CN210852854U - Large-load underwater four-degree-of-freedom swinging device - Google Patents
Large-load underwater four-degree-of-freedom swinging device Download PDFInfo
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- CN210852854U CN210852854U CN201921144391.9U CN201921144391U CN210852854U CN 210852854 U CN210852854 U CN 210852854U CN 201921144391 U CN201921144391 U CN 201921144391U CN 210852854 U CN210852854 U CN 210852854U
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Abstract
The utility model discloses a heavy-load underwater four-degree-of-freedom swinging device, which relates to the field of underwater simulation test equipment, and comprises a swing mechanism, a lifting mechanism and a swinging mechanism which are sequentially connected from top to bottom, wherein the lifting mechanism comprises a winch mechanism and a plurality of telescopic rods which are sequentially sleeved; a sliding pair part and a gap adjusting part are arranged between the adjacent telescopic rods, the sliding pair part comprises a sliding block and a guide rail, and the gap adjusting part is used for adjusting the size of a gap between the corresponding sliding block and the corresponding guide rail; the slewing mechanism comprises a slewing base and a slewing motor, wherein a slewing bearing, a slewing large gear and a slewing small gear which are connected in sequence are arranged on the slewing base, and the slewing small gear is connected with the slewing motor through a speed reducer. The utility model discloses not only have stronger heavy burden ability, the feedback angle of swaing that moreover can be accurate.
Description
Technical Field
The utility model relates to an analogue test equipment field under water, concretely relates to heavy load four degrees of freedom sway device under water.
Background
In the development process of ship underwater equipment, in order to improve the reliability of the equipment, before the equipment is formally delivered, simulation testing is usually carried out according to the working condition of the use environment of the equipment, in order to improve the authenticity of a simulation test environment and the accuracy of the experiment, the equipment needs to be placed into the underwater environment for tests of functions such as rotation, pitching, rolling, vertical lifting and the like, and when the test is carried out at present, the functions such as rotation, pitching, rolling, vertical lifting and the like are usually required to be provided through corresponding equipment.
Patent document with publication number CN 104865565B discloses an automatic lifting, rotating and swinging detection device for underwater ship hull sonar, which comprises a supporting seat, wherein the lower part of the supporting seat is provided with a lifting guide mechanism and a rotating and swinging mechanism positioned at the bottom of the lifting guide mechanism, and a detected part is arranged below the rotating and swinging mechanism; the lifting guide mechanism comprises at least two stages of lifting platforms, each stage of lifting platform is driven by a corresponding telescopic guide rod, and a rotating and swinging mechanism is arranged on the lifting platform at the bottommost layer; the rotation and swing mechanism comprises an upper bottom plate and a lower bottom plate, the upper bottom plate is fixed on the lower portion of the lifting table, an actuator for driving the lower bottom plate to swing is hinged between the upper bottom plate and the lower bottom plate, a turntable is movably mounted at the bottom of the lower bottom plate, a part to be detected is fixed on the turntable, and the detection device is a lifting rotation swing mechanism with a four-stage lifting table.
However, the device can only be used for testing the rotating angle and the underwater swinging attitude of the ship shell sonar of 10 tons or less at different depths of water and in the horizontal direction, has poor load bearing capability, realizes swinging motion by adopting a six-degree-of-freedom swinging platform mode, and is difficult to accurately feed back the swinging angle.
SUMMERY OF THE UTILITY MODEL
To the defect that exists among the prior art, the utility model aims to provide a heavy load four degrees of freedom wave device under water not only has stronger heavy burden ability, the feedback angle of swaing that moreover can be accurate.
In order to achieve the above purpose, the utility model adopts the technical proposal that:
a heavy-load underwater four-degree-of-freedom swinging device comprises a swinging mechanism, a lifting mechanism and a swinging mechanism which are sequentially connected from top to bottom, wherein the lifting mechanism comprises a winch mechanism and a plurality of telescopic rods which are sequentially sleeved;
a sliding pair part and a gap adjusting part are arranged between the adjacent telescopic rods, the sliding pair part comprises a sliding block and a guide rail, and the gap adjusting part is used for adjusting the size of a gap between the corresponding sliding block and the corresponding guide rail;
the slewing mechanism comprises a slewing base and a slewing motor, wherein a slewing bearing, a slewing large gear and a slewing small gear which are connected in sequence are arranged on the slewing base, and the slewing small gear is connected with the slewing motor through a speed reducer.
Further, the winch mechanism comprises a winding drum, a driving motor and a steel wire rope, the steel wire rope is wound on the winding drum, the driving motor is used for driving the winding drum to rotate, and then the steel wire rope is wound and unwound, and the winch mechanism is connected with a telescopic rod located at the lowest end and used for pulling back the extended telescopic rod.
Furthermore, the shaft end of the winding drum is provided with a first encoder, and the first encoder is used for collecting the rotation angle of the winding drum bearing and calculating the total expansion amount of all the telescopic rods.
Furthermore, a second encoder is arranged on the slewing bearing and used for acquiring the slewing angle of the slewing bearing.
Furthermore, the swing mechanism comprises a swing support and a mounting seat which are connected with each other, the top of the swing support is connected with the lifting mechanism, and the mounting seat is used for connecting the equipment to be tested.
Further, the wabbler mechanism includes vertical rocking shaft system, horizontal rocking shaft system, first electronic jar and the electronic jar of second, first electronic jar is used for driving vertical rocking shaft system and vertically sways, the electronic jar of second is used for driving horizontal rocking shaft system and transversely sways, vertical rocking shaft system, horizontal rocking shaft system all are connected with the mount pad for drive the awaiting measuring equipment that the mount pad is connected and sway.
Further, the swinging support and the mounting seat are connected through a cross hinge.
Furthermore, a control cabinet is connected to the swing mechanism.
Furthermore, the cross section of the telescopic rod is polygonal.
Compared with the prior art, the utility model has the advantages of:
(1) the utility model provides a heavy load is four degrees of freedom swinging attachment under water, including rotation mechanism, elevating system and the wabbler mechanism who connects in order, rotation mechanism can carry out 360 rotations, and elevating system can drive the wabbler mechanism up-and-down motion, and wabbler mechanism can drive the equipment to be measured and transversely and longitudinal oscillation, and then realizes that multi freedom sways, and simultaneously, the connected mode of each mechanism makes its heavy burden ability stronger, can load 10t and above weight.
(2) The utility model provides a heavy load four degrees of freedom wave device under water, including first encoder, second encoder and third encoder, can provide accurate gyration, go up and down and sway data, measurement accuracy is higher.
(3) The utility model provides a heavy load four degrees of freedom wave device under water is provided with slip accessory part and clearance adjustment piece between the adjacent telescopic link, and the slip accessory part includes slider and guide rail, and clearance adjustment piece is used for adjusting the clearance size between corresponding slider and the guide rail, can avoid slider and guide rail to take place the jamming phenomenon, can improve the guiding orientation degree of accuracy.
Drawings
Fig. 1 is a schematic structural view of a heavy-load underwater four-degree-of-freedom swing device in an embodiment of the present invention;
fig. 2 is a schematic structural view of the extension of the lifting mechanism in the embodiment of the present invention;
fig. 3 is a sectional view of the telescopic rod in the embodiment of the present invention;
FIG. 4 is a cross-sectional view of a swing mechanism in an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a winch mechanism according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a swing mechanism in an embodiment of the present invention.
In the figure: 1-slewing mechanism, 2-lifting mechanism, 3-rocking mechanism, 4-telescopic rod, 5-winch mechanism, 6-sliding pair component, 7-slewing motor, 8-winding drum, 9-driving motor, 10-steel wire rope, 11-slewing base, 12-slewing bearing, 13-slewing bull gear, 14-slewing pinion, 15-rocking support, 16-mounting seat, 17-first electric cylinder, 18-second electric cylinder and 19-control cabinet.
Detailed Description
The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
Referring to fig. 1 and 2, an embodiment of the present invention provides a heavy-load underwater four-degree-of-freedom swing device, which includes a swing mechanism 1, a lifting mechanism 2 and a swing mechanism 3 connected in sequence from top to bottom, the swing mechanism 1 is connected with a control cabinet 19, the lifting mechanism 2 includes a winch mechanism 5 and a plurality of telescopic rods 4 sleeved in sequence, and the winch mechanism 5 is connected to the swing mechanism 1.
Referring to fig. 3, a sliding pair part 6 and a gap adjusting part are arranged between adjacent telescopic rods 4, the sliding pair part 6 comprises a sliding block and a guide rail, and the gap adjusting part is used for adjusting the gap between the corresponding sliding block and the corresponding guide rail; the cross section of the telescopic rod 4 in the embodiment is polygonal, and the polygonal structure can enhance rigidity and facilitate torque transmission.
Referring to fig. 4, the slewing mechanism 1 includes a slewing base 11 and a slewing motor 7, a slewing bearing 12, a slewing gearwheel 13 and a slewing pinion 14 are sequentially connected to the slewing base 11, the slewing pinion 14 is connected to the slewing motor 7 through a speed reducer, and a second encoder is arranged on the slewing bearing 12 and used for acquiring a slewing angle of the slewing bearing 12.
Referring to fig. 5, the winch mechanism 5 includes a winding drum 8, a driving motor 9, a steel wire rope 10, a lifting fixed pulley 20 and a winch support 21, the steel wire rope 10 is connected with the winch support 21 through the lifting fixed pulley 20, the winch support 21 is connected with the telescopic rod 4 through a flange, the steel wire rope 10 is wound on the winding drum 8, the driving motor 9 is used for driving the winding drum 8 to rotate, and further the winding and unwinding of the steel wire rope 10 are realized, the winch support 21 is connected with the telescopic rod 4 located at the lowermost end and used for pulling back the extended telescopic rod 4, a first encoder is arranged at the shaft end of the winding drum 8 and used for collecting the rotation angle of the bearing of the winding drum 8, and the total.
The utility model discloses a guarantee that reel 8 rotates in-process wire rope 10 and twines for the individual layer winding displacement, designed the slide mechanism that swallow-tail form guide rail and trapezoidal lead screw are constituteed, reel 8 and trapezoidal lead screw drive ratio 1:4 (trapezoidal lead screw helical pitch is 5mm) to guarantee reel 8 rotatory round, slide mechanism removes 20mm, drives capstan winch base 21 motion 20 mm.
Referring to fig. 6, the rocking mechanism 3 includes a rocking support 15, a mounting base 16, a longitudinal rocking shaft system, a transverse rocking shaft system, a first electric cylinder 17 and a second electric cylinder 18 which are connected to each other, the top of the rocking support 15 is connected to the lifting mechanism 2, the mounting base 16 is used for connecting to-be-tested devices, the rocking support 15 and the mounting base 16 are connected through a cross hinge, the first electric cylinder 17 is used for driving the longitudinal rocking shaft system to longitudinally rock, the second electric cylinder 18 is used for driving the transverse rocking shaft system to transversely rock, the longitudinal rocking shaft system and the transverse rocking shaft system are both connected to the mounting base 16 and are used for driving to-be-tested devices connected to the mounting base 16 to rock, and meanwhile, a third encoder is used for measuring a rocking angle.
Because the rocking mechanism 3 is located the aquatic, the hinge at first electronic jar 17, the electronic jar 18 of second, cross hinge both ends and electronic jar piston rod etc. all adopt the dynamic seal design, and driving motor adopts the design of quiet seal, and first electronic jar 17, the electronic jar 18 inside pipeline intercommunication that adopts of second to the pressure variation that the inner chamber space variation brought in the adaptation motion process.
The present invention is not limited to the above preferred embodiments, and any person can obtain other products in various forms without departing from the scope of the present invention, but any change in shape or structure is within the scope of protection.
Claims (9)
1. The utility model provides a heavy load four degrees of freedom rocking device under water, includes rotation mechanism (1), elevating system (2) and the rocking mechanism (3) that top-down connected in order, its characterized in that: the lifting mechanism (2) comprises a winch mechanism (5) and a plurality of telescopic rods (4) which are sequentially sleeved, wherein the winch mechanism (5) is connected with the telescopic rods (4) and is used for pulling back the extended telescopic rods (4);
a sliding pair part (6) and a gap adjusting part are arranged between the adjacent telescopic rods (4), the sliding pair part (6) comprises a sliding block and a guide rail, and the gap adjusting part is used for adjusting the size of a gap between the corresponding sliding block and the corresponding guide rail;
the slewing mechanism (1) comprises a slewing base (11) and a slewing motor (7), wherein a slewing bearing (12), a slewing large gear (13) and a slewing small gear (14) which are sequentially connected are arranged on the slewing base (11), and the slewing small gear (14) is connected with the slewing motor (7) through a speed reducer.
2. The heavy-load underwater four-degree-of-freedom rocking device of claim 1, wherein: winch mechanism (5) include reel (8), driving motor (9) and wire rope (10), wire rope (10) winding is on reel (8), driving motor (9) are used for driving reel (8) to rotate, and then realize receiving and releasing of wire rope (10), winch mechanism (5) are connected with telescopic link (4) that are located the lower extreme for pull back telescopic link (4) of extension.
3. The heavy-load underwater four-degree-of-freedom rocking device of claim 2, wherein: the shaft end of the winding drum (8) is provided with a first encoder, and the first encoder is used for collecting the rotation angle of the bearing of the winding drum (8) and calculating the total telescopic amount of all telescopic rods (4).
4. A heavy-duty underwater four-degree-of-freedom rocking device according to claim 3, wherein: and a second encoder is arranged on the slewing bearing (12) and is used for acquiring the slewing angle of the slewing bearing (12).
5. The heavy-load underwater four-degree-of-freedom rocking device of claim 1, wherein: the swing mechanism (3) comprises a swing support (15) and a mounting seat (16) which are connected with each other, the top of the swing support (15) is connected with the lifting mechanism (2), and the mounting seat (16) is used for connecting equipment to be tested.
6. The heavy-duty underwater four-degree-of-freedom rocking device of claim 5, wherein: rocking mechanism (3) are including vertical rocking shaft system, horizontal rocking shaft system, first electronic jar (17) and the electronic jar of second (18), first electronic jar (17) are used for driving vertical rocking shaft system and vertically sway, the electronic jar of second (18) are used for driving horizontal rocking shaft system and transversely sway, vertical rocking shaft system, horizontal rocking shaft system all are connected with mount pad (16) for drive the equipment to be tested that mount pad (16) are connected and sway.
7. The heavy-duty underwater four-degree-of-freedom rocking device of claim 6, wherein: the swinging support (15) is connected with the mounting seat (16) through a cross hinge.
8. The heavy-load underwater four-degree-of-freedom rocking device of claim 1, wherein: the rotary mechanism (1) is connected with a control cabinet (19).
9. The heavy-load underwater four-degree-of-freedom rocking device of claim 1, wherein: the cross section of the telescopic rod (4) is polygonal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921144391.9U CN210852854U (en) | 2019-07-19 | 2019-07-19 | Large-load underwater four-degree-of-freedom swinging device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921144391.9U CN210852854U (en) | 2019-07-19 | 2019-07-19 | Large-load underwater four-degree-of-freedom swinging device |
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| CN210852854U true CN210852854U (en) | 2020-06-26 |
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| CN201921144391.9U Active CN210852854U (en) | 2019-07-19 | 2019-07-19 | Large-load underwater four-degree-of-freedom swinging device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111855143A (en) * | 2020-08-04 | 2020-10-30 | 朱军 | Ship model rolling motion excitation device and ship model rolling damping measurement method |
| CN113465965A (en) * | 2021-06-16 | 2021-10-01 | 天津大学 | Self-elevating swing test device of offshore high-rise tower |
| CN115158545A (en) * | 2022-08-19 | 2022-10-11 | 上海外高桥造船有限公司 | Hatch cover opening device |
| CN115452317A (en) * | 2022-09-02 | 2022-12-09 | 哈尔滨工程大学 | Four-degree-of-freedom hydrodynamic performance test device |
-
2019
- 2019-07-19 CN CN201921144391.9U patent/CN210852854U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111855143A (en) * | 2020-08-04 | 2020-10-30 | 朱军 | Ship model rolling motion excitation device and ship model rolling damping measurement method |
| CN113465965A (en) * | 2021-06-16 | 2021-10-01 | 天津大学 | Self-elevating swing test device of offshore high-rise tower |
| CN113465965B (en) * | 2021-06-16 | 2022-08-12 | 天津大学 | Self-elevating swing test device of offshore high-rise tower |
| CN115158545A (en) * | 2022-08-19 | 2022-10-11 | 上海外高桥造船有限公司 | Hatch cover opening device |
| CN115452317A (en) * | 2022-09-02 | 2022-12-09 | 哈尔滨工程大学 | Four-degree-of-freedom hydrodynamic performance test device |
| CN115452317B (en) * | 2022-09-02 | 2024-06-07 | 哈尔滨工程大学 | Four-degree-of-freedom hydrodynamic performance test device |
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