CN114802611A

CN114802611A - Self-balancing operating room and ship

Info

Publication number: CN114802611A
Application number: CN202210439798.4A
Authority: CN
Inventors: 李雪剑; 张政; 艾乐; 付泽坤; 郑凡; 章瑶
Original assignee: Jiangnan Shipyard Group Co Ltd
Current assignee: Jiangnan Shipyard Group Co Ltd
Priority date: 2022-04-25
Filing date: 2022-04-25
Publication date: 2022-07-29
Anticipated expiration: 2042-04-25
Also published as: CN114802611B

Abstract

The application provides a self-balancing operating room for boats and ships, boats and ships include last hull board and the lower hull board that is close to each other, and the self-balancing operating room includes operating room body, first damping unit and second damping unit. The operating room body is arranged between the upper hull plate and the lower hull plate. The first damping unit includes at least three first dampers which are uniformly distributed around the center of the outer upper surface of the operating room body, and both ends of each of which are connected to the outer upper surface of the operating room body and the upper hull plate, respectively. The second damping unit comprises at least three second dampers which are uniformly distributed around the center of the outer lower surface of the operating room body, and two ends of each second damper are respectively connected with the outer lower surface of the operating room body and the lower hull plate. The technical scheme of this application effectively weakens and controls the heaving, surging, swaying and swaying that produce at marine navigation, makes the operating room body of slope resume initial balanced stress state fast to carry out the marine operation.

Description

Self-balancing operating room and ship

Technical Field

The application relates to the technical field of ship medical equipment, in particular to a self-balancing operating room and a ship.

Background

With the progress of technology, the functions of ships are more and more diversified, and various requirements of passengers and crews can be met, but how to effectively guarantee the life safety of the passengers and the crews is still the focus of the operational attention of the ships.

The rolling occurs when the vessel is sailing on the sea and even if the vessel is equipped with roll reduction equipment to improve the wave resistance of the vessel, the rolling is present and especially severe when sea conditions are severe. The swinging of the ship does not cause obvious influence in daily work and life on the ship. However, if a medical surgery is required to be performed on a ship, the operation requiring precise operation cannot be safely performed due to severe swing, and only the on-shore medical treatment can be used for rescue, but the process needs time, so that passengers miss precious rescue time, and further the life safety of people is threatened.

Therefore, the anti-swing self-balancing operating room designed on the ship is very important for ensuring the safe development of medical operations on the ship and the life safety of sea passengers and crews.

Disclosure of Invention

An object of the embodiment of this application is to provide a self-balancing operating room, it can effectively weaken and control the problem of surging, swaying and swaying that produce at marine navigation, makes the operating room body of slope resume initial balanced stress state fast, will rock and sway control at controllable within range to carry out marine operation.

It is a second object of embodiments of the present application to provide a vessel using the above self-balancing operating room.

In a first aspect, a self-balancing operating room is provided for a ship, the ship comprises an upper hull plate and a lower hull plate which are close to each other, and the self-balancing operating room comprises an operating room body, a first damping unit and a second damping unit. The operating room body is arranged between the upper hull plate and the lower hull plate. The first damping unit comprises at least three first dampers, the at least three first dampers are uniformly distributed around the center of the outer side upper surface of the operating room body, and two ends of each first damper are respectively connected with the outer side upper surface of the operating room body and the upper boat body plate. The second damping unit comprises at least three second dampers, the at least three second dampers are uniformly distributed around the center of the outer lower surface of the operating room body, and two ends of each second damper are respectively connected with the outer lower surface of the operating room body and the lower hull plate.

In an implementation scheme, the device further comprises a first inertia wheel, a first driving device, a second inertia wheel, a second driving device, a third inertia wheel, a third driving device and a shake measuring device;

setting an xyz three-dimensional coordinate system on an operating room body;

the first inertia wheel is arranged on the operating room body, the rotating plane of the first inertia wheel is parallel to the xz coordinate plane of the operating room body, and the first driving device is used for driving the first inertia wheel to rotate; the second inertia wheel is arranged on the operating room body, the rotating plane of the second inertia wheel is parallel to the yz coordinate plane of the operating room body, and the second driving device is used for driving the second inertia wheel to rotate; the third inertia wheel is arranged on the operating room body, the rotating plane of the third inertia wheel is parallel to the xy coordinate plane of the operating room body, and the third driving device is used for driving the third inertia wheel to rotate;

the shake measuring device is installed on the operating room body and used for detecting the shake degree of the operating room body in an xyz three-dimensional coordinate and sending a shake signal, and the first driving device, the second driving device and the third driving device adjust the angular speed and the direction of the first inertia wheel, the second inertia wheel and the third inertia wheel according to the shake signal so as to keep the operating room body in a horizontal state.

In an implementable scheme, the medical instrument further comprises a controller, the shake measuring device comprises acceleration sensors, the acceleration sensors are respectively arranged on eight azimuth angles capable of forming a tetragonal structure on the operating room body, the controller is used for calculating shake signals according to data of the acceleration sensors, and then calculating angular speeds and directions required by the first inertia wheel, the second inertia wheel and the third inertia wheel according to the shake signals.

In an implementation scheme, the device further comprises a first brake, a second brake and a third brake which are installed on the operating room body; when the angular velocity of the first inertia wheel reaches the calculated value of the controller, the first brake is used for tightly holding the circumferential edge of the first inertia wheel so as to realize disc braking; when the angular velocity of the second inertia wheel reaches the calculated value of the controller, the second brake is used for tightly holding the circumferential edge of the second inertia wheel so as to realize disc braking; when the angular velocity of the third inertia wheel reaches the calculated value of the controller, the third brake is used for tightly holding the circumferential edge of the third inertia wheel so as to realize disc braking.

In an implementation scheme, angular velocity detection sensors are respectively arranged beside the first inertia wheel, the second inertia wheel and the third inertia wheel and are used for detecting whether the angular velocities of the first inertia wheel, the second inertia wheel and the third inertia wheel reach the calculated value of the controller or not.

In an embodiment, the surgical operation room further comprises a connecting device, which comprises a first end and a second end, the first end of the connecting device is connected with the center of the outer upper surface of the operating room body in a disconnectable manner through a first universal joint, and the second end of the connecting device is connected with the upper hull plate.

In an implementation scheme, the connecting device comprises an electromagnetic device and an armature, the armature is connected with a first universal joint in the center of the upper surface of the outer side of the operating room body, one end of the electromagnetic device is installed on the upper hull plate, and the other end of the electromagnetic device is used for adsorbing the armature.

In an implementable scheme, closed cavities are respectively arranged in body structures of a top wall, a left side wall and a rear side wall of an operating room body, a first inertia wheel is installed in the closed cavity of the left side wall, a second inertia wheel is installed in the closed cavity of the rear side wall, and a third inertia wheel is installed in the closed cavity of the top wall.

In an embodiment, the second universal joint is disposed at the center of the outer lower surface of the operating room body and is used for connecting the outer lower surface of the operating room body with the lower hull plate.

According to the second aspect of the application, a ship is further provided, and the ship comprises the self-balancing operating room.

Compared with the prior art, the beneficial effect of this application is:

the self-balancing operating room in this application, the operating room body rocks and can produce rocking and rocking of certain degree thereupon because the hull, lead to the operating room body can produce rotation or displacement, and then can produce to first damping unit and second damping unit and draw, press or the effort of distortion, the stress state of the original balanced position of first damping unit and second damping unit has been changed, in order to resume some stress state in first damping unit and the second damping unit, can produce the effort of resisting the operating room body and rock, thereby effectively weaken and control the heaving that produces at sea navigation, surging and rocking the problem, make the operating room body of slope resume initial balanced stress state fast, will rock and rock control in controllable range, so that carry out the marine operation.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a schematic perspective view illustrating a self-balancing operating room according to an embodiment of the present application;

FIG. 2 is a schematic diagram illustrating a rear view of a self-balancing operating room according to an embodiment of the present application;

FIG. 3 is a schematic diagram illustrating a rocking state of a self-balancing operating room according to an embodiment of the present application;

FIG. 4 is a schematic diagram illustrating a right side view of a self-balancing operating room according to an embodiment of the present application;

FIG. 5 is a schematic diagram illustrating a rear view of a self-balancing operating room, according to an embodiment of the present application;

FIG. 6 is a schematic top view of a self-balancing operating room according to an embodiment of the present application;

FIG. 7 is an enlarged view of the structure at A in FIG. 5;

fig. 8 is a schematic block diagram illustrating the adjustment principle of the self-balancing operating room in different sea conditions.

In the figure: 10. an operating room body; 20. a first damping unit; 21. a first damper; 30. a second damping unit; 31. a second damper; 41. a first inertia wheel; 42. a first driving device; 43. a first brake; 51. a second flywheel; 52. a second driving device; 53. a second brake; 61. a third flywheel; 62. a third driving device; 63. a third brake; 70. an acceleration sensor; 80. an angular velocity detection sensor; 90. a connecting device; 91. an electromagnetic device; 92. an armature; 101. mounting a hull plate; 102. a lower hull plate; 200. a first universal joint; 300. and a second universal joint.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. 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 application.

According to a first aspect of the present application, as shown in fig. 1-3, there is first provided a self-balancing operating room for a vessel, the vessel comprising an upper hull plate 101 and a lower hull plate 102 adjacent to each other, the self-balancing operating room comprising an operating room body 10, a first damping unit 20 and a second damping unit 30. The operating room body 10 is provided between the upper hull plate 101 and the lower hull plate 102. The first damping unit 20 includes at least three first dampers 21, the at least three first dampers 21 are uniformly distributed around the center of the outer upper surface of the operating room body 10, and both ends of each first damper 21 are connected to the outer upper surface of the operating room body 10 and the upper hull plate 101, respectively. The second damping unit 30 includes at least three second dampers 31, the at least three second dampers 31 are uniformly distributed around the center of the outer lower surface of the operating room body 10, and both ends of each second damper 31 are respectively connected to the outer lower surface of the operating room body 10 and the lower hull plate 102.

When the ship sails in an unstable sea state or even an extremely severe sea state, the ship shakes violently and with a large shaking amplitude, and is difficult to perform surgical treatment on wounded persons. For the self-balancing operating room in the above embodiment, the operating room body 10 may shake and swing to a certain extent due to the shaking of the ship body, so that the operating room body 10 may rotate or displace, and further, a pulling, pressing or twisting acting force may be generated on the first damping unit 20 and the second damping unit 30, so as to change the stress state of the original balance position of the first damping unit 20 and the second damping unit 30, and in order to restore the original stress state in the first damping unit 20 and the second damping unit 30, an acting force resisting the shaking of the operating room body 10 may be generated, thereby effectively weakening and controlling the problems of heaving, surging, swaying and swinging generated in marine navigation, and thus rapidly restoring the initial balance stress state of the inclined operating room body 10, so as to facilitate marine operations.

In one embodiment, the first damping unit 20 and the second damping unit 30 may be set to be in an original long state or may be set to be in a compressed state when the operating room body 10 is balanced. The first damping unit 20 may be set in a stretched state and the second damping unit 30 may be set in a compressed or elongated state, and the stretched state of the first damping unit 20 does not particularly significantly act when the operating room body 10 moves upward. Therefore, in the present embodiment, the states of the first damping unit 20 and the second damping unit 30 during use are preferably set to be in the original length state or in the compressed state, or one of them is in the original length state and the other is in the compressed state.

Specifically, based on the solution in the above embodiment, when the movement of the operating room body 10 is a heave in the up-down direction (displacement in the z direction), the operating room body 10 moves upward to press the upper first damping unit 20, the damping force of the first damping unit 20 reduces the upward heave, and the rebounding force is rapidly generated, so that the operating room body 10 moves to the lower original position; the downward movement of the operating room body 10 presses the upper second damping unit 30, and the damping force of the second damping unit 30 reduces the downward sloshing and rapidly generates the rebounding force, so that the operating room body 10 moves upward to the original position. The first damping unit 20 and the second damping unit 30 are engaged with each other to effectively control and reduce the vertical heaving of the operating room body 10.

It should be noted that, for the second damping unit 30 which is in the original length during the balance, the upward movement of the operating room body 10 will generally stretch the second damping unit 30, and the second damping unit 30 will generate a downward pulling force to better reposition the operating room body 10 downward. For the first damping unit 20 which is at the original length when balanced, the downward movement of the operating room body 10 may stretch the first damping unit 20, and the first damping unit 20 will generate an upward pulling force to better restore the operating room body 10 upward.

Further, when the operating room body 10 generates a surge in the front-rear direction (displacement in the x direction) and a surge in the left-right direction (displacement in the y direction), since the at least three first dampers 21 are uniformly distributed around the center of the outer upper surface of the operating room body 10 and the at least three second dampers 31 are uniformly distributed around the center of the outer lower surface of the operating room body 10, a limit in all directions in the horizontal plane is formed. Specifically, when the operating room body 10 generates longitudinal and lateral surge and displacement in the horizontal plane, the dampers at the respective positions of the first damping unit 20 and the second damping unit 30 are subjected to horizontal force to generate oblique distortion, and all dampers resist the longitudinal surge and the lateral surge to restore the original positions in order to restore the original vertical positions, thereby effectively weakening and controlling the longitudinal surge and the lateral surge.

Further, the rocking of the operating room body 10 includes rotation about the z-axis direction, rotation about the x-axis direction, and rotation about the y-axis direction.

The rotation around the z-axis direction can be understood as rotation in a horizontal plane, which generates a twisting deformation acting force on the first damping unit 20 and the second damping unit 30 in the horizontal plane, the dampers at each position of the first damping unit 20 and the second damping unit 30 generate an oblique twisting by a horizontal force, and all dampers can resist the rotation around the z-axis direction to restore the original position in order to restore the original vertical position, so as to effectively reduce and control the swing around the z-axis direction.

Rotation about the x-axis direction referring to fig. 3, the rotation about the y-axis direction is the same in principle as the rotation about the x-axis direction, and only the direction is different, so the principle of rotation control about the x-axis direction is explained here with reference to fig. 3. Assuming that the first damping unit 20 and the second damping unit 30 are both in the original length at the time of balance, when the rotational sway about the x-axis direction shown in fig. 3 is generated, the damper disposed at the right side of the first damping unit 20 is compressed, the damper disposed at the left side of the second damping unit 30 is compressed, the damper disposed at the left side of the first damping unit 20 is pulled, the damper disposed at the right side of the second damping unit 30 is pulled, the compressed damper generates rebound resistance, the pulled damper generates contraction resistance, and the first damping unit 20 and the second damping unit 30 cooperate to rapidly attenuate and control the rotational sway about the x-axis direction.

If the first damping unit 20 and the second damping unit 30 are in a compressed state at the time of equilibrium, the damper on the tension side is restored from the compression to the original length, and is changed to be in tension if the sway is severe.

It should be noted that the control and adjustment of the heave, surge, sway and sway (rotation around x, y and z) are not independently performed, and the first damping unit 20 and the second damping unit 30 adjust and control the sway and sway at the same time to achieve self-balancing of the operating room body 10.

In one embodiment, the first damper 21 and the second damper 31 may employ a spring damper, a hydraulic damper, an air damper, or the like. For combined cost and damping effect, the present application uses a spring damper.

In one embodiment, to provide more effective control of yaw (rotation about x, y and z), the self-balancing operating room further includes a first inertia wheel 41, a first drive device 42, a second inertia wheel 51, a second drive device 52, a third inertia wheel 61, a third drive device 62, and a sway measurement device, as shown in fig. 4-6. As shown in fig. 1, an xyz three-dimensional coordinate system is provided on the operating room main body 10.

As shown in fig. 4, the first inertia wheel 41 is installed on the operating room body 10 and the rotation plane thereof is parallel to the xz coordinate plane of the operating room body 10, and the first driving device 42 is used for driving the first inertia wheel 41 to rotate.

As shown in fig. 5, the second flywheel 51 is mounted on the operating room body 10 and has a rotation plane parallel to the yz coordinate plane of the operating room body 10, and the second driving device 52 is used for driving the second flywheel 51 to rotate.

As shown in fig. 6, the third inertia wheel 61 is mounted on the operating room body 10 and the rotation plane thereof is parallel to the xy-coordinate plane of the operating room body 10, and the third driving device 62 is used for driving the third inertia wheel 61 to rotate.

The shake measuring device is mounted on the operating room body and used for detecting the shake degree of the operating room body 10 in xyz three-dimensional coordinates and sending a shake signal, and the first driving device 42, the second driving device 52 and the third driving device 62 adjust the angular speed and direction of the first inertia wheel 41, the second inertia wheel 51 and the third inertia wheel 61 according to the shake signal so as to keep the operating room body 10 in a horizontal state.

The inertia wheel in the above embodiment uses the principle of conservation of angular momentum to realize balance adjustment, and the specific principle is as follows. The sway measurement device first measures the tilt angle, acceleration signal, etc. of the operating room body 10, respectively allocates to the corresponding xyz coordinates, then calculating the angular speed and the rotation direction required by the inertia wheel in each coordinate plane, then controlling the inertia wheels in the xy, xz and yz coordinate planes to rotate according to the respective angular speed and direction by the driving device, when the required angular speed is reached and the required angular momentum is obtained, the inertia wheel brakes or decelerates rapidly, according to the conservation law of angular momentum, the angular momentum of the inertia wheel is converted into the angular momentum of the operating room body 10, the angular momentum is just opposite to the angular momentum of ship swing so as to mutually offset and keep the self-balance of the operating room body 10, and a reliable and stable cabin environment is provided for the medical operation which has high operation precision requirement and can not be interfered, thereby providing powerful guarantee for the life safety of people on the sea.

The anti-rolling and anti-shaking of the first damper 21 and the second damper 31 belong to passive adjustment, and are more biased to stable sea conditions or simple severe sea conditions, the adjustment of the inertia wheel belongs to active adjustment, and is more suitable for severe sea conditions, and the inertia wheel and the inertial wheel are used simultaneously to actively realize dynamic and passive combination, so that the operating room body 10 can adapt to various conditions from stable sea conditions to severe sea conditions and the like, the operation capability under most sea conditions is basically realized, and the marine life guarantee of a common ship is effectively improved.

In one embodiment, the controller (not shown) is further included, and the sway measurement device includes an acceleration sensor 70 (shown in fig. 2 and 4-6), the acceleration sensor 70 is respectively arranged on eight azimuth angles capable of forming a tetragonal structure on the operating room body 10, the eight azimuth angles form a tetragonal layout, and the controller is used for calculating a sway signal according to data of the acceleration sensor 70, and then calculating angular speeds and directions required by the first inertia wheel 41, the second inertia wheel 51 and the third inertia wheel 61 according to the sway signal. The shake signal includes, but is not limited to, acceleration, tilt angle, tilt direction, and the like. The acceleration sensors 70 can be grouped in pairs to measure the tilt angle of the operating room, thus enabling the measurement of the roll angle (rotational roll around x, y and z), and the diagonal roll angle of the operating room can also be measured by the aid of the acceleration sensors 70 on the opposite corners. Meanwhile, the arrangement mode of the eight azimuth angles forms the redundant arrangement of the acceleration sensor 70, so that the inclination angle in one direction can have a plurality of measured values, the final inclination angle is determined to be novel in a least square method mode, and the measurement accuracy of the inclination angle of shaking and swinging is improved.

In one embodiment, as shown in fig. 4-6, further includes a first actuator 43, a second actuator 53, and a third actuator 63 mounted on the operating room body 10. When the angular velocity of the first inertia wheel 41 reaches the calculated value of the controller, the first brake 43 is used for embracing the circumferential edge of the first inertia wheel to realize disc braking; when the angular velocity of the second flywheel 51 reaches the calculated value of the controller, the second brake 53 is used for embracing the circumferential edge of the second flywheel 51 to realize disc braking; when the angular velocity of the third flywheel 61 reaches the calculated value of the controller, the third brake 63 is used to hug the circumferential edge of the third flywheel 61 to achieve disc braking. Adopt disc brake structure can be quick to the flywheel braking to do benefit to angular momentum in time to transmit individual operating room body 10, with more swift reaction to offset boats and ships and sway, realize the balance of operating room body 10.

In one embodiment, as shown in fig. 4 to 6, angular velocity detection sensors 80 are provided beside the first flywheel 41, the second flywheel 51 and the third flywheel 61, respectively, and the angular velocity detection sensors 80 are used to detect whether the angular velocities of the first flywheel 41, the second flywheel 51 and the third flywheel 61 reach the calculated value of the controller. The angular velocity detection sensor 80 may employ a hall sensor, an infrared sensor, or the like.

In one embodiment, as shown in fig. 1-5, for any of the above-mentioned solutions, a connection device 90 may further be included, which includes a first end and a second end, the first end of the connection device 90 is disconnectably connected to the center of the outer upper surface of the operating room body 10 through a first universal joint 200, and the second end of the connection device 90 is connected to the upper hull plate 101. The first end of the connecting device 90 is connected to the center of the outer upper surface of the operating room body 10 through the first universal joint 200, and the connecting device 90 lifts the operating room body 10, so that the vertical displacement of the center position of the upper surface of the operating room body 10 is limited, and the heave of the operating room body 10 along with the ship body can be effectively controlled. The solution herein can be applied in rough sea conditions, preferably relatively even sea conditions. The first universal joint 200 forms a flexible connection that helps dampen sudden swings.

In one embodiment, as shown in fig. 7, the connection device 90 comprises an electromagnetic device 91 and an armature 92, the armature 92 is connected with a first universal joint 200 at the center of the upper surface of the outer side of the operating room body 10, one end of the electromagnetic device 91 is mounted on the upper hull plate 101, and the other end of the electromagnetic device 91 is used for adsorbing the armature 92, thereby realizing convenient and fast connection and disconnection of the connection device 90 and the center of the upper surface of the outer side of the operating room body 10.

In one embodiment, as shown in fig. 1 to 6, closed cavities are respectively provided in the body structures of the top wall, the left side wall and the rear side wall of the operating room body 10, the first inertia wheel 41 is installed in the closed cavity of the left side wall, the second inertia wheel 51 is installed in the closed cavity of the rear side wall, and the third inertia wheel 61 is installed in the closed cavity of the top wall. The sealed cavity is helpful for protecting the inertia wheel and preventing dust or foreign objects from influencing the rotation of the inertia wheel, thereby improving the safety, and meanwhile, the sealed cavity is also helpful for reducing the noise transmitted to the interior of the operating room body 10 when the inertia wheel rotates.

In one embodiment, as shown in fig. 1 to 6, based on all the above technical solutions, the self-balancing operating room may further include a second universal joint 300 disposed at the center of the outer lower surface of the operating room body 10 and connecting the outer lower surface of the operating room body 10 with the lower hull plate 102. The second universal joint 300 restricts the vertical displacement of the center position of the lower surface of the operating room body 10, and can effectively control the heave of the operating room body 10 along with the ship body.

As shown in fig. 8, in a severe sea state, but in a sea state where heaving motion is not significant, the center of the outer lower surface of the operating room body 10 and the lower hull plate 102 may be connected by the second universal joint 300, and first, the heaving motion is reduced by restricting the lower center of the operating room body 10, and the largest unstable source of the operating room body 10 is the swing motion, and at this time, the self-balancing is achieved mainly by using the inertia wheels.

As shown in fig. 8, in case of a very severe sea state (both shaking and rolling are severe), the second universal joint 300 may not be used to obtain a wider range of motion adjustment. The first damping unit 20 and the second damping unit 30 perform a passive self-balancing function. Meanwhile, the acceleration sensor 70 collects a shaking signal in real time, a controller (control device) calculates a required angular velocity and direction, then the driving device drives the inertia wheel to rotate, and when the angular velocity detection sensor 80 detects that the angular velocity reaches the angular velocity, the driving device brakes in time to transmit the angular momentum of the inertia wheel to the operating room body 10, so that the active self-balancing is rapidly realized.

As shown in fig. 8, in case of a stable sea state (less sloshing), the connecting device 90 can be used to lift the operating room body 10 to greatly restrict the sloshing motion. Alternatively, in a more stable sea state (with little heave), the connecting device 90 and the second universal joint 300 may be used to restrict the vertical center of the operating room body 10, thereby substantially completely restricting the heave of the operating room body 10 and keeping the heave in the vertical direction thereof consistent with the ship.

According to the second aspect of the application, a ship is further provided, and the ship comprises the self-balancing hand operating room.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A self-balancing operating room for a vessel comprising an upper hull plate (101) and a lower hull plate (102) in close proximity to each other, characterized in that the self-balancing operating room comprises:

an operating room body (10) provided between the upper hull plate (101) and the lower hull plate (102);

the first damping unit (20) comprises at least three first dampers (21), the at least three first dampers (21) are uniformly distributed around the center of the outer upper surface of the operating room body (10), and two ends of each first damper (21) are respectively connected with the outer upper surface of the operating room body (10) and the upper hull plate (101);

the second damping unit (30) comprises at least three second dampers (31), the at least three second dampers (31) are uniformly distributed around the center of the outer lower surface of the operating room body (10), and two ends of each second damper (31) are respectively connected with the outer lower surface of the operating room body (10) and the lower hull plate (102).

2. The self-balancing operating room of claim 1, further comprising a first inertia wheel (41), a first drive means (42), a second inertia wheel (51), a second drive means (52), a third inertia wheel (61), a third drive means (62) and a sloshing measurement means;

an xyz three-dimensional coordinate system is arranged on the operating room body (10);

the first inertia wheel (41) is installed on the operating room body (10) and the rotating plane of the first inertia wheel is parallel to the xz coordinate plane of the operating room body (10), and the first driving device (42) is used for driving the first inertia wheel (41) to rotate; the second inertia wheel (51) is installed on the operating room body (10) and the rotating plane of the second inertia wheel is parallel to the yz coordinate plane of the operating room body (10), and the second driving device (52) is used for driving the second inertia wheel (51) to rotate; the third inertia wheel (61) is installed on the operating room body (10) and the rotating plane of the third inertia wheel is parallel to the xy coordinate plane of the operating room body (10), and the third driving device (62) is used for driving the third inertia wheel (61) to rotate;

the shake measuring device is installed on the operating room body and used for detecting the shake degree of the operating room body (10) in an xyz three-dimensional coordinate and sending a shake signal, and the first driving device (42), the second driving device (52) and the third driving device (62) adjust the angular speed and direction of the first inertia wheel (41), the second inertia wheel (51) and the third inertia wheel (61) according to the shake signal so as to enable the operating room body (10) to keep a horizontal state.

3. The self-balancing operating room of claim 2, further comprising a controller, wherein the shake measuring device comprises an acceleration sensor (70), the acceleration sensor (70) is respectively arranged at eight azimuth angles capable of forming a tetragonal structure on the operating room body (10), and the controller is configured to calculate a shake signal according to data of the acceleration sensor (70), and then calculate angular velocities and directions required by the first inertia wheel (41), the second inertia wheel (51) and the third inertia wheel (61) according to the shake signal.

4. The self-balancing operating room of claim 3 further comprising a first brake (43), a second brake (53) and a third brake (63) mounted on the operating room body (10);

when the angular velocity of the first inertia wheel (41) reaches the calculated value of the controller, the first brake (43) is used for embracing the circumferential edge of the first inertia wheel (41) to realize disc braking; when the angular velocity of the second inertia wheel (51) reaches the calculated value of the controller, the second brake (53) is used for tightly holding the circumferential edge of the second inertia wheel (51) to realize disc braking; when the angular velocity of the third inertia wheel (61) reaches the calculated value of the controller, the third brake (63) is used for clasping the circumferential edge of the third inertia wheel (61) to realize disc braking.

5. The self-balancing operating room of claim 4, wherein angular velocity detection sensors (80) are respectively disposed beside the first inertia wheel (41), the second inertia wheel (51) and the third inertia wheel (61), and the angular velocity detection sensors (80) are used for detecting whether the angular velocities of the first inertia wheel (41), the second inertia wheel (51) and the third inertia wheel (61) reach the calculated value of the controller.

6. The self-balancing operating room of claim 1, further comprising a connecting device (90) comprising a first end and a second end, the first end of the connecting device (90) being disconnectably connected to the center of the outer upper surface of the operating room body (10) by a first universal joint (200), the second end of the connecting device (90) being connected to the upper hull plate (101).

7. The self-balancing operating room of claim 6, wherein the connecting means (90) comprises an electromagnetic means (91) and an armature (92), the armature (92) is connected to the first universal joint (200) at the center of the outer upper surface of the operating room body (10), one end of the electromagnetic means (91) is mounted on the upper hull plate (101), and the other end of the electromagnetic means (91) is used for adsorbing the armature (92).

8. The self-balancing operating room of claim 2, wherein closed cavities are provided in the body structure of the top, left and rear walls of the operating room body (10), respectively, the first inertia wheel (41) being mounted in the closed cavity of the left wall, the second inertia wheel (51) being mounted in the closed cavity of the rear wall, and the third inertia wheel (61) being mounted in the closed cavity of the top wall.

9. The self-balancing operating room of any one of claims 1 to 8, further comprising a second universal joint (300) provided at the center of the outer lower surface of the operating room body (10) and connecting the outer lower surface of the operating room body (10) and the lower hull plate (102).

10. A vessel comprising a self-balancing operating room as claimed in any one of claims 1 to 9.