CN114235280A - Centroid measuring platform, centroid measuring system and centroid measuring method of underwater unmanned underwater vehicle - Google Patents
Centroid measuring platform, centroid measuring system and centroid measuring method of underwater unmanned underwater vehicle Download PDFInfo
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- CN114235280A CN114235280A CN202111613847.3A CN202111613847A CN114235280A CN 114235280 A CN114235280 A CN 114235280A CN 202111613847 A CN202111613847 A CN 202111613847A CN 114235280 A CN114235280 A CN 114235280A
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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Abstract
The invention belongs to the technical field of mass center measurement of underwater unmanned underwater vehicles, and particularly relates to a mass center measurement platform, a mass center measurement system and a mass center measurement method of an underwater unmanned underwater vehicle. The centroid measuring platform comprises a base, a leveling mechanism, two groups of lifting mechanisms, three groups of sensing mechanisms, a supporting platform, a supporting rotating part, a horizontal fixing seat, a turning platform and a turning driving part. The addition of the controller constitutes a centroid measuring system. The invention has the advantages of few components, simple structure, easy processing and few working procedures. By using the method, the mass centers of products with different shapes can be measured, and the precision of the mass center measurement is within 0.1 +/-0.05 mm. The invention adopts standard section bars and welding modes for processing, and the production cost can be reduced by 30 percent. The invention can be used for measuring and realizing the measurement of the mass centers in three directions by one-time installation. The invention also has the characteristic of wide range, and can measure the product with the quality from 100 kg to 3000 kg.
Description
Technical Field
The invention belongs to the technical field of mass center measurement of underwater unmanned underwater vehicles, and particularly relates to a mass center measurement platform, a mass center measurement system and a mass center measurement method of an underwater unmanned underwater vehicle.
Background
There are two kinds of barycenter measurement platforms among the prior art at present, adopt horizontal direction barycenter distance measurement principle firstly: 3 weighing sensor mounting positions are reasonably distributed on the lower base, and the relative position sizes of the mounting positions and 2 direction reference points are recorded (2 directions are mutually vertical); and (4) starting the lifting system, and freely contacting the ball head at the upper part of the mass center measuring platform with the weighing sensor at the lower part. And according to the relation between the measured output and the distance, carrying out mass center calculation on the measured object in the horizontal direction. Secondly, a height direction mass center distance measuring principle is adopted: the working table top rotates around the rotating main shaft by utilizing the thrust generated by the electric cylinder, and stops rotating under the action of the limiting device. And measuring the centroid distance in the horizontal direction according to the centroid measuring size principle in the horizontal direction. And calculating through a trigonometric function relation formed by the distance and the angle, and converting the horizontal distance in the inclined state into the centroid distance in the height direction.
The above centroid measuring platform technology has the following defects:
A. the structure is complicated, and the mass center measurement in three directions can not be carried out simultaneously.
B. The measurement accuracy is low, can not provide accurate barycenter for unmanned underwater vehicle.
C. The overall structure has poor stability, and the measurement precision is reduced along with the time extension.
D. The measurement product is single, and the application range is small.
E. And a measured product needs to be clamped for many times in the measuring process.
F. The processing cost is high.
Based on the reasons, the mass center measuring platform of the underwater unmanned underwater vehicle cannot be processed and produced in large batch.
Disclosure of Invention
The invention provides a centroid measuring platform, a centroid measuring system and a centroid measuring method of an underwater unmanned underwater vehicle, and aims to provide a centroid measuring platform which is simple in structure, easy to process, few in working procedures and high in measuring precision; the second purpose is to provide a mass center measuring platform of the underwater unmanned underwater vehicle, which has low production cost, convenient measurement and can realize the measurement of mass center distances in three directions and a large range by one-time clamping.
In order to achieve the purpose, the invention adopts the technical scheme that:
a mass center measuring platform of an underwater unmanned underwater vehicle comprises
A base;
the leveling mechanism is arranged on the lower surface of the base;
the lifting mechanisms are arranged in two groups, and the two groups of lifting mechanisms are connected to the base;
the sensing mechanisms are arranged in three groups, and the three groups of sensing mechanisms are detachably connected to the base;
the supporting platform is connected with the upper surfaces of the two groups of lifting mechanisms and the three groups of sensing mechanisms;
the supporting and rotating part is vertically connected to the middle part of the supporting platform;
the bottom parts of the two horizontal fixing seats are fixedly connected to the supporting platform and are positioned on the same side of the supporting rotating part;
the center position of the lower surface of the overturning platform is detachably connected to the supporting rotating part, the lower part of one side of the overturning platform is lapped on the two horizontal fixing seats, the upper surface of the overturning platform is connected with a transition plate, and the transition plate is provided with an adapter piece used for being connected with a piece to be tested; an X-direction reference assembly and a Y-direction reference assembly are horizontally arranged on the overturning platform and are vertical to each other;
upset drive division, upset drive division sets up two sets ofly, and the bottom of two sets of upset drive divisions is all fixed in the homonymy that supporting platform set up horizontal fixing base, and the top of every group upset drive division is connected with the lateral wall of upset platform is rotatable and detachably respectively.
The base is a steel rectangular frame structure; four lifter connecting holes for connecting the lifting mechanism and three sensor connecting holes for connecting the sensing mechanism are symmetrically formed in the base.
The leveling mechanism comprises a plurality of leveling seats and a plurality of leveling cushion blocks; each leveling seat is connected with a leveling cushion block; a plurality of leveling seats are uniformly distributed around the base; the X-direction reference assembly comprises an X-direction reference part and an X-direction tightening plate, and the Y-direction reference assembly comprises a Y-direction reference part and a Y-direction tightening plate; the overturning platform is a rectangular plate, an X-direction reference part and a Y-direction reference part are respectively arranged on two adjacent sides of the rectangular plate, an X-direction jacking plate is arranged on the side opposite to the X-direction reference part, and a Y-direction jacking plate is arranged on the side opposite to the Y-direction reference part; screwing screws are arranged at two ends of the X-direction tightening plate and the Y-direction tightening plate; the X-direction tightening plate tightly pushes the X-direction reference part on the transition plate through tightening the screw, and the Y-direction tightening plate tightly pushes the Y-direction reference part on the transition plate through tightening the screw.
The lifting mechanism comprises a speed reducing motor, two lifting machine bases, two lifters, a travel switch and a transmission mechanism; the transmission mechanism comprises a steering gear and two transmission rods, the two transmission rods are symmetrically connected to two sides of the steering gear, and the two transmission rods are respectively connected with a lifter; the top of each lifter is connected with the supporting platform, and the bottom of each lifter is fixed on the base through a lifter base; the travel switch comprises an upper limit switch, a lower limit switch, a driven shifting piece and a connecting rod, wherein the upper limit switch and the lower limit switch are connected to the connecting rod from top to bottom; the lower end of the connecting rod is fixed on the lifting machine base.
The anti-drop mechanism and the top block seat are also included; the top end of the lifter is connected with the anti-falling mechanism, and the anti-falling mechanism is connected with the supporting platform through the top block seat; the anti-falling mechanism comprises an anti-falling cap and a conical seat, the anti-falling cap is of a plate-shaped structure with a truncated cone-shaped through hole in the middle, and the conical seat is a truncated cone body matched with the truncated cone-shaped through hole in the anti-falling cap; the anti-emergence cap is fixed on the lower surface of the supporting platform, and the conical seat is fixedly connected to the upper end surface of the lifter.
The sensing mechanism comprises a sensor cushion block, a sensor seat, a weighing sensor and a ball head assembly; the weighing sensor is vertically and detachably connected to the base through the sensor seat; a sensor cushion block is arranged at the upper end of the weighing sensor; the ball head assembly is fixedly connected to the lower surface of the supporting platform and is positioned right above the weighing sensor; the ball head assembly comprises a ball head seat, a ball head cover, a steel ball, a connecting screw and a contact, the connecting screw is connected to the upper end of the contact, the lower end of the contact is connected with the steel ball through the ball head seat, the ball head cover is arranged between the ball head seat and the steel ball, and the upper end of the connecting screw is connected with the supporting platform.
The supporting and rotating part comprises an upper supporting and rotating seat, a lower supporting and rotating seat, a rotating shaft, a rotating cushion seat and a bearing; the upper supporting rotary seat and the lower supporting rotary seat are arranged up and down, and the upper supporting rotary seat and the lower supporting rotary seat are rotatably connected through a rotary shaft; the upper part of the rotary heightening seat is detachably connected with the lower supporting rotary seat, and the lower part of the rotary heightening seat is connected to the supporting platform through a bearing; the upper supporting rotating seat is detachably connected to the overturning platform through a bearing.
The overturning driving part comprises an electric push rod, an electric push rod bottom connecting seat, an electric push rod top connecting seat, an angle limit switch and a touch rod; the lower end of the electric push rod is rotatably connected to one side of the supporting platform, which is provided with the horizontal fixed seat, through a connecting seat at the bottom of the electric push rod; the upper part of the electric push rod is rotatably and detachably connected to the overturning platform through a connecting seat at the top of the electric push rod; the angle limit switch is fixed on the supporting platform and is positioned on the opposite side of the side where the horizontal fixing seat is positioned; one end of the touch rod is connected to the angle limit switch, and the other end of the touch rod is connected with the top end of the electric push rod.
A mass center measuring system of an underwater unmanned underwater vehicle at least comprises a mass center measuring platform of the underwater unmanned underwater vehicle and a controller; the controller is in electric signal connection with a lifting mechanism, a sensing mechanism and a turnover driving part in a mass center measuring platform of the underwater unmanned underwater vehicle; the controller at least comprises a data acquisition module, a data calculation module and a control signal sending module, and is used for acquiring data in the sensing mechanism and calculating to realize control over the lifting mechanism and the overturning driving part.
A measuring method of a mass center measuring system of an underwater unmanned underwater vehicle is characterized by comprising the following steps: comprises the following steps of (a) carrying out,
the method comprises the following steps: inputting the weight of the piece to be detected, the set position of the sensing mechanism, and the distances between the X-direction reference assembly and the Y-direction reference assembly arranged on the overturning platform in the controller;
step two: fixing the piece to be tested on a transition plate on the overturning platform through an adapter;
step three: the controller controls the lifting mechanism to start, the lifting mechanism descends to enable the sensing mechanism to be in contact with the supporting platform, and when the supporting platform reaches the lower limit of the preset position, the lifting mechanism stops working;
step four: the gravity value is acquired by the sensing mechanism and is sent to the controller, and the controller calculates to obtain X-direction moment and Y-direction moment according to the acquired gravity value data;
step five: starting the lifting mechanism, lifting the lifting mechanism to separate the sensing mechanism from the supporting platform, and stopping the lifting mechanism after the supporting platform is reset;
step six: the controller controls the turning driving part to start, drives the turning platform to rotate around the supporting and rotating part, and stops working when the turning platform rotates to a preset angle of 15 degrees;
step seven: the controller controls the lifting mechanism to start, the lifting mechanism descends to enable the sensing mechanism to be in contact with the supporting platform, and when the supporting platform reaches the lower limit of the preset position, the lifting mechanism stops working;
step eight: the sensing mechanism acquires the gravity value at the moment and sends the gravity value to the controller, and the controller calculates the acquired gravity value data to obtain Z-direction torque;
step nine: the controller controls the turning driving part to start, drives the turning platform to rotate around the supporting rotating part to reset, and stops working when the turning platform rotates to be horizontal;
step ten: and starting the lifting mechanism, lifting the lifting mechanism to separate the sensing mechanism from the supporting platform, and stopping the lifting mechanism after the supporting platform is reset to finish the mass center measurement.
Has the advantages that:
(1) the centroid measuring platform comprises a base, a leveling mechanism, two groups of lifting mechanisms, three groups of sensing mechanisms, a supporting platform, a supporting rotating part, a horizontal fixing seat, a turning platform and a turning driving part. The addition of the controller constitutes a centroid measuring system. The invention has the advantages of few components, simple structure, easy processing and few working procedures.
(2) The invention can measure the mass centers of products with different shapes, and the precision of the mass center measurement is within 0.1 +/-0.05 mm.
(3) The invention adopts standard section bars and welding modes for processing, and the production cost can be reduced by 30 percent.
(4) When the device is used for measurement, the measurement of the mass center distances in three directions can be realized only by clamping once.
(5) The invention has the characteristic of wide range, and can measure products with the quality of 100 kg to 3000 kg.
(6) The invention can realize the mass center measurement of different products by replacing the overturning platform and the weighing sensor, thereby achieving the purpose of one machine with multiple purposes.
The foregoing is merely an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to be implemented in accordance with the content of the description, the following is a detailed description of preferred embodiments of the present invention.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a front view of the structure of the present invention;
FIG. 2 is a top view of the structure of the present invention;
FIG. 3 is a schematic plan view of the load cell mounting and contact of the present invention;
FIG. 4 is a schematic view of an anti-separation structure of the lifting mechanism of the present invention;
FIG. 5 is a schematic view of the transmission mechanism of the present invention;
FIG. 6 is a schematic view of a spacing device of the present invention;
FIG. 7 is a schematic view of the turnover mechanism of the present invention;
FIG. 8 is a schematic view of the base structure of the present invention;
FIG. 9 is a schematic view of a ball head assembly of the sensing mechanism of the present invention;
FIG. 10 is a front view of the structure of the supporting and rotating part according to the present invention;
FIG. 11 is a side view of the structure of the supporting and rotating part according to the present invention;
fig. 12 is a side view of the structure of the present invention.
In the figure: 1-leveling mechanism; 2-a base; 3-supporting the platform; 4-electric push rod bottom connecting seat; 5-an electric push rod top connecting seat; 6-turning over the platform; a 7-X directional reference piece; 8-a travel switch; 9-a ball head assembly; 10-supporting the rotating part; 11-a transition plate; 12-X direction tightening plate; 13-sensor pads; 14-angle limit switch; 15-sensor seat; 16-a top block seat; 17-an anti-disengagement mechanism; 18-a lifter base; a 19-Y directional reference member; 20-a connecting shaft at the top of the push rod; 21-a connecting shaft at the bottom of the push rod; 22-horizontal fixed seat; the 23-Y direction tightly props the plate; 24-an electric push rod; 25-a load cell; 26-a reduction motor; 27-a lifter; 28-a transmission mechanism; 29-sensor connection hole; 30-elevator attachment holes; 31-a ball cup seat; 32-a ball head cover; 33-steel balls; 34-a connection screw; 35-upper supporting rotary seat; 36-lower support swivel; 37-rotation axis; 38-spacer ring; 39-rotating high seat; 40-a bearing; 41-anti-coming-out cap; 42-a conical seat; 43-contact; 44-a transmission rod; 45-a diverter; 46-upper limit switch; 47-a lower limit switch; 48-driven plectrum; 49-connecting rod; 50-a touch bar; 51-an adaptor.
The foregoing is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clear and clear, and to implement them in accordance with the content of the description, the following is a detailed description of preferred embodiments of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
referring to fig. 1-12, the centroid measuring platform of the underwater unmanned underwater vehicle comprises
A base 2;
the leveling mechanism 1 is arranged on the lower surface of the base 2;
the lifting mechanisms are arranged in two groups, and the two groups of lifting mechanisms are connected to the base 2;
the sensing mechanisms are arranged in three groups, and the three groups of sensing mechanisms are detachably connected to the base 2;
the supporting platform 3 is connected with the upper surfaces of the two groups of lifting mechanisms and the three groups of sensing mechanisms;
a supporting and rotating part 10, wherein the supporting and rotating part 10 is vertically connected to the middle part of the supporting platform 3;
the bottom parts of the two horizontal fixing seats 22 are fixedly connected to the supporting platform 3 and are positioned on the same side of the supporting and rotating part 10;
the center position of the lower surface of the overturning platform 6 is detachably connected to the supporting and rotating part 10, the lower part of one side of the overturning platform 6 is lapped on the two horizontal fixing seats 22, the upper surface of the overturning platform 6 is connected with a transition plate 11, and an adapter 51 used for being connected with a piece to be detected is arranged on the transition plate 11; an X-direction reference assembly and a Y-direction reference assembly are horizontally arranged on the overturning platform 6, and the X-direction reference assembly and the Y-direction reference assembly are vertical;
upset drive division, upset drive division sets up two sets ofly, and the bottom of two sets of upset drive divisions is all fixed in the homonymy that supporting platform 3 set up horizontal fixing base 22, and the top of every group upset drive division is connected with the lateral wall of upset platform 6 rotatable and detachably respectively.
In actual use, in order to ensure the measurement precision, before testing, the mass center measuring platform of the underwater unmanned underwater vehicle is leveled through the leveling mechanism 1.
When the mass center of the to-be-measured piece needs to be measured, the to-be-measured piece is firstly fixed on the transition plate 11 on the overturning platform 6 through the adapter 51. Then, starting the lifting mechanism to descend to enable the sensing mechanism to be in contact with the supporting platform 3, and stopping the lifting mechanism when the supporting platform 3 reaches the lower limit of the preset position; the sensing mechanism obtains the gravity value at the moment and sends the gravity value to an external controller for controlling a mass center measuring platform of the underwater unmanned underwater vehicle to calculate the moment values in the X direction and the Y direction; then the lifting mechanism is started and ascended to separate the sensing mechanism from the supporting platform 3, and the lifting mechanism stops working when the supporting platform 3 reaches the upper limit of the preset position; the overturning driving part is started to drive the overturning platform 6 to rotate around the supporting and rotating part 10, when the overturning platform rotates to a preset angle of 15 degrees, the driving part is started to stop working, meanwhile, the sensing mechanism acquires the current gravity value and sends the current gravity value to the controller, and the controller calculates the acquired gravity value data to obtain Z-direction torque; then, the overturning driving part is started to drive the overturning platform 6 to rotate and reset around the supporting and rotating part 10, and when the overturning platform 6 rotates to the horizontal level, the overturning driving part stops working; and then, the lifting mechanism is started and ascended to separate the sensing mechanism from the supporting platform 3, and the lifting mechanism stops working after the supporting platform 3 is reset.
Base, levelling mechanism, two sets of elevating system, supporting platform, support rotating part, horizontal fixing base, upset platform and upset drive division in this embodiment ensure safe measurement for having the intensity and the rigidity that satisfy. When parts are connected, after the parts needing to be welded and fixed are welded, artificial aging is added to thoroughly release the residual stress of the welded parts. In order to ensure safety, the structural stability of the centroid measuring platform can be analyzed by a finite element analysis method in the prior art, design parameters are optimized, and the overall rigidity and strength of the centroid measuring platform are improved.
The turnover platform 6 and the sensing mechanism are replaced in the embodiment, so that the mass centers of different products are measured, and the purpose of one multi-purpose product is achieved.
According to the invention, through the construction of the two-stage platform of the overturning platform 6 and the supporting platform 3, the vertical displacement and the angle rotation of the to-be-tested piece placed on the overturning platform 6 are conveniently realized, and the accurate measurement of the centroid distance of the to-be-tested piece in three directions of the centroid X, Y, Z is realized.
Example two:
referring to fig. 1, 2 and 8, in a centroid measuring platform of an underwater unmanned underwater vehicle, on the basis of the first embodiment, a base 2 is a steel rectangular frame structure; four lifter connecting holes 30 for connecting the lifting mechanism and three sensor connecting holes 29 for connecting the sensing mechanism are symmetrically formed on the base 2.
In practical use, the base 2 is formed by cutting and carbon dioxide arc welding of Q235 low-carbon steel channel steel; after the plane is welded to be finished after the weighing sensor 25 is installed, the supporting platform 3 and the base 2 are subjected to artificial aging, residual stress is released, and then the supporting platform and the base are processed in a unified mode, so that the strength of the invention can meet the requirements.
The base 2 is provided with the elevator connecting hole 30 and the sensor connecting hole 29, so that the connection of the elevator and the weighing sensor 25 is more convenient and the positioning is accurate, and the precision of the mass center measurement is ensured.
Example three:
referring to a mass center measuring platform of an underwater unmanned underwater vehicle shown in fig. 1 and 12, on the basis of the first embodiment, the leveling mechanism 1 comprises a plurality of leveling seats and a plurality of leveling cushion blocks; each leveling seat is connected with a leveling cushion block; a plurality of leveling seats are uniformly distributed around the base 2; the X-direction reference assembly comprises an X-direction reference part 7 and an X-direction tightening plate 12, and the Y-direction reference assembly comprises a Y-direction reference part 19 and a Y-direction tightening plate 23; the overturning platform 6 is a rectangular plate, an X-direction reference part 7 and a Y-direction reference part 19 are respectively arranged on two adjacent sides of the rectangular plate, an X-direction tightening plate 12 is arranged on the opposite side of the rectangular plate with the X-direction reference part 7, and a Y-direction tightening plate 23 is arranged on the opposite side of the rectangular plate with the Y-direction reference part 19; screwing screws are arranged at two ends of the X-direction tightening plate 12 and the Y-direction tightening plate 23; the X-direction tightening plate 12 tightens the X-direction reference member 7 against the transition plate 11 by tightening a screw, and the Y-direction tightening plate 23 tightens the Y-direction reference member 19 against the transition plate 11 by tightening a screw.
In practical use, the leveling mechanism 1 adopts the technical scheme to ensure the integral level of the mass center measuring platform, thereby ensuring the measuring precision.
In specific application, after the to-be-measured piece is fixed on the transition plate 11 on the overturning platform 6 through the adapter 51, screws need to be screwed tightly, so that the X-direction tightening plate 12, the X-direction reference piece 7, the Y-direction tightening plate 23 and the Y-direction reference piece 19 are tightened on the transition plate 11, and subsequent measurement results are more accurate.
Example four:
referring to fig. 1, 2, 5 and 6, the center of mass measuring platform of the underwater unmanned underwater vehicle is shown, on the basis of the first embodiment, the lifting mechanism comprises a speed reducing motor 26, two lifting machine bases 18, two lifting machines 27, a travel switch 8 and a transmission mechanism 28; the transmission mechanism 28 comprises a steering gear 45 and two transmission rods 44, the two transmission rods 44 are symmetrically connected to two sides of the steering gear 45, and the two transmission rods 44 are respectively connected with a lifter 27; the top of each lifter 27 is connected with the supporting platform 3, and the bottom of each lifter 27 is fixed on the base 2 through a lifter base 18; the travel switch 8 comprises an upper limit switch 46, a lower limit switch 47, a driven shifting piece 48 and a connecting rod 49, wherein the upper limit switch 46 and the lower limit switch 47 are connected to the connecting rod 49 from top to bottom, one end of the driven shifting piece 48 is fixed at the top end of the lifter 27, and the other end of the driven shifting piece 48 is arranged between the upper limit switch 46 and the lower limit switch 47; the lower end of the connecting rod 49 is fixed to the elevator base 18.
During in-service use, when measuring the displacement about need will overturn platform 6, gear motor 26 starts, drives steering gear 45 work, drives transfer line 44 and rotates to drive lift 27, under lift 27's effect, realizes supporting platform 3's lift, thereby makes the upset platform 6 of connection on supporting platform 3 realize going up and down, satisfies the barycenter measurement needs of arranging the piece of waiting to test on the upset platform 6 in.
The travel switch 8 provided in this embodiment stops the operation of the speed reduction motor 26 when the vertical displacement of the elevator 27 reaches a preset value, thereby ensuring that a measurement result can be obtained safely and accurately. When the displacement value is preset, it is ensured that the weighing sensor 25 collects favorable data in a stressed state and in a transient and effective condition, and the reduction of the measurement precision caused by the long-term stress of the weighing sensor 25 is avoided.
Example five:
referring to fig. 1 and 4, the centroid measuring platform of the underwater unmanned underwater vehicle further includes an anti-drop-out mechanism 17 and a top block base 16 on the basis of the fourth embodiment; the top end of the lifter 27 is connected with the anti-falling mechanism 17, and the anti-falling mechanism 17 is connected with the supporting platform 3 through the top block seat 16; the anti-falling-out mechanism 17 comprises an anti-falling-out cap 41 and a conical seat 42, wherein the anti-falling-out cap 41 is of a plate-shaped structure with a circular truncated cone-shaped through hole in the middle, and the conical seat 42 is a circular truncated cone body matched with the circular truncated cone-shaped through hole in the anti-falling-out cap 41; the anti-emergence cap 41 is fixed on the lower surface of the support platform 3, and the conical seat 42 is fixedly connected on the upper end surface of the lifter 27.
In practical use, when the lifter 27 displaces, the conical seat 42 moves up and down along the circular truncated cone-shaped through hole in the anti-ejection cap 41, so that the ejection position of the supporting platform 3 is effectively controlled, the supporting platform is prevented from being ejected out due to instability of the center of gravity, the upper part caused by uneven supporting force is prevented from being tilted, and the use safety of the centroid measuring platform is ensured.
Example six:
referring to the mass center measuring platform of the underwater unmanned underwater vehicle shown in fig. 1, fig. 3 and fig. 9, on the basis of the first embodiment, the sensing mechanism comprises a sensor cushion block 13, a sensor seat 15, a weighing sensor 25 and a ball head assembly 9; the weighing sensor 25 is vertically and detachably connected to the base 2 through the sensor seat 15; the upper end of the weighing sensor 25 is provided with a sensor cushion block 13; the ball head assembly 9 is fixedly connected to the lower surface of the supporting platform 3 and is positioned right above the weighing sensor 25; the ball head assembly 9 comprises a ball head seat 31, a ball head cover 32, a steel ball 33, a connecting screw 34 and a contact 43, wherein the connecting screw 34 is connected to the upper end of the contact 43, the lower end of the contact 43 is connected with the steel ball 33 through the ball head seat 31, the ball head cover 32 is arranged between the ball head seat 31 and the steel ball 33, and the upper end of the connecting screw 34 is connected with the supporting platform 3.
In practice, it is ensured that the three load cells 25 attached to the support platform 3 are simultaneously stressed.
When the lifting mechanism is started, the lifter 27 moves downwards, and after the steel ball 33 arranged on the lower surface of the supporting platform 3 is contacted with the weighing sensors 25, the lifting mechanism stops, and the three weighing sensors 25 start to acquire gravity data.
In the embodiment, the contact part with the weighing sensor 25 is designed by a ball head, and a high-hardness material is selected for processing to form point contact, so that the precision of distance size is improved; the measuring error caused by the fact that the contact part is too soft and deforms under pressure is reduced.
Example seven:
referring to fig. 1, 10 and 11, in a centroid measuring platform of an underwater unmanned vehicle, on the basis of the first embodiment, the supporting and rotating part 10 includes an upper supporting and rotating base 35, a lower supporting and rotating base 36, a rotating shaft 37, a rotating and elevating base 39 and a bearing 40; the upper supporting rotary seat 35 and the lower supporting rotary seat 36 are arranged up and down, and the upper supporting rotary seat 35 and the lower supporting rotary seat 36 are rotatably connected through a rotating shaft 37; the upper part of the rotary heightening seat 39 is detachably connected with the lower support rotary seat 36, and the lower part of the rotary heightening seat 39 is connected to the support platform 3 through a bearing 40; the upper supporting swivel 35 is detachably connected to the turning platform 6 by means of a bearing 40.
In practical use, when the electric push rod 24 in the overturning driving part works, the overturning platform 6 is pushed, the overturning platform 6 rotates around the rotating shaft 37, the supporting rotating part 10 and the two groups of overturning driving parts form a triangular support, rigidity and strength support are provided for the inclined overturning platform 6, and the consistency of repeated measurement is ensured.
In a specific application, the spacer rings 38 are arranged between the bearing 40 and the upper supporting rotary seat 35, and between the bearing 40 and the lower supporting rotary seat 36, and the arrangement of the spacer rings 38 effectively prevents the bearing 40 from moving in the axial direction of the rotary shaft 37.
Example eight:
referring to fig. 1, 7 and 12, in a first embodiment, the overturning driving portion includes an electric push rod 24, an electric push rod bottom connecting seat 4, an electric push rod top connecting seat 5, an angle limit switch 14 and a touch rod 50; the lower end of the electric push rod 24 is rotatably connected to one side of the supporting platform 3, which is provided with the horizontal fixed seat 22, through the electric push rod bottom connecting seat 4; the upper part of the electric push rod 24 is rotatably and detachably connected to the overturning platform 6 through an electric push rod top connecting seat 5; the angle limit switch 14 is fixed on the supporting platform 3 and is positioned at the opposite side of the side where the horizontal fixing seat 22 is positioned; one end of the touch lever 50 is connected to the angle limit switch 14, and the other end of the touch lever 50 is rotatably connected to the top end of the electric push rod 24.
When in actual use, the top connecting shaft 20 of the push rod is arranged on the top connecting seat 5 of the electric push rod, and the upper part of the electric push rod 24 is rotatably connected with the overturning platform 6 through the top connecting shaft 20 of the push rod; the electric push rod bottom connecting seat 4 is provided with a push rod bottom connecting shaft 21, and the lower part of the electric push rod 24 is rotatably connected with the supporting platform 3 through the push rod bottom connecting shaft 21.
When the barycenter is measured and the platform 6 needs to be overturned, the electric push rod 24 is started, the electric push rod 24 pushes out the push rod, the overturning platform 6 is driven to rotate around the rotating shaft 37 in the supporting and rotating part 10, when the rotating angle reaches the preset value, the electric push rod 24 stops working, after the sensing mechanism acquires relevant data, the electric push rod 24 is started to recover the push rod, and when the acute angle formed by the touch rod 50 and the overturning platform 6 reaches 15 degrees, the electric push rod 24 stops working.
The angle limit switch 14 ensures the safe, smooth and safe operation of the turnover driving part.
Example nine:
referring to fig. 1-12, in the centroid measuring platform of the underwater unmanned underwater vehicle, on the basis of the first embodiment, the base 2 is a steel rectangular frame structure; four lifter connecting holes 30 for connecting a lifting mechanism and three sensor connecting holes 29 for connecting a sensing mechanism are symmetrically formed in the base 2; the leveling mechanism 1 comprises a plurality of leveling seats and a plurality of leveling cushion blocks; each leveling seat is connected with a leveling cushion block; a plurality of leveling seats are uniformly distributed around the base 2; the X-direction reference assembly comprises an X-direction reference part 7 and an X-direction tightening plate 12, and the Y-direction reference assembly comprises a Y-direction reference part 19 and a Y-direction tightening plate 23; the overturning platform 6 is a rectangular plate, an X-direction reference part 7 and a Y-direction reference part 19 are respectively arranged on two adjacent sides of the rectangular plate, an X-direction tightening plate 12 is arranged on the opposite side of the rectangular plate with the X-direction reference part 7, and a Y-direction tightening plate 23 is arranged on the opposite side of the rectangular plate with the Y-direction reference part 19; screwing screws are arranged at two ends of the X-direction tightening plate 12 and the Y-direction tightening plate 23; the X-direction tightening plate 12 tightens the X-direction reference part 7 on the transition plate 11 through tightening a screw, and the Y-direction tightening plate 23 tightens the Y-direction reference part 19 on the transition plate 11 through tightening a screw; the lifting mechanism comprises a speed reducing motor 26, two lifting machine bases 18, two lifting machines 27, a travel switch 8, a transmission mechanism 28, an anti-falling mechanism 17 and a top block base 16, wherein the transmission mechanism 28 comprises a steering gear 45 and two transmission rods 44, the two transmission rods 44 are symmetrically connected to two sides of the steering gear 45, and the two transmission rods 44 are respectively connected with one lifting machine 27; the top of each lifter 27 is connected with the supporting platform 3, and the bottom of each lifter 27 is fixed on the base 2 through a lifter base 18; the travel switch 8 comprises an upper limit switch 46, a lower limit switch 47, a driven shifting piece 48 and a connecting rod 49, wherein the upper limit switch 46 and the lower limit switch 47 are connected to the connecting rod 49 from top to bottom, one end of the driven shifting piece 48 is fixed at the top end of the lifter 27, and the other end of the driven shifting piece 48 is arranged between the upper limit switch 46 and the lower limit switch 47; the lower end of the connecting rod 49 is fixed on the lifting machine base 18; the top end of the lifter 27 is connected with the anti-falling mechanism 17, and the anti-falling mechanism 17 is connected with the supporting platform 3 through the top block seat 16; the anti-falling-out mechanism 17 comprises an anti-falling-out cap 41 and a conical seat 42, wherein the anti-falling-out cap 41 is of a plate-shaped structure with a circular truncated cone-shaped through hole in the middle, and the conical seat 42 is a circular truncated cone body matched with the circular truncated cone-shaped through hole in the anti-falling-out cap 41; the anti-emergence cap 41 is fixed on the lower surface of the supporting platform 3, and the conical seat 42 is fixedly connected on the upper end surface of the lifter 27; the sensing mechanisms are arranged in three groups, the three groups of sensing mechanisms are arranged on the base 2 in an equilateral triangle shape, and each group of sensing mechanism comprises a sensor cushion block 13, a sensor seat 15, a weighing sensor 25 and a ball head assembly 9; the weighing sensor 25 is vertically and detachably connected to the base 2 through the sensor seat 15; the upper end of the weighing sensor 25 is provided with a sensor cushion block 13; the ball head assembly 9 is fixedly connected to the lower surface of the supporting platform 3 and is positioned right above the weighing sensor 25; the ball head assembly 9 comprises a ball head seat 31, a ball head cover 32, a steel ball 33, a screw 34 and a contact 43, wherein the screw 34 is connected to the upper end of the contact 43, the lower end of the contact 43 is connected with the steel ball 33 through the ball head seat 31, the ball head cover 32 is arranged between the ball head seat 31 and the steel ball 33, and the upper end of the screw 34 is connected with the supporting platform 3; the supporting and rotating part 10 comprises an upper supporting and rotating base 35, a lower supporting and rotating base 36, a rotating shaft 37, a rotating padding base 39 and a bearing 40; the upper supporting rotary seat 35 and the lower supporting rotary seat 36 are arranged up and down, and the upper supporting rotary seat 35 and the lower supporting rotary seat 36 are rotatably connected through a rotating shaft 37; the upper part of the rotary heightening seat 39 is detachably connected with the lower support rotary seat 36, and the lower part of the rotary heightening seat 39 is connected to the support platform 3 through a bearing 40; the upper supporting rotary seat 35 is detachably connected to the overturning platform 6 through a bearing 40; the overturning driving part comprises an electric push rod 24, an electric push rod bottom connecting seat 4, an electric push rod top connecting seat 5, an angle limit switch 14 and a touch rod 50; the lower end of the electric push rod 24 is rotatably connected to one side of the supporting platform 3, which is provided with the horizontal fixed seat 22, through the electric push rod bottom connecting seat 4; the upper part of the electric push rod 24 is rotatably and detachably connected to the overturning platform 6 through an electric push rod top connecting seat 5; the angle limit switch 14 is fixed on the supporting platform 3 and is positioned at the opposite side of the side where the horizontal fixing seat 22 is positioned; one end of the touch lever 50 is connected to the angle limit switch 14, and the other end of the touch lever 50 is connected to the tip end of the electric push rod 24.
In this embodiment, 2 reduction motors 26 of 0.37KW and 2 electric push rods 24 of 12000N are adopted, and 2 reduction motors 26 convert electric energy into kinetic energy, and provide upper and lower kinetic energy for the centroid measuring platform through the transmission mechanism and the lifter, and 2 electric push rods 24 convert electric energy into kinetic energy, and provide turnover power for the turnover platform 6 through the rotating bearing.
The speed reducing motor 26 in the present embodiment is a pulse energy speed reducing explosion-proof motor.
In specific application, the more the weighing sensors 25 are, the better the weighing sensors are, but from the economic perspective, the three weighing sensors 25 are arranged, so that the economy is realized, and the testing requirement can be met.
Example ten:
referring to fig. 1-12, the centroid measuring system of the underwater unmanned underwater vehicle comprises a centroid measuring platform of the underwater unmanned underwater vehicle and a controller; the controller is in electric signal connection with a lifting mechanism, a sensing mechanism and a turnover driving part in a mass center measuring platform of the underwater unmanned underwater vehicle; the controller at least comprises a data acquisition module, a data calculation module and a control signal sending module, and is used for acquiring data in the sensing mechanism and calculating to realize control over the lifting mechanism and the overturning driving part.
During actual use, the controller collects data acquired by the sensing mechanism in real time, and the lifting mechanism and the overturning driving part in the mass center measuring platform of the underwater unmanned underwater vehicle are accurately controlled through calculation, so that the mass center of the piece to be tested is accurately measured.
The data acquisition and transmission module and the calculation module in the controller can both adopt the prior art, and can be used as long as the data acquisition and the data acquisition calculation can be realized, and the module capable of controlling the signal transmission can be used.
Example eleven:
referring to fig. 1-12, a method for measuring a centroid measuring system of an underwater unmanned underwater vehicle comprises the following steps,
the method comprises the following steps: inputting the weight of the piece to be detected, the set position of the sensing mechanism and the distances between the X-direction reference assembly and the Y-direction reference assembly arranged on the overturning platform 6 in the controller;
step two: fixing the piece to be tested on a transition plate 11 on the overturning platform 6 through an adapter 51;
step three: the controller controls the lifting mechanism to start, the lifting mechanism descends to enable the sensing mechanism to be in contact with the supporting platform 3, and when the supporting platform 3 reaches the lower limit of the preset position, the lifting mechanism stops working;
step four: the gravity value is acquired by the sensing mechanism and is sent to the controller, and the controller calculates to obtain X-direction moment and Y-direction moment according to the acquired gravity value data;
step five: the lifting mechanism is started, the lifting mechanism rises to separate the sensing mechanism from the supporting platform 3, and the lifting mechanism stops working after the supporting platform 3 is reset;
step six: the controller controls the turning driving part to start to drive the turning platform 6 to rotate around the supporting and rotating part 10, and when the turning platform rotates to a preset angle of 15 degrees, the turning driving part stops working;
step seven: the controller controls the lifting mechanism to start, the lifting mechanism descends to enable the sensing mechanism to be in contact with the supporting platform 3, and when the supporting platform 3 reaches the lower limit of the preset position, the lifting mechanism stops working;
step eight: the sensing mechanism acquires the gravity value at the moment and sends the gravity value to the controller, and the controller calculates the acquired gravity value data to obtain Z-direction torque;
step nine: the controller controls the turning driving part to start, drives the turning platform 6 to rotate around the supporting and rotating part 10 to reset, and when the turning platform 6 rotates to the horizontal level, the turning driving part stops working;
step ten: the lifting mechanism is started, the lifting mechanism rises to separate the sensing mechanism from the supporting platform 3, after the supporting platform 3 is reset, the lifting mechanism stops working, and the mass center measurement is finished.
In specific application, firstly, the weight of a piece to be measured and the distance values between a weighing sensor 25 in a sensing mechanism and the X-direction reference piece 7 and the Y-direction reference piece 19 are input into a controller; then, fixing the piece to be tested on the transition plate 11 on the overturning platform 6 through the adapter 51; then, screwing the tightening screws to tightly press the X-direction pressing plate 12, the X-direction reference member 7, the Y-direction pressing plate 23 and the Y-direction reference member 19 against the transition plate 11; the controller controls a speed reducing motor 26 in the lifting mechanism to start, the speed reducing motor 26 drives a lifting machine 27 to descend with the torque of 0.35-0.39KN, so that the sensing mechanism is in contact with the supporting platform 3, when the supporting platform 3 reaches the lower limit of a preset position, a travel switch 8 in the lifting mechanism is started, the lifting machine 27 in the lifting mechanism stops working, meanwhile, a weighing sensor 25 in the sensing mechanism acquires a gravity value and sends the gravity value to the controller, the controller calculates the X-direction moment and the Y-direction moment according to the acquired gravity value data, and the measurement of the mass center in the X direction and the Y direction is completed; then, the controller controls the electric push rod 24 in the turnover driving part to extend out to drive the turnover platform 6 to rotate around the supporting and rotating part 10, when the turnover platform rotates to a preset angle of 15 degrees, the touch rod 50 touches the angle limit switch 14, and the electric push rod 24 stops working; then, the controller controls a speed reducing motor 26 in the lifting mechanism to start, the speed reducing motor 26 drives the lifting machine 27 to descend with the torque of 0.35-0.39KN, so that the sensing mechanism is in contact with the supporting platform 3, when the supporting platform 3 reaches the lower limit of the preset position, a travel switch 8 in the lifting mechanism is started, the lifting machine 27 in the lifting mechanism stops working, meanwhile, a weighing sensor 25 in the sensing mechanism acquires the gravity value at the moment and sends the gravity value to the controller, and the controller calculates the Z-direction moment according to the acquired gravity value data; then, the controller controls the electric push rod 24 in the turnover driving part to retract, so as to drive the turnover platform 6 to rotate and reset around the supporting and rotating part 10, when the turnover platform 6 rotates to be horizontal, the touch rod 50 touches the angle limit switch 14, and the electric push rod 24 in the turnover driving part stops working; then, the speed reducing motor 26 in the lifting mechanism is started, the speed reducing motor 26 drives the lifter 27 to ascend with the torque of 0.35-0.39KN, so that the sensing mechanism is separated from the supporting platform 3, and after the supporting platform 3 is reset, the lifter 27 in the lifting mechanism stops working, and the whole process of measuring the mass center of the piece to be measured is completed.
In this embodiment, when the controller performs the torque calculation, the torque calculation method in the prior art is adopted.
The principle of centroid calculation is as follows:
in the centroid measuring platform of the underwater unmanned underwater vehicle, the set positions of the weighing sensors 25 are determined, so that the distances from the three weighing sensors 25 to the X-direction reference part 7 and the Y-direction reference part 19 are determined, and the weight of the object to be measured is known.
For convenience of description, the turning platform 6, the supporting platform 3, the supporting rotating part 10, the horizontal fixing seat 22, the turning platform 6 and the turning driving part, which are borne on the upper parts of the three weighing sensors, are collectively referred to as a centroid obtaining part.
Distances from the three load cells to the X-direction reference member 7 are set to L1X、L2X、L3XThe distances from the three load cells to the Y-direction reference member 19 are L1Y、L2Y、L3Y(ii) a When the three weighing sensors acquire that the gravity of the mass center acquisition part in the horizontal state is respectively F1P、F2P、F3P(ii) a The gravity of the mass center acquisition part in the horizontal state after the part to be measured is connected is respectively F1、F2、F3The weight of the object to be measured is G, and the distance L between the object to be measured and the X-direction reference part 7XDistance L between the object to be measured and the Y-direction reference member 7Y
The weight G of the centroid obtaining sectionPThe calculation formula of (2): gp＝F1P+F2P+F3P，
The moment in the X direction of the centroid obtaining part is F1P×L1X+F2P×L2X+F3P×L3X
The moment in the Y direction of the centroid obtaining part is F1P×L1Y+F2P×L2Y+F3P×L3Y
After the piece to be tested is connected on the overturning platform 6,
x-direction moment of the workpiece to be measured is G X LX＝(F1×L1X+F2×L2X+F3×L3X)-(F1P×L1X+F2P×L2X+F3P×L3X)
Y-direction moment of the workpiece to be measured is G x LY＝(F1×L1Y+F2×L1Y+F3×L1Y)-(F1P×L1Y+F2P×L2Y+F3P×L3Y)
Thereby obtaining the mass center position of the piece to be measured in the X direction and the Y direction.
When the overturning platform 6 is connected with the piece to be measured and is in a state of inclination at a relatively alpha angle, the three weighing sensors acquire the gravity of the piece to be measured again in the inclined state, and the Z-direction mass center position of the mass center of the piece to be measured can be obtained by utilizing the corner relation of the triangle.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
In the case of no conflict, a person skilled in the art may combine the related technical features in the above examples according to actual situations to achieve corresponding technical effects, and details of various combining situations are not described herein.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
The foregoing is illustrative of the preferred embodiments of the present invention, and the present invention is not to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein. Any simple modification, equivalent change and modification of the above embodiments according to the technical spirit of the present invention still fall within the scope of the technical solution of the present invention.
Claims (10)
1. The utility model provides a barycenter measuring platform of unmanned underwater vehicle which characterized in that: comprises that
A base (2);
the leveling mechanism (1), the leveling mechanism (1) is arranged on the lower surface of the base (2);
the two groups of lifting mechanisms are arranged and connected to the base (2);
the sensing mechanisms are arranged in three groups, and the three groups of sensing mechanisms are detachably connected to the base (2);
the supporting platform (3) is connected with the upper surfaces of the two groups of lifting mechanisms and the three groups of sensing mechanisms;
the supporting and rotating part (10), the supporting and rotating part (10) is vertically connected to the middle part of the supporting platform (3);
the two horizontal fixing seats (22) are arranged, the bottoms of the two horizontal fixing seats (22) are fixedly connected to the supporting platform (3), and the two horizontal fixing seats are positioned on the same side of the supporting rotating part (10);
the center position of the lower surface of the overturning platform (6) is detachably connected to the supporting rotating part (10), and the lower part of one side of the overturning platform (6) is lapped on the two horizontal fixing seats (22); the upper surface of the overturning platform (6) is connected with a transition plate (11), and the transition plate (11) is provided with an adapter (51) for connecting with a piece to be tested; an X-direction reference assembly and a Y-direction reference assembly are horizontally arranged on the overturning platform (6), and the X-direction reference assembly and the Y-direction reference assembly are vertical;
upset drive division, upset drive division sets up two sets ofly, and the bottom of two sets of upset drive divisions is all fixed in supporting platform (3) and is set up the homonymy of horizontal fixing base (22), and the top of every group upset drive division is connected with the lateral wall of upset platform (6) rotatable and detachably respectively.
2. The centroid measurement platform of underwater unmanned underwater vehicle as claimed in claim 1, wherein: the base (2) is a steel rectangular frame structure; four lifter connecting holes (30) for connecting the lifting mechanism and three sensor connecting holes (29) for connecting the sensing mechanism are symmetrically formed in the base (2).
3. The centroid measurement platform of underwater unmanned underwater vehicle as claimed in claim 1, wherein: the leveling mechanism (1) comprises a plurality of leveling seats and a plurality of leveling cushion blocks; each leveling seat is connected with a leveling cushion block; the leveling seats are uniformly distributed around the base (2); the X-direction reference assembly comprises an X-direction reference piece (7) and an X-direction tightening plate (12), and the Y-direction reference assembly comprises a Y-direction reference piece (19) and a Y-direction tightening plate (23); the overturning platform (6) is a rectangular plate, an X-direction reference part (7) and a Y-direction reference part (19) are respectively arranged on two adjacent sides of the rectangular plate, an X-direction tightening plate (12) is arranged on the edge opposite to the X-direction reference part (7), and a Y-direction tightening plate (23) is arranged on the edge opposite to the Y-direction reference part (19); screwing screws are arranged at two ends of the X-direction tightening plate (12) and the Y-direction tightening plate (23); the X-direction tightening plate (12) tightens the X-direction reference part (7) on the transition plate (11) through tightening screws, and the Y-direction tightening plate (23) tightens the Y-direction reference part (19) on the transition plate (11) through tightening screws.
4. The centroid measurement platform of underwater unmanned underwater vehicle as claimed in claim 1, wherein: the lifting mechanism comprises a speed reducing motor (26), two lifting machine bases (18), two lifting machines (27), a travel switch (8) and a transmission mechanism (28); the transmission mechanism (28) comprises a steering gear (45) and two transmission rods (44), the two transmission rods (44) are symmetrically connected to two sides of the steering gear (45), and the two transmission rods (44) are respectively connected with a lifter (27); the top of each lifter (27) is connected with the supporting platform (3), and the bottom of each lifter (27) is fixed on the base (2) through a lifter base (18); the travel switch (8) comprises an upper limit switch (46), a lower limit switch (47), a driven shifting piece (48) and a connecting rod (49), the upper limit switch (46) and the lower limit switch (47) are connected to the connecting rod (49) from top to bottom, one end of the driven shifting piece (48) is fixed to the top end of the lifter (27), and the other end of the driven shifting piece (48) is arranged between the upper limit switch (46) and the lower limit switch (47); the lower end of the connecting rod (49) is fixed on the lifting machine base (18).
5. The centroid measurement platform of underwater unmanned underwater vehicle as claimed in claim 4, wherein: also comprises an anti-drop mechanism (17) and a top block seat (16); the top end of the lifter (27) is connected with the anti-falling mechanism (17), and the anti-falling mechanism (17) is connected with the supporting platform (3) through the top block seat (16); the anti-falling mechanism (17) comprises an anti-falling cap (41) and a conical seat (42), the anti-falling cap (41) is of a plate-shaped structure with a circular truncated cone-shaped through hole in the middle, and the conical seat (42) is a circular truncated cone body matched with the circular truncated cone-shaped through hole in the anti-falling cap (41); the anti-emergence cap (41) is fixed on the lower surface of the supporting platform (3), and the conical seat (42) is fixedly connected on the upper end surface of the lifter (27).
6. The centroid measurement platform of underwater unmanned underwater vehicle as claimed in claim 1, wherein: the sensing mechanism comprises a sensor cushion block (13), a sensor seat (15), a weighing sensor (25) and a ball head assembly (9); the weighing sensor (25) is vertically and detachably connected to the base (2) through the sensor seat (15); a sensor cushion block (13) is arranged at the upper end of the weighing sensor (25); the ball head assembly (9) is fixedly connected to the lower surface of the supporting platform (3) and is positioned right above the weighing sensor (25); the ball head assembly (9) comprises a ball head seat (31), a ball head cover (32), a steel ball (33), a connecting screw (34) and a contact (43), the connecting screw (34) is connected to the upper end of the contact (43), the lower end of the contact (43) is connected with the steel ball (33) through the ball head seat (31), the ball head cover (32) is arranged between the ball head seat (31) and the steel ball (33), and the upper end of the connecting screw (34) is connected with the supporting platform (3).
7. The centroid measurement platform of underwater unmanned underwater vehicle as claimed in claim 1, wherein: the supporting and rotating part (10) comprises an upper supporting and rotating seat (35), a lower supporting and rotating seat (36), a rotating shaft (37), a rotating padding seat (39) and a bearing (40); the upper supporting rotating seat (35) and the lower supporting rotating seat (36) are arranged up and down, and the upper supporting rotating seat (35) and the lower supporting rotating seat (36) are rotatably connected through a rotating shaft (37); the upper part of the rotary heightening seat (39) is detachably connected with the lower supporting rotary seat (36), and the lower part of the rotary heightening seat (39) is connected to the supporting platform (3) through a bearing (40); the upper supporting rotating seat (35) is detachably connected to the overturning platform (6) through a bearing (40).
8. The centroid measurement platform of underwater unmanned underwater vehicle as claimed in claim 1, wherein: the overturning driving part comprises an electric push rod (24), an electric push rod bottom connecting seat (4), an electric push rod top connecting seat (5), an angle limit switch (14) and a touch rod (50); the lower end of the electric push rod (24) is rotatably connected to one side of the supporting platform (3) provided with the horizontal fixed seat (22) through the electric push rod bottom connecting seat (4); the upper part of the electric push rod (24) is rotatably and detachably connected to the overturning platform (6) through an electric push rod top connecting seat (5); the angle limit switch (14) is fixed on the supporting platform (3) and is positioned on the opposite side of the side where the horizontal fixing seat (22) is positioned; one end of the touch rod (50) is connected to the angle limit switch (14), and the other end of the touch rod (50) is connected with the top end of the electric push rod (24).
9. The utility model provides a barycenter measurement system of unmanned underwater vehicle which characterized in that: the centroid measuring platform of the underwater unmanned underwater vehicle as claimed in any one of claims 1-8, further comprising a controller; the controller is in electric signal connection with a lifting mechanism, a sensing mechanism and a turnover driving part in a mass center measuring platform of the underwater unmanned underwater vehicle; the controller at least comprises a data acquisition module, a data calculation module and a control signal sending module, and is used for acquiring data in the sensing mechanism and calculating to realize control over the lifting mechanism and the overturning driving part.
10. The measurement method of the centroid measurement system of the underwater unmanned underwater vehicle as claimed in claim 9, wherein: comprises the following steps of (a) carrying out,
the method comprises the following steps: inputting the weight of the piece to be detected, the position set by the sensing mechanism, and the distances between the X-direction reference assembly and the Y-direction reference assembly arranged on the overturning platform (6) in the controller;
step two: fixing the piece to be tested on a transition plate (11) on the overturning platform (6) through an adapter piece (51);
step three: the controller controls the lifting mechanism to start, the lifting mechanism descends to enable the sensing mechanism to be in contact with the supporting platform (3), and when the supporting platform (3) reaches the lower limit of the preset position, the lifting mechanism stops working;
step four: the gravity value is acquired by the sensing mechanism and is sent to the controller, and the controller calculates to obtain X-direction moment and Y-direction moment according to the acquired gravity value data;
step five: the lifting mechanism is started, the lifting mechanism rises to separate the sensing mechanism from the supporting platform (3), and the lifting mechanism stops working after the supporting platform (3) is reset;
step six: the controller controls the turning driving part to start, the turning platform (6) is driven to rotate around the supporting and rotating part (10), and when the turning platform rotates to a preset angle of 15 degrees, the turning driving part stops working;
step seven: the controller controls the lifting mechanism to start, the lifting mechanism descends to enable the sensing mechanism to be in contact with the supporting platform (3), and when the supporting platform (3) reaches the lower limit of the preset position, the lifting mechanism stops working;
step eight: the sensing mechanism acquires the gravity value at the moment and sends the gravity value to the controller, and the controller calculates the acquired gravity value data to obtain Z-direction torque;
step nine: the controller controls the turning driving part to start, drives the turning platform (6) to rotate around the supporting and rotating part (10) to reset, and when the turning platform (6) rotates to the horizontal level, the turning driving part stops working;
step ten: and starting the lifting mechanism, lifting the lifting mechanism to separate the sensing mechanism from the supporting platform (3), and stopping the lifting mechanism after the supporting platform (3) is reset to finish the mass center measurement.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114427932A (en) * | 2022-04-07 | 2022-05-03 | 中国汽车技术研究中心有限公司 | Centroid measuring method and centroid measuring instrument for collision dummy |
| CN115371888A (en) * | 2022-10-21 | 2022-11-22 | 山东工程职业技术大学 | Gravity center measuring equipment for machined part |
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2021
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114427932A (en) * | 2022-04-07 | 2022-05-03 | 中国汽车技术研究中心有限公司 | Centroid measuring method and centroid measuring instrument for collision dummy |
| CN114427932B (en) * | 2022-04-07 | 2022-06-17 | 中国汽车技术研究中心有限公司 | Centroid measuring method and centroid measuring instrument for collision dummy |
| CN115371888A (en) * | 2022-10-21 | 2022-11-22 | 山东工程职业技术大学 | Gravity center measuring equipment for machined part |
| CN115371888B (en) * | 2022-10-21 | 2023-01-31 | 山东工程职业技术大学 | Gravity center measuring equipment for machined part |
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