CN203332373U - Underwater platform with automatic horizontal adjustment function - Google Patents
Underwater platform with automatic horizontal adjustment function Download PDFInfo
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- CN203332373U CN203332373U CN2013203968123U CN201320396812U CN203332373U CN 203332373 U CN203332373 U CN 203332373U CN 2013203968123 U CN2013203968123 U CN 2013203968123U CN 201320396812 U CN201320396812 U CN 201320396812U CN 203332373 U CN203332373 U CN 203332373U
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Abstract
The utility model discloses an underwater platform with an automatic horizontal adjustment function. According to the underwater platform, a ball socket is arranged at the center of the upper surface of a platform body; a ball head is arranged in the ball socket; a cross-shaped bracket is arranged above the platform body; one end of a connection rod is connected with the ball head and the other end of the connection rod is connected to the center of the cross-shaped bracket; four servo motors are arranged on the end parts of the cross-shaped bracket; gears and rolling bearings are arranged on the cross-shaped bracket and are adaptive to the servo motors; one ends of four gear belts are fixedly connected to the vertex of the upper surface of the platform body by hinges and the other ends of the gear belts are engaged with the gears by the rolling bearings; two inclined angle sensors, a motor driver and a signal acquisition control device are arranged on the upper surface of the platform body; mounting holes are formed in the upper surface of the platform body; the servo motors, the inclined angle sensors, the motor driver and the signal acquisition control device are connected to an umbilical cable. According to the utility model, the robustness and the reliability of the underwater platform are improved and the difficulty in designing and producing of the underwater platform is lowered.
Description
Technical field
The utility model design belongs to the underwater engineering technical field, is specifically related to a kind of underwater platform with automatic adjusting horizontal functional.
Background technology
In operation process, usually implement need to be arranged on platform under water, by rope, drop under water or be suspended in water.In the process of carrying out operation, equipment has certain requirement to level.Due to the impact that is subject to the factors such as gravity center shift that turbulent flow, wave, implement self cause or naval vessel relative motion, require platform that equipment installs when departing from the situation of horizontal surface, should automatically adjust in time platform and return to horizontality.
In prior art, common processing means are, in the platform surrounding, the thrust of the screw propeller of vertical direction with the acquisition vertical direction is installed, thereby realize the adjustment to the platform level.But the method is when streamflow regime is comparatively complicated, the obtainable thrust of screw propeller presents non-linear characteristics, the robustness of platform is poor, platform may consume the more time could the recovery level, even directly can't get back to horizontality, greatly increased the complexity of its control and the difficulty of design, also seriously affected thus the serviceability of underwater platform and, to the adaptive capacity of complex environment, brought all inconvenience to operation under water.
Summary of the invention
For addressing the above problem, the utility model discloses a kind of underwater platform with automatic adjusting horizontal functional, the horizontality of utilizing the horizontality of obliquity sensor detection platform body and passing through to regulate the length recovery underwater platform of cingulum, adapt to the water environment of multipass complexity under water, regulate easy, easy to operate, for under-water operation has brought facility.
The disclosed a kind of underwater platform with automatic adjusting horizontal functional of the utility model, comprise platform body, ball-and-socket, bulb, connecting rod, cross support, servomotor, gear, antifriction-bearing box, the cable wire hook, cingulum, hinge, obliquity sensor, motor driver, signal acquisition and control device, mounting hole and umbilical cable, the upper surface of described platform body is square, described ball-and-socket is arranged on the central authorities of platform body upper surface, the center of ball-and-socket overlaps with the diagonal line intersection point of platform body upper surface, described bulb is arranged in ball-and-socket, described cross support is arranged on the top of platform body, the central authorities of cross support are provided with the through hole adapted with the connecting rod diameter, one end of described connecting rod is connected to bulb, the other end of connecting rod is connected to the through hole of cross support central authorities, described cable wire hook is arranged on the top of connecting rod, described servomotor is four and is arranged on the end of cross support, described gear and antifriction-bearing box are arranged on cross support and are suitable with servomotor, described cingulum is four, one end of cingulum is fixedly attached to the summit of platform body upper surface by hinge, the other end of cingulum is connected with a joggle by antifriction-bearing box and gear, described obliquity sensor, motor driver and signal acquisition and control device are arranged on the platform body upper surface near the place, summit, and described mounting hole is arranged on the upper surface of platform body, described servomotor, obliquity sensor, motor driver and signal acquisition and control device all are connected to umbilical cable.The utility model is connected to form spherical linkage by ball-and-socket and the bulb arranged; By the obliquity sensor arranged, can respond in real time the angle of inclination of platform body; Can gather the sensed data of obliquity sensor by the signal acquisition and control device arranged, the state if platform body is not up to the standard, drive the length of antifriction-bearing box rotation driven gear adjusting cingulum to reach the horizontality of platform body thereby control servomotor.
The disclosed a kind of a kind of improvement with underwater platform of automatic adjusting horizontal functional of the utility model, described obliquity sensor is two, is separately positioned on the place, two summits that the platform body upper surface is adjacent.This improvement can be multi-faceted the state of induction platform body, the data that make signal acquisition and control device gather are more abundant and precisely.
Disclosed a kind of another improvement with underwater platform of automatic adjusting horizontal functional of the utility model, described servomotor, obliquity sensor, motor driver and signal acquisition and control device are provided with protecting sleeve.Servomotor, obliquity sensor, motor driver and signal acquisition and control device waterproof, corrosion prevention can be effectively protected in this improvement, have extended the service life of servomotor, obliquity sensor, motor driver and signal acquisition and control device.
The disclosed a kind of underwater platform with automatic adjusting horizontal functional of the utility model, utilize the current horizontality of obliquity sensor detection platform body, method by servomotor regulating tooth strip length reaches platform body maintenance horizontality, compare orthodox method, can eliminate the impact of water environment on adjustment process, improved robustness, the reliability of underwater platform, the difficulty that has reduced the underwater platform design and produced, provide convenience to operation under water.
The accompanying drawing explanation
Fig. 1, structural representation of the present utility model;
Reference numerals list: 1, platform body, 2, ball-and-socket, 3, connecting rod, 4, cross support, 5, servomotor, 6, gear, 7, antifriction-bearing box, 8, cable wire hook, 9, cingulum, 10, hinge, 11, obliquity sensor, 12, motor driver, 13, signal acquisition and control device, 14, mounting hole.
The specific embodiment
Below in conjunction with the drawings and specific embodiments, further illustrate the utility model, should understand the following specific embodiment and only for the utility model is described, be not used in restriction scope of the present utility model.It should be noted that, word 'fornt', 'back', " left side ", " right side ", "up" and "down" that use is described below refer to the direction in accompanying drawing, word " interior " and " outward " refer to respectively towards or away from the direction of particular elements geometric centre.
As shown in Figure 1, the disclosed a kind of underwater platform with automatic adjusting horizontal functional of the utility model, comprise platform body 1, ball-and-socket 2, bulb, connecting rod 3, cross support 4, servomotor 5, gear 6, antifriction-bearing box 7, cable wire hook 8, cingulum 9, hinge 10, obliquity sensor 11, motor driver 12, signal acquisition and control device 13, mounting hole 14 and umbilical cable, the upper surface of described platform body 1 is square, described ball-and-socket 2 is arranged on the central authorities of platform body 1 upper surface, the center of ball-and-socket 2 overlaps with the diagonal line intersection point of platform body 1 upper surface, described bulb is arranged in ball-and-socket 2, described cross support 4 is arranged on the top of platform body 1, the central authorities of cross support 4 are provided with the through hole adapted with connecting rod 3 diameters, one end of described connecting rod 3 is connected to bulb, the other end of connecting rod 3 is connected to the through hole of cross support 4 central authorities, described cable wire hook 8 is arranged on the top of connecting rod 3, described servomotor 5 is four and is arranged on the end of cross support 4, described gear 6 and antifriction-bearing box 7 are arranged on cross support 4 and are suitable with servomotor 5, described cingulum 9 is four, one end of cingulum 9 is fixedly attached to the summit of platform body 1 upper surface by hinge 10, the other end of cingulum 9 is connected with a joggle by antifriction-bearing box 7 and gear 6, described obliquity sensor 11, motor driver 12 and signal acquisition and control device 13 are arranged on platform body 1 upper surface near the place, summit, and described mounting hole 14 is arranged on the upper surface of platform body 1, described servomotor 5, obliquity sensor 11, motor driver 12 and signal acquisition and control device 13 all are connected to umbilical cable.The utility model is connected to form spherical linkage by ball-and-socket and the bulb arranged; By the obliquity sensor arranged, can respond in real time the angle of inclination of platform body; Can gather the sensed data of obliquity sensor by the signal acquisition and control device arranged, the state if platform body is not up to the standard, drive the length of antifriction-bearing box rotation driven gear adjusting cingulum to reach the horizontality of platform body thereby control servomotor.
As a kind of preferred, described obliquity sensor 11 is two, is separately positioned on the place, two summits that platform body 1 upper surface is adjacent.The utility model can be multi-faceted the state of induction platform body, the data that make signal acquisition and control device gather are more abundant and precisely.
As a kind of preferred, described servomotor 5, obliquity sensor 11, motor driver 12 and signal acquisition and control device 13 are provided with protecting sleeve.The utility model can effectively be protected servomotor, obliquity sensor, motor driver and signal acquisition and control device waterproof, corrosion prevention, has extended the service life of servomotor, obliquity sensor, motor driver and signal acquisition and control device.
Embodiment
Be provided with cross support 4 at connecting rod 3 apical positions, cross is symmetrically installed with the servomotor setting device that quadruplet is identical, and every cover servomotor setting device comprises servomotor 5, antifriction-bearing box 7 and gear 6; Servomotor 5 is connected to form driving wheel with gear 6, antifriction-bearing box 7 be arranged on gear 6 same planes on, gap between antifriction-bearing box 7 and gear 6 guarantees that cingulum 9 can pass, and provide radial pressure by 7 pairs of gears 6 of antifriction-bearing box, with the continuity that guarantees cingulum 9 transmissions and skidding do not occur; Motor driver 12 is arranged on platform body 1, and motor driver 12 is for driving servomotor 5 rotatings to increase or to shorten the length of cingulum 9.
On four angles of platform body 1, cingulum 9 is installed, when connecting rod 3 is vertical with platform body 1, equal in length from 1 four jiaos of platform bodies to gear 9 of four cingulums 9, and be the rectangular pyramid shape between four cingulums 9 and platform body 1.
The motion of servomotor 5 adjustment platform bodies 1 is relevant with the current state of platform body 1, two obliquity sensors 11 are installed on the adjacent summit of platform body 1, signal acquisition and control device 13 is arranged on platform body 1 upper surface, by umbilical cable, with obliquity sensor 11, with motor driver 12, is connected; When platform body 1 inclination angle changes, signal acquisition and control device 13 gathers the signal of obliquity sensor 11, by obtaining the inclination data of current platform body 1 after processing, then control signal is sent to motor driver 12 to realize the Level tune to platform body 1.
A kind of using method with underwater platform of automatic adjusting horizontal functional, its regulating step is as follows:
Step 1: platform body 1 is carried out to initialization, maintenance connecting rod 3 is vertical with platform body 1, drive servomotor 5 by motor driver 12, thereby servomotor 5 drives antifriction-bearing box 7 and rotates driven gear 6 rotations, thereby gear 6 drives cingulum, platform body 1 is adjusted in 9 motions, makes whole platform body 1 maintenance level;
Step 2: cable wire is connected with the cable wire hook 8 on connecting rod 3 tops, platform body 1 is sling and slowly put under water;
Step 3: when being subject to gravity center shift that turbulent flow, wave, implement self cause or the impact of naval vessel relative motion, platform body 1 departs from level, obliquity sensor 11 is carried out and is detected inclination angle, and the signal of 13 pairs of obliquity sensors 11 of signal acquisition and control device is gathered;
Step 4: 13 pairs of dip angle signals of signal acquisition and control device are processed each servomotor 5 of rear synchro control, thereby servomotor 5 drives antifriction-bearing box 7 and rotates driven gear 6 rotations, thereby platform body 1 is adjusted in moving cingulum 9 motions of gear band 6, make whole platform body 1 maintenance level, after completing once adjustment, signal acquisition and control device 13 is uploaded data;
Step 5: repeating step 3 and 4 makes whole platform body 1 keep dynamic level.
The disclosed a kind of underwater platform with automatic adjusting horizontal functional of the utility model, utilize the current horizontality of obliquity sensor detection platform body, method by servomotor regulating tooth strip length reaches platform body maintenance horizontality, compare orthodox method, can eliminate the impact of water environment on adjustment process, improved robustness, the reliability of underwater platform, the difficulty that has reduced the underwater platform design and produced, provide convenience to operation under water.
The disclosed technological means of the utility model scheme is not limited only to the disclosed technological means of above-mentioned technological means, also comprises the technical scheme be comprised of above technical characterictic combination in any.The above is the specific embodiment of the present utility model; it should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the utility model principle; can also make some improvements and modifications, these improvements and modifications also are considered as protection domain of the present utility model.
Claims (3)
1. the underwater platform with automatic adjusting horizontal functional, is characterized in that: comprise platform body, ball-and-socket, bulb, connecting rod, cross support, servomotor, gear, antifriction-bearing box, the cable wire hook, cingulum, hinge, obliquity sensor, motor driver, signal acquisition and control device, mounting hole and umbilical cable, the upper surface of described platform body is square, described ball-and-socket is arranged on the central authorities of platform body upper surface, the center of ball-and-socket overlaps with the diagonal line intersection point of platform body upper surface, described bulb is arranged in ball-and-socket, described cross support is arranged on the top of platform body, the central authorities of cross support are provided with the through hole adapted with the connecting rod diameter, one end of described connecting rod is connected to bulb, the other end of connecting rod is connected to the through hole of cross support central authorities, described cable wire hook is arranged on the top of connecting rod, described servomotor is four and is arranged on the end of cross support, described gear and antifriction-bearing box are arranged on cross support and are suitable with servomotor, described cingulum is four, one end of cingulum is fixedly attached to the summit of platform body upper surface by hinge, the other end of cingulum is connected with a joggle by antifriction-bearing box and gear, described obliquity sensor, motor driver and signal acquisition and control device are arranged on the platform body upper surface near the place, summit, and described mounting hole is arranged on the upper surface of platform body, described servomotor, obliquity sensor, motor driver and signal acquisition and control device all are connected to umbilical cable.
2. a kind of underwater platform with automatic adjusting horizontal functional according to claim 1, it is characterized in that: described obliquity sensor is two, is separately positioned on the place, two summits that the platform body upper surface is adjacent.
3. a kind of underwater platform with automatic adjusting horizontal functional according to claim 1, it is characterized in that: described servomotor, obliquity sensor, motor driver and signal acquisition and control device are provided with protecting sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013203968123U CN203332373U (en) | 2013-07-04 | 2013-07-04 | Underwater platform with automatic horizontal adjustment function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013203968123U CN203332373U (en) | 2013-07-04 | 2013-07-04 | Underwater platform with automatic horizontal adjustment function |
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| CN203332373U true CN203332373U (en) | 2013-12-11 |
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| CN2013203968123U Expired - Fee Related CN203332373U (en) | 2013-07-04 | 2013-07-04 | Underwater platform with automatic horizontal adjustment function |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105109647A (en) * | 2015-07-20 | 2015-12-02 | 杭州电子科技大学 | Self-balancing type marine equipment delivery platform |
| CN109533087A (en) * | 2018-11-14 | 2019-03-29 | 南昌航空大学 | A kind of four-wheel balancing device |
| CN109578763A (en) * | 2019-01-21 | 2019-04-05 | 贵州大学 | A kind of dynamic platform balance adjusting structure and method |
| CN110448136A (en) * | 2019-03-08 | 2019-11-15 | 武义义蓝日用金属制品有限公司 | A kind of self-balancing type basket for drying clothes |
| CN116267278A (en) * | 2023-04-25 | 2023-06-23 | 河北省农林科学院石家庄果树研究所 | Grape branch contour trimming means |
-
2013
- 2013-07-04 CN CN2013203968123U patent/CN203332373U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105109647A (en) * | 2015-07-20 | 2015-12-02 | 杭州电子科技大学 | Self-balancing type marine equipment delivery platform |
| CN105109647B (en) * | 2015-07-20 | 2017-10-31 | 杭州电子科技大学 | Self-balancing type oceanographic equipment release platform |
| CN109533087A (en) * | 2018-11-14 | 2019-03-29 | 南昌航空大学 | A kind of four-wheel balancing device |
| CN109533087B (en) * | 2018-11-14 | 2020-12-25 | 南昌航空大学 | Four-wheel balancing device |
| CN109578763A (en) * | 2019-01-21 | 2019-04-05 | 贵州大学 | A kind of dynamic platform balance adjusting structure and method |
| CN110448136A (en) * | 2019-03-08 | 2019-11-15 | 武义义蓝日用金属制品有限公司 | A kind of self-balancing type basket for drying clothes |
| CN110448136B (en) * | 2019-03-08 | 2020-10-16 | 武义义蓝日用金属制品有限公司 | Self-balancing clothes drying basket |
| CN116267278A (en) * | 2023-04-25 | 2023-06-23 | 河北省农林科学院石家庄果树研究所 | Grape branch contour trimming means |
| CN116267278B (en) * | 2023-04-25 | 2024-05-24 | 河北省农林科学院石家庄果树研究所 | Grape branch contour trimming means |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131211 Termination date: 20140704 |
|
| EXPY | Termination of patent right or utility model |