support rod;
the diaphragm air pump sets up inside last mesa module, through the fix with screw at last mesa seat, outside the intake pipe of diaphragm air pump explored out last mesa module through the extension pipe, the outlet duct and the gas cylinder and the waterproof electric jar module of diaphragm air pump were connected.
In the compact underwater parallel stable platform, the diaphragm air pump, the air pipe and the air pressure sensor form an air path system for injecting compressed air into the air bottle; compressed air stored in the gas cylinder is injected into the waterproof electric cylinder module through the gas pipe, and waterproof sealing of the waterproof electric cylinder module is achieved.
In above-mentioned compact is parallelly connected stable platform under water, waterproof electric jar module includes: the device comprises a cylinder body, a waterproof sealing sleeve and an electric cylinder piston rod;
the cylinder body is connected with an electric cylinder piston rod;
the waterproof sealing sleeve is arranged at the joint of the cylinder body and the electric cylinder piston rod.
In the compact underwater parallel stable platform, the waterproof sealing sleeve forms a sealing cavity at the joint of the cylinder body and the electric cylinder piston rod, and when the compact underwater parallel stable platform works, compressed air stored in the air bottle is injected into the sealing cavity through the air pipe, so that the air pressure in the sealing cavity is always greater than the external water pressure, and the external water is prevented from immersing into the waterproof electric cylinder module through a gap between the cylinder body and the electric cylinder piston rod, and the junction structure is corroded and damaged.
In the above-described compact underwater parallel stable platform,
the supporting seat is integrally of a conical thin-wall structure, and the bottom of the supporting seat is hollowed;
when the compact underwater parallel stable platform is in a storage state, the lower table surface is positioned in the bottom cavity hollowed out by the supporting seat, and the bottom surface of the lower table surface is flush with the bottom surface of the supporting seat, so that the compact underwater parallel stable platform is convenient to mount and transport.
Correspondingly, the invention also discloses a working method of the compact underwater parallel stable platform, which comprises the following steps:
when the compact underwater parallel stable platform works, the extension lengths of electric cylinder piston rods in the three waterproof electric cylinder modules are adjusted by driving a servo motor, when 3 electric cylinder piston rods extend out or retract into the same length at the same speed, a lower cross hinge connected with the electric cylinder piston rods drives a lower platform surface to ascend and descend, and a central cross hinge chain drives a middle support column to extend out and retract synchronously, so that ascending and descending adjustment actions of the platform are completed;
when the 3 electric cylinder piston rods respectively adjust the length according to a program, the lower table top is driven to rotate around the central cross hinge, the position of the middle supporting column is kept unchanged, the upper cross hinge and the lower cross hinge are synchronously and passively adjusted in angle, and the posture adjustment movement of the lower table top is realized;
in the movement process, the lateral load applied to the lower table top by the external factors is directly transmitted to the supporting seat through the middle supporting rod module, so that the component force of the lateral load is prevented from being superposed with the output force of the waterproof electric cylinder module, the lateral load is prevented from influencing the adjustment precision of the waterproof electric cylinder module, and the posture adjustment precision of the lower table top is improved.
The invention has the following advantages:
(1) The invention discloses a compact underwater parallel stable platform and a working method thereof.A waterproof electric cylinder module adopts a waterproof sealing design, prevents water from entering the structure by means of positive pressure gas, ensures that the stable platform has better waterproof sealing performance, enables the stable platform to work underwater for a long time, and solves the problem that the traditional stable platform cannot be used underwater.
(2) The invention discloses a compact underwater parallel stable platform and a working method thereof.A unique design of a supporting seat and a middle supporting rod module is adopted, so that the stress point of a lower table top is close to the mounting support of the stable platform, the force arm of acting force is reduced, the integral rigidity of the stable platform is enhanced, and the rigidity is superior to that of the traditional stable platform.
(3) The invention discloses a compact underwater parallel stable platform and a working method thereof.A waterproof electric cylinder module adopts a circumferential uniform distribution design parallel to the axis of a platform body, so that the structure of the stable platform is more compact and is superior to the traditional serial, frame and parallel stable platforms.
Drawings
FIG. 1 is an exploded view of a compact underwater parallel stable platform according to an embodiment of the present invention;
FIG. 2 is a schematic longitudinal section of a compact underwater parallel stable platform according to an embodiment of the present invention;
FIG. 3 is a schematic cross-sectional view of a compact underwater parallel stabilization platform according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a lowering state of a compact underwater parallel stable platform according to an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating an angular adjustment of a compact underwater parallel stable platform according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a waterproof sealing sleeve in the embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the embodiments of the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1 to 3, in this embodiment, the compact underwater parallel stable platform includes: go up mesa module 1, lower mesa 2, middle support rod module 3, supporting seat 4, waterproof electric jar module 5, go up cross hinge 6, lower cross hinge 7 and central cross hinge 8.
The whole supporting seat 4 is of a conical thin-wall structure, the bottom of the supporting seat is hollowed, and the diameter of the bottom of the supporting seat is about 500 mm. Wherein, the bottom of the supporting seat 4 is provided with a flange mounting hole, which is convenient for the supporting seat 4 to be fixed to the ship body; the top of the supporting seat 4 is provided with a mounting flange, so that the mounting surface of the supporting seat 4 is connected with the middle supporting rod module 3. Specifically, the method comprises the following steps: the lower mounting surface of the support seat 4 is fixedly connected with a mounting flange of the ship body through screws, and the upper mounting surface of the support seat 4 is fixedly connected with the intermediate support seat 34 of the intermediate support rod module 3 through screws. Further, the center of the supporting seat 4 is provided with a central round hole, three mounting round holes are circumferentially and uniformly distributed on the outer side of the central round hole, and a wiring round hole is arranged right behind the central round hole.
One end of the middle support rod module 3 is fixedly connected with the center of the upper table top module 1 through a screw, and the other end of the middle support rod module 3 is fixedly connected with the center of the lower table top 2 through a central cross hinge 8 through a screw.
Three waterproof electric jar modules 5 pass three installation round holes on the supporting seat 4 respectively, and the circumference equipartition is in the middle support rod module 3 outside. One end of the waterproof electric cylinder module 5 is fixedly connected with the upper table top module 1 through an upper cross hinge 6 by a screw, and the other end of the waterproof electric cylinder module 5 is fixedly connected with the lower table top 2 through a lower cross hinge 7 by a screw.
In this embodiment, as shown in fig. 1, the middle support rod module 3 is a telescopic rod type structure, and may specifically include: the middle support rod 31, the seal ring seat 32, the guide shaft sleeve 33, the middle support seat 34 and the middle support column 35. Specifically, the method comprises the following steps: the middle support rod 31, the sealing ring seat 32, the guide shaft sleeve 33, the middle support seat 34 and the middle support column 35 are arranged in sequence from top to bottom; wherein, a plurality of circumferentially evenly distributed fixing screws sequentially penetrate through the flange plate and the sealing ring seat 32 on the lower end face of the middle support rod 31 from top to bottom and then are fixed in the threaded holes on the middle support seat 34. The guide shaft sleeve 33 is arranged between the intermediate support seat 34 and the intermediate support column 35, and is pressed and fixed inside the intermediate support seat 34 through the seal ring seat 32. The seal ring seat 32 and the intermediate support seat 34 are provided with a sealing rubber ring for holes near the lower end face for preventing leakage of the lubricating grease near the guide bush 33. The middle support rod 31 is a hollow sleeve, the middle support column 35 can slide in the hollow sleeve along the axial direction, and lubrication and axial positioning are realized through the guide shaft sleeve 33 and the seal rings at the two ends of the guide shaft sleeve 33.
Preferably, one end of the middle support rod 31 far away from the middle support column 35 is fixedly connected with the center of the upper table module 1 through a screw. One end of the middle support column 35, which is far away from the middle support rod 31, penetrates through a central circular hole of the support seat 4, and is fixedly connected with the center of the lower table top 2 through a central cross hinge 8 by screws. The middle support rod module 3 is fixedly connected with the upper mounting surface of the support seat 4 through the middle support seat 34.
Further, an anti-rotation stop block 37 is mounted on the middle support column 35; wherein, the anti-rotation block 37 is fixed on the outer surface of the top of the middle support column 35 through a screw; the anti-rotation block 37 is in a strip shape, and the length direction of the anti-rotation block is parallel to the axis of the middle support column 35. A chute 36 is arranged in the cavity of the middle support rod 31, and the chute 36 penetrates through the wall of one side of the middle support rod 31 in the depth direction; the sliding groove 36 is a strip-shaped hole, and the length direction of the sliding groove is parallel to the central axis of the middle support rod 31; the sliding groove 36 and the anti-rotation stop 37 are in clearance fit. When the intermediate support pillar 35 slides up and down in the intermediate support rod 31, the rotation preventing stopper 37 can slide in the sliding groove 36 but cannot rotate around the axis, and since the length of the sliding groove 36 is limited, the range of motion of the rotation preventing stopper 37 sliding along the axis is limited, and the intermediate support pillar 35 can be prevented from being disengaged or rotated.
In this embodiment, as shown in fig. 1, the upper stage module 1 may specifically include: the device comprises an upper table top seat 11, an upper table top cover 12, a diaphragm air pump 13, an air bottle 14, a posture sensing device 15 and a posture sensing device mounting seat 16. Specifically, the method comprises the following steps: the diaphragm air pump 13, the attitude sensing equipment 15 and the attitude sensing equipment mounting base 16 are mounted inside the upper table top base 11 and are packaged through the upper table top cover 12, so that the inside of the upper table top base 11 is ensured to be sealed; wherein, the posture sensing device 15 is fixed by the posture sensing device mounting base 16. The gas cylinder 14 is mounted in the center of the lower surface of the upper table seat 11, is coaxial with the central axis of the table body, and is placed in a cavity at the other end of the middle support column 35 close to the middle support rod 31. Diaphragm air pump 13 sets up inside last mesa module 1, through the fix with screw at last mesa seat 11, outside the intake pipe of diaphragm air pump 13 stretched out last mesa module 1 through the extension pipe, the outlet duct and the gas cylinder 14 and the waterproof electric jar module 5 of diaphragm air pump 13 were connected.
Preferably, the air pump 13, the air pipe and the air pressure sensor form an air path system for injecting compressed air into the air bottle 14. Compressed air stored in the air bottle 14 is injected into the waterproof electric cylinder module 5 through an air pipe, so that waterproof sealing of the waterproof electric cylinder module 5 is realized.
In this embodiment, as shown in fig. 1, the waterproof electric cylinder module 5 may specifically include: cylinder 51, waterproof sealing sleeve 52 and electric cylinder piston rod 53. Specifically, the method comprises the following steps: the cylinder body 51 is connected with an electric cylinder piston rod 53; a waterproof sealing sleeve 52 is provided at the junction of the cylinder body 51 and the electric cylinder piston rod 53.
Preferably, the waterproof sealing sleeve 52 forms a sealed chamber at the joint of the cylinder body 51 and the electric cylinder piston rod 53, and during operation, compressed air stored in the air bottle 14 is injected into the sealed chamber through an air pipe, so that the air pressure in the sealed chamber is always greater than the external water pressure, and thus, external water is prevented from entering the waterproof electric cylinder module 5 through a gap between the cylinder body 51 and the electric cylinder piston rod 53 and being corroded and damaged by a knot structure.
As shown in fig. 6, the waterproof sealing sleeve 52 may specifically include: waterproof cover 521, polytetrafluoroethylene gasket 522, sealing rubber ring 523, air passage adapter 524 and steckel 525. The teflon gasket 522 and the sealing rubber ring 523 are arranged between the waterproof sleeve 521 and the cylinder body 51 and used for ensuring the air tightness and the water tightness of the mounting surface. The steiner 525 is disposed at the tail of the waterproof case 521 for ensuring air and water tightness between the waterproof case 521 and the cylinder rod 53, so that a sealed chamber is formed inside the waterproof case 521. The air passage adapter 524 is screwed to the waterproof sleeve 521 through a conical pipe thread, a hose can be installed, the air passage adapter is connected with the diaphragm air pump 13 and the air bottle 14 through the hose, compressed air can be guided into a sealed chamber inside the waterproof sleeve 521, and the pressure inside the chamber is ensured to be larger than the pressure of the external water environment.
In this embodiment, as shown in fig. 2, when the compact underwater parallel stable platform is in the storage state, the lower table top 2 is located in the bottom cavity hollowed by the supporting seat 4, and the bottom surface of the lower table top 2 is flush with the bottom surface of the supporting seat 4, so as to facilitate installation and transportation.
In this embodiment, as shown in fig. 3, three waterproof electric cylinder modules 5 are uniformly distributed in the circumferential direction of the central axis of the platform body, parallel to the central axis of the platform body, and abut against the middle support rod module 3, so that the configuration of the stabilized platform is more compact. Preferably, the distance between the central axis of the waterproof electric cylinder module 5 and the central axis of the platform body can be, but is not limited to be, 150mm.
In this embodiment, a cable hole is reserved in the support base near the stern for the cable of the installation equipment to enter the moon pool.
In this embodiment, as shown in fig. 4 and 5, when the compact underwater parallel stable platform works, and the compact underwater parallel stable platform works, the extending length of the electric cylinder piston rods 53 in the three waterproof electric cylinder modules 5 is adjusted by driving the servo motor, when 3 electric cylinder piston rods 53 extend out or retract back to the same length at the same speed, the lower cross hinge 7 connected with the electric cylinder piston rods 53 drives the lower table top 2 to ascend and descend, and the central cross hinge 8 synchronously drives the middle support column 35 to extend out and retract back, so that the ascending and descending adjustment of the platform is completed. When the lengths of the 3 electric cylinder piston rods 53 are respectively adjusted according to a program, the lower table top 2 is driven to rotate around the central cross hinge 8, the position of the middle supporting column 35 is kept unchanged, the angle of the upper cross hinge 6 and the angle of the lower cross hinge 7 are synchronously and passively adjusted, and the posture adjustment movement of the lower table top 2 is realized. In the movement process, the lateral load applied to the lower table top 2 by the external factors is directly transmitted to the supporting seat 4 through the middle supporting rod module 3, so that the component force of the lateral load is prevented from being superposed with the output force of the waterproof electric cylinder module 5, the lateral load is further prevented from influencing the adjustment precision of the waterproof electric cylinder module 5, and the posture adjustment precision of the lower table top 2 is further improved.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (10)
1. A compact underwater parallel stable platform, comprising: the device comprises an upper table top module (1), a lower table top (2), a middle support rod module (3), a support seat (4), a waterproof electric cylinder module (5), an upper cross hinge (6), a lower cross hinge (7) and a central cross hinge (8);
the lower mounting surface of the support seat (4) is fixedly connected with a mounting flange of the ship body through a screw, and the upper mounting surface of the support seat (4) is fixedly connected with a middle support seat (34) of the middle support rod module (3) through a screw; the center of the supporting seat (4) is provided with a central round hole, three mounting round holes are uniformly distributed on the outer side of the central round hole in the circumferential direction, and a wiring round hole is arranged right behind the central round hole;
one end of the middle support rod module (3) is fixedly connected with the center of the upper table top module (1) through a screw, and the other end of the middle support rod module (3) is fixedly connected with the center of the lower table top module (2) through a central cross hinge (8) through a screw;
the three waterproof electric cylinder modules (5) respectively penetrate through the three mounting round holes in the supporting seat (4) and are circumferentially and uniformly distributed on the outer side of the middle supporting rod module (3); one end of the waterproof electric cylinder module (5) is fixedly connected with the upper table top module (1) through an upper cross hinge (6) by a screw, and the other end of the waterproof electric cylinder module (5) is fixedly connected with the lower table top (2) through a lower cross hinge (7) by a screw.
2. The compact underwater parallel stable platform of claim 1, wherein the intermediate support bar module (3) is of telescopic rod type structure comprising: the device comprises a middle support rod (31), a sealing ring seat (32), a guide shaft sleeve (33), a middle support seat (34) and a middle support column (35);
the middle support rod (31), the sealing ring seat (32), the guide shaft sleeve (33), the middle support seat (34) and the middle support column (35) are sequentially arranged from top to bottom;
a plurality of circumferentially uniformly distributed screws sequentially penetrate through the flange plate and the sealing ring seat (32) on the lower end face of the middle support rod (31) from top to bottom and then are fixed in threaded holes in the middle support seat (34);
the guide shaft sleeve (33) is arranged between the middle supporting seat (34) and the middle supporting column (35) and is pressed and fixed in the middle supporting seat (34) through the sealing ring seat (32);
sealing ring seats (32) and a middle supporting seat (34) are arranged at positions close to the lower end face and are provided with sealing rubber rings for holes, and the sealing rubber rings are used for preventing lubricating grease near the guide shaft sleeve (33) from leaking;
the middle support rod (31) is a hollow sleeve, the middle support column (35) can slide in the hollow sleeve along the axial direction, and lubrication and axial positioning are realized through the guide shaft sleeve (33) and the sealing rings at the two ends of the guide shaft sleeve (33).
3. The compact underwater parallel stable platform of claim 2,
one end of the middle support rod (31) far away from the middle support column (35) is fixedly connected with the center of the upper table-board module (1) through a screw;
one end of the middle support column (35) far away from the middle support rod (31) penetrates through a central circular hole of the support seat (4) and then is fixedly connected with the center of the lower table top (2) through a central cross hinge (8) by a screw;
the middle support rod module (3) is fixedly connected with the upper mounting surface of the support seat (4) through the middle support seat (34).
4. The compact underwater parallel stable platform of claim 2,
an anti-rotation stop block (37) is arranged on the middle support column (35); wherein, the anti-rotation block (37) is fixed on the outer surface of the top of the middle support column (35) through a screw; the anti-rotation stop block (37) is in a strip shape, and the length direction of the anti-rotation stop block is parallel to the axis of the middle support column (35);
a sliding groove (36) is formed in a cavity of the middle supporting rod (31), and the sliding groove (36) penetrates through the wall of one side of the middle supporting rod (31) in the depth direction; the sliding groove (36) is a strip-shaped hole, and the length direction of the sliding groove is parallel to the central axis of the middle supporting rod (31); the sliding groove (36) and the anti-rotation stop block (37) are in clearance fit;
when the middle support column (35) slides up and down in the middle support rod (31), the anti-rotation stop block (37) can slide in the sliding groove (36) but cannot rotate around the axis, and the length of the sliding groove (36) is limited, so that the movement range of the anti-rotation stop block (37) sliding along the axis is limited, and the middle support column (35) can be prevented from falling off or rotating.
5. The compact underwater parallel stable platform of claim 2, characterized by an upper deck module (1) comprising: an upper table top seat (11), an upper table top cover (12), a diaphragm air pump (13), an air bottle (14), a posture sensing device (15) and a posture sensing device mounting seat (16);
the diaphragm air pump (13), the attitude sensing equipment (15) and the attitude sensing equipment mounting seat (16) are mounted inside the upper table top seat (11) and are packaged through the upper table top cover (12), so that the inside of the upper table top seat (11) is ensured to be sealed; the attitude sensing equipment (15) is fixedly installed through an attitude sensing equipment installation seat (16);
the gas cylinder (14) is arranged in the center of the lower surface of the upper table seat (11), is coaxial with the central axis of the table body, and is placed in a cavity at the other end of the middle support column (35) close to the middle support rod (31);
diaphragm air pump (13) set up in last mesa module (1) inside, through the fix with screw at last mesa seat (11), outside the intake pipe of diaphragm air pump (13) stretched out last mesa module (1) through the extension pipe, the outlet duct and gas cylinder (14) and waterproof electric jar module (5) of diaphragm air pump (13) were connected.
6. The compact underwater parallel stable platform as claimed in claim 5, wherein the diaphragm air pump (13), the air pipe and the air pressure sensor form an air path system for injecting compressed air into the air bottle (14); compressed air stored in the air bottle (14) is injected into the waterproof electric cylinder module (5) through the air pipe, and waterproof sealing of the waterproof electric cylinder module (5) is achieved.
7. The compact underwater parallel stable platform of claim 6, characterized in that the waterproof electric cylinder module (5) comprises: the device comprises a cylinder body (51), a waterproof sealing sleeve (52) and an electric cylinder piston rod (53);
the cylinder body (51) is connected with an electric cylinder piston rod (53);
the waterproof sealing sleeve (52) is arranged at the joint of the cylinder body (51) and the electric cylinder piston rod (53).
8. The compact underwater parallel stable platform as claimed in claim 7, wherein the waterproof sealing sleeve (52) forms a sealed chamber at the joint of the cylinder body (51) and the electric cylinder piston rod (53), and when the platform is in operation, compressed air stored in the air cylinder (14) is injected into the sealed chamber through the air pipe, so that the air pressure in the sealed chamber is always higher than the external water pressure, and the external water is prevented from immersing into the waterproof electric cylinder module (5) through the gap between the cylinder body (51) and the electric cylinder piston rod (53) and being damaged due to corrosion of the junction.
9. The compact underwater parallel stable platform of claim 1,
the supporting seat (4) is integrally of a conical thin-wall structure, and the bottom of the supporting seat is hollowed;
when the compact underwater parallel stable platform is in a storage state, the lower table top (2) is positioned in a bottom cavity hollowed out by the supporting seat (4), and the bottom surface of the lower table top (2) is flush with the bottom surface of the supporting seat (4), so that the compact underwater parallel stable platform is convenient to mount and transport.
10. A method of operating a compact underwater parallel stable platform as claimed in claim 1, comprising:
when the compact underwater parallel stable platform works, the extending length of electric cylinder piston rods (53) in three waterproof electric cylinder modules (5) is adjusted by driving a servo motor, when 3 electric cylinder piston rods (53) extend out or retract back to the same length at the same speed, a lower cross hinge (7) connected with the electric cylinder piston rods (53) drives a lower table top (2) to ascend and descend, a middle support column (35) is driven to extend out and retract synchronously through a central cross hinge (8) chain, and ascending and descending adjustment actions of the platform are completed;
when the lengths of 3 electric cylinder piston rods (53) are respectively adjusted according to a program, the lower table top (2) is driven to rotate around the central cross hinge (8), the position of the middle supporting column (35) is kept unchanged, the angle of the upper cross hinge (6) and the angle of the lower cross hinge (7) are synchronously and passively adjusted, and the posture adjustment movement of the lower table top (2) is realized;
in the moving process, the lateral load applied to the lower table top (2) by the external factors is directly transmitted to the supporting seat (4) through the middle supporting rod module (3) so as to prevent the component force of the lateral load from being superposed with the output force of the waterproof electric cylinder module (5), further prevent the lateral load from influencing the adjustment precision of the waterproof electric cylinder module (5), and further improve the posture adjustment precision of the lower table top (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111361748.0A CN114212219B (en) | 2021-11-17 | 2021-11-17 | Compact underwater parallel stable platform and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111361748.0A CN114212219B (en) | 2021-11-17 | 2021-11-17 | Compact underwater parallel stable platform and working method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114212219A CN114212219A (en) | 2022-03-22 |
| CN114212219B true CN114212219B (en) | 2023-03-10 |
Family
ID=80697370
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111361748.0A Active CN114212219B (en) | 2021-11-17 | 2021-11-17 | Compact underwater parallel stable platform and working method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114212219B (en) |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102601795B (en) * | 2012-03-29 | 2014-03-26 | 天津大学 | Power head capable of realizing five-shaft linkage operation |
| CN102601794B (en) * | 2012-03-29 | 2014-05-21 | 天津大学 | High-rigidity four-degree-of-freedom parallel mechanism capable of adjusting postures |
| CN103085060B (en) * | 2012-12-31 | 2015-04-22 | 中国科学院自动化研究所 | Butt joint / separating device and method based on force sense and visual sense mixture detection |
| CN103753520A (en) * | 2014-01-17 | 2014-04-30 | 广州中国科学院先进技术研究所 | High-precision heavy-load hexapod parallel robot |
| CN107825417B (en) * | 2017-09-21 | 2020-05-29 | 燕山大学 | Five-axis series-parallel robot composed of four-degree-of-freedom series-parallel mechanism |
| CN107521623B (en) * | 2017-10-10 | 2018-05-29 | 安徽理工大学 | Five degree of freedom becomes cell type multi-purpose vessel berthing device |
| CN109850076A (en) * | 2019-04-12 | 2019-06-07 | 江苏科技大学 | Series parallel type ship helps device for supplying |
| EP3725665A1 (en) * | 2019-04-16 | 2020-10-21 | Racing Yacht Management International Limited | Device for mooring floating surface facilities and associated method |
| CN111660280B (en) * | 2020-05-13 | 2023-12-26 | 九江精密测试技术研究所 | 3UCU+PU three-degree-of-freedom stable platform |
| CN212766651U (en) * | 2020-07-24 | 2021-03-23 | 珠海云洲智能科技股份有限公司 | Underwater equipment winding and unwinding devices and navigation equipment |
-
2021
- 2021-11-17 CN CN202111361748.0A patent/CN114212219B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN114212219A (en) | 2022-03-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106514660B (en) | A kind of submerged pipeline detection underwater robot | |
| CN104773272B (en) | A kind of operation type underwater robot gravity adjusting device | |
| US20190006750A1 (en) | Non-metal pneumatic cylinder for use in electromagnetic compatibility test, antenna device having adaptable angle of rotation, and system | |
| CN110006567B (en) | Measuring device for obtaining thrust characteristics of propeller under deep sea environment | |
| CN106625700B (en) | Large-scale water intaking tunnel monitoring robot that crawls | |
| CN114212219B (en) | Compact underwater parallel stable platform and working method thereof | |
| CN109358115A (en) | The online supersonic detection device of core main pump flange bolt and detection method | |
| CN107226188B (en) | A kind of full-rotating rudder paddle | |
| CN110762373A (en) | Lifting device for marine equipment and using method thereof | |
| CN113172355A (en) | Pressure chamber test device for simulating underwater environment laser processing | |
| CN214524324U (en) | Unmanned ship river channel measuring equipment | |
| WO2013114548A1 (en) | Wjp execution method for reactor vessel lid, and jig | |
| CN204142497U (en) | A kind of gas-liquid two-phase mixing jet reaction thrust is test bed | |
| CN204674806U (en) | A kind of operation type underwater robot gravity adjusting device | |
| CN108860526A (en) | Underwater reconnaissance robot | |
| Robador et al. | Design of an AUV for visual inspection of nuclear power plants | |
| US4639351A (en) | Repair device for a reactor pressure vessel | |
| CN215554021U (en) | Boats and ships docking pier positioner that falls | |
| CN211717714U (en) | Air tightness detection clamping device for airspeed head | |
| CN218782297U (en) | Water speed sensor measurement accuracy correcting unit | |
| CN215004130U (en) | Device for detecting air tightness of ship part | |
| CN115218762A (en) | Adjusting mechanism and adjusting system used after carrier rocket is erected | |
| CN205655788U (en) | Boats and ships turn around advancing device plane measuring device entirely | |
| CN209577144U (en) | Spray robot | |
| CN205449502U (en) | Platform during experimental vacuum chamber of rocket engine is transferred with diffuser removal butt joint |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20220413 Address after: 266200 aoshanwei sub district office, Jimo District, Qingdao City, Shandong Province Applicant after: Aerospace Times (Qingdao) marine equipment technology development Co.,Ltd. Address before: 142 box 403, box 100854, Beijing, Beijing, Haidian District Applicant before: BEIJIGN INSTITUTE OF AEROSPACE CONTROL DEVICES Applicant before: QINGDAO NATIONAL LABORATORY FOR MARINE SCIENCE AND TECHNOLOGY DEVELOPMENT CENTER |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |