CN203718323U - Platform capable of automatically keeping level - Google Patents
Platform capable of automatically keeping level Download PDFInfo
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- CN203718323U CN203718323U CN201420041029.XU CN201420041029U CN203718323U CN 203718323 U CN203718323 U CN 203718323U CN 201420041029 U CN201420041029 U CN 201420041029U CN 203718323 U CN203718323 U CN 203718323U
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- 238000005070 sampling Methods 0.000 abstract description 3
- 238000012423 maintenance Methods 0.000 description 4
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
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Abstract
本实用新型涉及一种自动保持水平的平台，适用于在江河湖海中航行的船舶中获得一方始终保持水平的工作平台。平台设三条腿，它们成等边三角形布置，将其中一腿设为固定长度，其余两腿制成通过步进电机带动而长度可改变的结构，以达到调整平台水平的目的。一个双轴倾角传感器安装于平台的背面，作为平台水平度的检测和发送信号的元件，当平台偏离水平位置时，传感器X、Y轴方向上的采样电压值发生变化，经控制、放大电路转换后，由单片机控制两条支撑腿上的步进电机转动，使它们的长度分别发生变化而使平台迅速调整到水平。
The utility model relates to a platform for automatically maintaining a level, which is suitable for obtaining a working platform that keeps one side always level among ships navigating in rivers, lakes and seas. The platform has three legs, which are arranged in an equilateral triangle. One of the legs is set to a fixed length, and the other two legs are made into a structure whose length can be changed by the stepping motor to achieve the purpose of adjusting the level of the platform. A dual-axis inclination sensor is installed on the back of the platform as a component for detecting the level of the platform and sending signals. When the platform deviates from the horizontal position, the sampling voltage value of the sensor in the X and Y axis directions changes, which is converted by the control and amplifying circuit Finally, the stepper motors on the two supporting legs are controlled by the single-chip microcomputer to rotate, so that their lengths are changed respectively and the platform is quickly adjusted to the level.
Description
Technical field
The utility model relates to a kind of platform of automatic maintenance level, obtains a side and remain the working plane of level in the cabin that is applicable to jolt in inclination.
Background technique
The boats and ships that navigate by water in rivers,lakes and seas, hull can wave and jolt with stormy waves, and the precision type instrument in cabin is easy to malfunctioning, and personnel can seasick and vomiting.For example, the public affair ship of water quality monitoring, the experiment porch of boat-carrying, analytical instrument, equipment much have the requirement of maintenance level; On hospital ship, for improving patient's comfort level, improve rehabilitation efficiency, also need sick bed not wave with hull and remain level.The utility model is exactly under this requirement background and the solution of a kind of simple in structure, the reliable in action proposing.
Summary of the invention
The utility model solves the technological scheme that its technical problem adopts: according to 3 how much laws determining planes, Platform Designing is become to three forms that wait long leg to become equilateral triangle to arrange, wherein one leg is fixed length, two other leg length is scalable, object is in the time of ground inclination, by stretching of two legs, can be rapidly by contour three strong point furnishings of platform, to keep the level of platform.The output of the detection of platform inclination and signal is completed by the double-shaft tilt angle sensor that is fixed on flat surface, and output signal while setting the accurate level of platform is zero.
The flexible principle of two legs is: leg is processed with respectively left-handed and connecting rod dextrorotation internal thread by the cast element of the contrary screw rod of upper and lower two rotation directions and a middle hollow and two ends and forms, in the time that the internal and external threads of upper and lower screw rod and intermediate connecting rod screws, rotate intermediate connecting rod, will make the screw rod at two ends produce axial straight line motion (as the not transfer of screw rod of table leg) in opposite directions, supporting leg is elongated or shortened.Adopt two screw rods that rotation direction is contrary, can realize supporting leg bi-directional expansion, improve the speed of its length change, also improved the speed of system responses.The rotation of intermediate connecting rod, by stepper motor (or actuating motor), by worm-and-wheel gear transmission, its worm gear and connecting rod periphery fix.Worm-and-wheel gear both can make decelerating through motor, also can make connecting rod obtain enough moments of torsion.In the time of platform inclination, the magnitude of voltage of dip sensor sampling changes, through controlling, after amplification circuit conversion, respectively by Single-chip Controlling separately the stepper motor on supporting leg rotate, make rapidly platform restore balance.
Between two telescopic supporting legs, in succession one with the connecting rod of empty set, on it, fix the stepper motor of two legs, can make like this motor in the time driving worm gear rotation, transfer phenomenon does not occur.
The beneficial effects of the utility model are: as long as change the length of two legs, just can make platform remain level, simple in structure, convenient being suitable for has good application prospect in our daily life, industrial production and Geng Gao field.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model
Fig. 2 is situation plan of the present utility model
In figure: 1. platform, 2. double-shaft tilt angle sensor, the screw rod on 3.B leg, the double rotational directions internal thread bar on 4.B leg, 5. worm gear, 6. worm screw, 7.B, C leg connecting rod, 8, A leg, 9.C leg.
Fig. 3 is closed loop controlling structure schematic diagram of the present utility model
Embodiment
As shown in Figure 1, 2, flat surface 1(supposition plane of the present utility model is for circular) there are three supporting leg A, B, C that become equilateral triangle layout below, the length of A leg is fixed, and the length of B, C two legs is scalable.The double-shaft tilt angle sensor of the small volume low-cost and high-precision that system is selected is installed to the mid point of the D(AB at the platform back side) put this special position, the direction of X, Y is as shown in Figure 2.In figure, find out, sensor Y-axis is on AB line, and what its reflected is the inclined degree of AB line.X-axis is on CD line, and its reflection C point is with respect to the inclined degree of AB line.
Under initial state, flat surface 1 is horizontal, and A, B, C tri-legs are contour, and the control inputs signal of system is zero.If there is the situation that B point reduces, platform deflection, now, the magnitude of voltage of the sampling in dip sensor Y direction changes, controller receives the signal of dip sensor and is recognized, by Single-chip Controlling stepper motor forward (or oppositely) rotation, suppose that motor is rotated in the forward drive B leg and extends, also be worm screw 6 be rotated in the forward drive worm gear 5 rotate, the internal thread of the connecting rod 4 fixing with it becomes rotation driving link, and it outwards moves the two ends screw rod that makes to rotate, and supporting leg extends, B point raises, and then platform is adjusted to level.In this process, because reducing, B point also cause D point to reduce, thus the run-off the straight of DC line, identical principle, the stepper motor on C leg starts, and drives the turbine and worm motion on C leg, make C point occur first to fall, and the chain response that raises of the rising of order with B, final platform recovery level.If AB keeps level, C point reduces, now, be equivalent to CD and turned an angle around AB axle, sample voltage value in dip sensor X-axis direction changes, controller receives the signal of dip sensor and is recognized, be rotated in the forward by the stepper motor on Single-chip Controlling C leg, thereby drive C leg to extend, platform recovers level thereupon; Otherwise if C point raises, the stepper motor reversion on its leg, shortens leg, until platform recovers level.Generally, directions X and Y-direction all can have inclination angle, and system will be according to the inclination angle size of both direction, automatically adjust the length of B, C two legs, make platform maintain level.
In Fig. 3, represented control mode is based upon on closed loop transfer function basis.From figure, can find out, plateform system is one and under self oblique position SC sigmal control, " certainly controls " system, and that is to say, the control inputs signal of system is zero, and control signal is provided by feedback signal completely.Under Single-chip Controlling, keeping the inclination angle of X and Y-direction is zero.
The advantages such as can be found out by upper description, the platform of automatic maintenance level of the present utility model has simple in structure, and convenience is applicable, it can, waving in the environment jolting, obtain a levelling bench not changing with ground.
Below describe by reference to the accompanying drawings mode of execution of the present utility model in detail; but; the utility model is not limited to the detail in above-mentioned mode of execution; within the scope of technical conceive of the present utility model; can carry out multiple simple variant to the concrete structure shown in Fig. 1, Fig. 2, these simple variant all belong to protection domain of the present utility model.
It should be noted that each the concrete technical characteristics described in above-mentioned embodiment, in reconcilable situation, can combine by any suitable mode.For fear of unnecessary repetition, the utility model is to the explanation no longer separately of various possible compound modes.
In addition, also can carry out combination in any between various mode of execution of the present utility model, as long as it is without prejudice to thought of the present utility model, it should be considered as content disclosed in the utility model equally.
Claims (3)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420041029.XU CN203718323U (en) | 2014-01-23 | 2014-01-23 | Platform capable of automatically keeping level |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420041029.XU CN203718323U (en) | 2014-01-23 | 2014-01-23 | Platform capable of automatically keeping level |
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| Publication Number | Publication Date |
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| CN203718323U true CN203718323U (en) | 2014-07-16 |
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| CN201420041029.XU Expired - Fee Related CN203718323U (en) | 2014-01-23 | 2014-01-23 | Platform capable of automatically keeping level |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104806860A (en) * | 2014-01-23 | 2015-07-29 | 江南大学 | Three-leg self-adjusting horizontal worktable |
| CN105528972A (en) * | 2016-01-21 | 2016-04-27 | 成都科创佳思科技有限公司 | Novel human resource information display device |
| CN107744840A (en) * | 2017-11-02 | 2018-03-02 | 浙江大学 | A kind of adaptive damping experiment porch of boat-carrying and its control method |
| CN109578763A (en) * | 2019-01-21 | 2019-04-05 | 贵州大学 | A kind of dynamic platform balance adjusting structure and method |
| CN110169882A (en) * | 2019-05-14 | 2019-08-27 | 山东交通职业学院 | A kind of floated planar support balance holding meanss |
| CN110979128A (en) * | 2019-12-31 | 2020-04-10 | 扬州哈工科创机器人研究院有限公司 | A self-adjustable and balanced platform device |
-
2014
- 2014-01-23 CN CN201420041029.XU patent/CN203718323U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104806860A (en) * | 2014-01-23 | 2015-07-29 | 江南大学 | Three-leg self-adjusting horizontal worktable |
| CN105528972A (en) * | 2016-01-21 | 2016-04-27 | 成都科创佳思科技有限公司 | Novel human resource information display device |
| CN107744840A (en) * | 2017-11-02 | 2018-03-02 | 浙江大学 | A kind of adaptive damping experiment porch of boat-carrying and its control method |
| CN109578763A (en) * | 2019-01-21 | 2019-04-05 | 贵州大学 | A kind of dynamic platform balance adjusting structure and method |
| CN110169882A (en) * | 2019-05-14 | 2019-08-27 | 山东交通职业学院 | A kind of floated planar support balance holding meanss |
| CN110979128A (en) * | 2019-12-31 | 2020-04-10 | 扬州哈工科创机器人研究院有限公司 | A self-adjustable and balanced platform device |
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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: 20140716 Termination date: 20150123 |
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| EXPY | Termination of patent right or utility model |