WO2016068826A1 - Shock immobilization and stabilization platform - Google Patents
Shock immobilization and stabilization platform Download PDFInfo
- Publication number
- WO2016068826A1 WO2016068826A1 PCT/TR2015/050155 TR2015050155W WO2016068826A1 WO 2016068826 A1 WO2016068826 A1 WO 2016068826A1 TR 2015050155 W TR2015050155 W TR 2015050155W WO 2016068826 A1 WO2016068826 A1 WO 2016068826A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- actuator
- platform
- electrical
- linear
- linear electrical
- Prior art date
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G3/00—Ambulance aspects of vehicles; Vehicles with special provisions for transporting patients or disabled persons, or their personal conveyances, e.g. for facilitating access of, or for loading, wheelchairs
- A61G3/006—Means for reducing the influence of acceleration on patients, e.g. suspension systems of platforms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P7/00—Securing or covering of load on vehicles
- B60P7/06—Securing of load
- B60P7/16—Protecting against shocks
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
- A61G2203/36—General characteristics of devices characterised by sensor means for motion
Definitions
- Invention is a shock immobilization and stabilization platform comprising; sensors that measure the shocks, linear electrical actuators mounted on a fixed floor, control mechanism that operates the system and mobile upper platform.
- stabilization platforms are used in defense industry, professional film studios and building floors in the areas which have a high potential of earthquake.
- Invention eliminates the shocks which are a disadvantage especially in transportation industry.
- this is a system comprising shock measuring sensors, linear electrical actuators mounted on a fixed floor, control mechanism that controls the system and mobile upper platform.
- the unwanted forces (shocks) that effect the vehicle during the transportation are measured by the sensors and the control mechanism calculates the necessary position information then sends it to the actuators.
- the counter effect of the measured shocks is sent to the mobile platform and the upper platform provides the stabilization on two rotational axes.
- the mobile upper platform always stays stabile on two rotational axes.
- the invention is a shock immobilization and stabilization platform, comprising; mobile upper platform (1 ), lower floor fixed plate (2), linear electrical actuator (3), linear electrical actuator rod (3.1 ), linear electrical actuator end bearing (3.2), platform lower actuator fixing leg (4), actuator electrical motor (5), electrical motor connection apparatus (5.1 ), L connection equipment fixing apparatus (6), L connection equipment (7), connection element between the L connection equipment and upper platform (8), linear actuator end bearing (9), electronic control unit (10), vertical linear electrical actuator (1 1 ), actuator electrical motor (1 1 .1 ), vertical linear electrical actuator rod (1 1 .2), at least a gyroscope sensor (12), at least an accelerometer sensor (13).
- It is a stand, which is made from aluminum shape, mounted to lower floor and comprising connection points for electrical actuators.
- It is a single piece sheet plate which all the components of the system stand on. It also comprises the connection points of the L equipment which turns the linear movement of the linear electrical actuators to rotational movement.
- It is a mobile platform made from aluminum shape and covered with a single piece plate. It has spaces for connecting the linear electrical actuator's (3) heads and it is also the part where the stabilization on two rotational axes is provided.
- connection element that is connected to L connection equipment (7) and it is formed by two merged bearings. It provides an enlargement for the movement plane of the platform and it is included in the system because of the shapes of the connection forms of actuators.
- the axial joint included in the linear electrical actuator (3) provides the linear movement by moving back and forth in specific ratios and transmission of the movement to the system.
- the axial joint included in the linear electrical actuator (3) provides the linear movement by moving back and forth in specific ratios and transmission of the movement to the system.
- Gyroscope and accelerometer sensors measure the forces that effects the platform and they also measure if the mobile upper platform (1 ) is on desired position values or not.
- Shock immobilization and stabilization platform measures the forces that effect the floor which platform is mounted on with gyroscope sensors (12) and accelerometer sensors (13) in three axes.
- the electronic control unit (10) of the system information that comes from the sensors is analyzed and with the PID (Proportional, Integral, Derivative) control method the direction and speed information is calculated and sent to the related linear electrical actuators (3).
- PID Proportional, Integral, Derivative
- linear electrical actuators (3) are positioned to mid-point of the floor of the platform with an angle of 90 degrees to each other.
- the other vertical linear electrical actuator (1 1 ) is mounted perpendicularly to the upper platform to increase the movement ability of the system. Because of that positioning, upper platform (1 ) obtains maximum movement ability for stabilization in roll and pitch rotational axis.
- Linear electrical actuators (3) send feedback to the control mechanism with the included feedback sensors and the platform's movement ability is adjusted in desired levels.
- Actuator electrical motors (5) are connected to the platform lower actuator fixing leg (4), which is connected to mid-point center of the lower floor fixed plate (2), by electrical motor connection apparatus (5.1 ).
- Linear electrical actuators (3) and vertical linear electrical actuator (1 1 ) manipulate the linear electrical actuator rods (3.1 ) and vertical linear electrical actuator rod (1 1 .1 ) with the power which is generated by the actuator electrical motors (5). These manipulations are controlled by the electronic control unit (10) regarding to information comes from gyroscope sensors (12) and accelerometer sensors (13).
- the shock immobilization and stabilization platform can be implemented to the vehicles which are used in transportation and it will bring a solution to the situations in which no shocks or no quakes are needed.
- the shock immobilization and stabilization platform can be placed in cabinet or trailer parts of the commercial vehicles which make sensitive transportation. So it can bring a lot of advantages and prevent trading loss. For example, placing the shock stabilization platform in the cabinet of an ambulance would make sure the transportation of a patient and health officer without having a shock or a quake during the transportation. Besides health officers can do their jobs more easily. Those advantages can be counted in the novelties which the system is going to provide.
Abstract
Invention is a shock immobilization and stabilization platform comprising; sensors (12, 13) that measure the shocks, linear electrical actuators (3, 11) mounted on a fixed floor (2), control mechanism (10) that operates the system and mobile upper platform (1).
Description
DESCRIPTION
SHOCK IMMOBILIZATION AND STABILIZATION PLATFORM
TECHNICAL FIELD
Invention is a shock immobilization and stabilization platform comprising; sensors that measure the shocks, linear electrical actuators mounted on a fixed floor, control mechanism that operates the system and mobile upper platform.
BACKGROUND
In our days, stabilization platforms are used in defense industry, professional film studios and building floors in the areas which have a high potential of earthquake.
But the implementation of these systems to transportation vehicles has not been taken place yet. Besides, these systems are mostly used for shock absorption instead of floor stabilization. These systems, which aim to absorb the balance disrupting powers that come from the bottom before they reach to floor, do not have a purpose to hold the floor without corrupting its angle with the plane. And there is no similarity between working mechanism of the floor stabilization systems and the active suspension systems which are used in vehicles.
SUMMARY OF THE INVENTION
Invention eliminates the shocks which are a disadvantage especially in transportation industry. Basically, this is a system comprising shock measuring sensors, linear electrical actuators mounted on a fixed floor, control mechanism that controls the system and mobile upper platform. In the land vehicles, aircrafts and vessels, the unwanted forces (shocks) that effect the vehicle during the transportation are measured by the sensors and the control mechanism calculates the necessary position information then sends it to the actuators. Thus, the counter effect of the measured shocks is sent to the mobile platform and the upper platform provides the stabilization on two rotational axes. The mobile upper platform always stays stabile on two rotational axes.
MEANINGS OF THE FIGURES
Figure 1 . Assembled View
Figure 2. Electrical Motors of the Floor Actuator
Figure 3. Linear Electrical Actuator
Figure 4. Isometric View of the Floor Electrical Motors
Figure 5. Control Unit
Figure 6. Linear Electrical Actuator Group
Figure 7. Work Flow Diagram of the Shock Immobilization and
Stabilization Platform
The equivalents of the part numbers stated on the figures are given below.
1 . Mobile Upper Platform
2. Lower Floor Fixed Plate
3. Linear Electrical Actuator
3.1 . Linear Electrical Actuator Rod
3.2. Linear Electrical Actuator End Bearing
4. Platform Lower Actuator Fixing Leg
5. Actuator Electrical Motor
5.1 . Electrical Motor Connection Apparatus
6. L Connection Equipment Fixing Apparatus
7. L Connection Equipment
8. Connection Element between the L Connection Equipment and Upper Platform
9. Linear Actuator End Bearing
10. Electronic Control Unit
1 1 . Vertical Linear Electrical Actuator
1 1 .1 . Actuator Electrical Motor
1 1 .2. Vertical Linear Electrical Actuator Rod
12. Gyroscope Sensor
13. Accelerometer Sensor
DETAILED DESCRIPTION OF THE INVENTION
The invention is a shock immobilization and stabilization platform, comprising; mobile upper platform (1 ), lower floor fixed plate (2), linear electrical actuator (3), linear electrical actuator rod (3.1 ), linear electrical actuator end bearing (3.2), platform lower actuator fixing leg (4), actuator electrical motor (5), electrical motor connection apparatus (5.1 ), L connection equipment fixing apparatus (6), L connection equipment (7), connection element between the L connection equipment and upper platform (8), linear actuator end bearing (9), electronic control unit (10), vertical linear electrical actuator (1 1 ), actuator electrical motor (1 1 .1 ), vertical linear electrical actuator rod (1 1 .2), at least a gyroscope sensor (12), at least an accelerometer sensor (13).
Parts of the shock immobilization and stabilization platform which is subject to invention and their features are given below. Platform Lower Actuator Fixing Leg (4):
It is a stand, which is made from aluminum shape, mounted to lower floor and comprising connection points for electrical actuators.
Lower Floor Fixed Plate (2):
It is a single piece sheet plate which all the components of the system stand on. It also comprises the connection points of the L equipment which turns the linear movement of the linear electrical actuators to rotational movement.
Mobile Upper Platform (1):
It is a mobile platform made from aluminum shape and covered with a single piece plate. It has spaces for connecting the linear electrical actuator's (3) heads and it is also the part where the stabilization on two rotational axes is provided.
L Connection Equipment (7):
It is a connection element that transmits the linear movement which the rod heads of the linear electrical actuators (3) is connected to the upper platform (1 ) as a rotational movement.
L Connection Equipment Fixing Apparatus (6):
It is an apparatus mounted to lower floor fixed plate (2) and it provides the L connection equipment (7) to stay fixed.
Connection Element between the L Connection Equipment and Upper Platform (8):
It a connection element that is connected to L connection equipment (7) and it is formed by two merged bearings. It provides an enlargement for the movement plane of the platform and it is included in the system because of the shapes of the connection forms of actuators.
Electronic Control Unit (10):
It is an electronic control unit (10) placed on the lower floor fixed plate (2), comprising; control mechanism, power supply, safety fuses and sensors. Linear Electrical Actuator (3):
It functions with an included rotational electrical motor and it moves the rods back and forth by transforming the rotational movement to linear movement by special transforming equipment. There are two different sized and featured linear electrical actuators (3) on the platform. And they are mounted to the platform lower actuator fixing leg (4) with a universal bearing.
Vertical Linear Electrical Actuator (11):
It is a vertical linear electrical actuator (1 1 ) mounted vertically to the platform lower actuator fixing leg (4) and it provides the vertical linear movement to the mobile upper platform (1 ). It functions with an included rotational electrical motor and it moves the rods back and forth by transforming the rotational movement to linear movement by special transforming equipment. Vertical Linear Electrical Actuator Rod (11.2):
It a rod included in the actuator which provides the up and down movement of the mobile upper platform (1 ). The axial joint included in the linear electrical actuator (3) provides the linear movement by moving back and forth in specific ratios and transmission of the movement to the system.
Actuator Electrical Motor (5):
It is a rotational electrical motor which supplies power to move the axial joint included in the linear electrical actuator (3).
Electrical Motor Connection Apparatus (5.1):
It is a two piece apparatus that gives one directional movement ability which is placed behind the platform bottom actuator fixing leg (4) and electrical motor.
Linear Electrical Actuator Rod (3.1):
The axial joint included in the linear electrical actuator (3) provides the linear movement by moving back and forth in specific ratios and transmission of the movement to the system.
Linear Electrical Actuator End Bearing (3.2):
It is an element comprising a special inner bearing which rotationally transmits the linear movement of the electrical linear actuator in one direction.
Gyroscope Sensors (12) and Accelerometer Sensors (13):
They are placed on the mobile upper platform (1 ). Gyroscope and accelerometer sensors measure the forces that effects the platform and they also measure if the mobile upper platform (1 ) is on desired position values or not.
Shock immobilization and stabilization platform measures the forces that effect the floor which platform is mounted on with gyroscope sensors (12) and accelerometer sensors (13) in three axes. In the electronic control unit (10) of the system, information that comes from the sensors is analyzed and with the PID (Proportional, Integral, Derivative) control method the direction and speed information is calculated and sent to the related linear electrical actuators (3). After sending the information to the linear electrical actuators (3), thanks to continuous control, reference values, which are entered to the system by the user, are compared to the information comes from feedback and a difference is calculated. For reducing the difference to minimum, that procedure goes continuously. Thus, desired stabilization procedure is implemented with minimum errors.
Four linear electrical actuators (3) are positioned to mid-point of the floor of the platform with an angle of 90 degrees to each other. The other vertical linear electrical actuator (1 1 ) is mounted perpendicularly to the upper platform to increase the movement ability of the system. Because of that positioning,
upper platform (1 ) obtains maximum movement ability for stabilization in roll and pitch rotational axis. Linear electrical actuators (3) send feedback to the control mechanism with the included feedback sensors and the platform's movement ability is adjusted in desired levels.
System is a shock immobilization and stabilization platform that can be fixed to the floor where the system going to be used with the lower floor fixed plate (2). Actuator electrical motors (5) are connected to the platform lower actuator fixing leg (4), which is connected to mid-point center of the lower floor fixed plate (2), by electrical motor connection apparatus (5.1 ). Linear electrical actuators (3) and vertical linear electrical actuator (1 1 ) manipulate the linear electrical actuator rods (3.1 ) and vertical linear electrical actuator rod (1 1 .1 ) with the power which is generated by the actuator electrical motors (5). These manipulations are controlled by the electronic control unit (10) regarding to information comes from gyroscope sensors (12) and accelerometer sensors (13). Linear electrical actuator end bearing (3.2), which is connected to the vertical linear electrical actuator rod (1 1 .2) and linear electrical actuator rod (3.1 ), transmits the linear movement as a one-directional rotational movement to the L connection equipment (7) which is connected to the L connection equipment fixing apparatus (6). That movement is transmitted to the mobile upper platform (1 ) by connection element between the I connection equipment and upper platform (8). As a result, mobile upper platform (1 ) performs the stabilization process in three axes with the information sent to the linear electrical actuators (3) by electronic control unit (10).
The shock immobilization and stabilization platform can be implemented to the vehicles which are used in transportation and it will bring a solution to the situations in which no shocks or no quakes are needed. The shock immobilization and stabilization platform can be placed in cabinet or trailer parts of the commercial vehicles which make sensitive transportation. So it can bring a lot of advantages and prevent trading loss. For example, placing the shock stabilization platform in the cabinet of an ambulance would make sure the transportation of a patient and health officer without having a shock or a quake during the transportation. Besides health officers can do their jobs more easily.
Those advantages can be counted in the novelties which the system is going to provide.
Claims
A shock immobilization and stabilization platform; comprising a mobile upper platform (1 ), a lower floor fixed plate (2), a linear electrical actuator (3), a linear electrical actuator rod (3.1 ), a linear electrical actuator end bearing (3.2), a platform lower actuator fixing leg (4), an actuator electrical motor (5), an electrical motor connection apparatus (5.1 ), a L connection equipment fixing apparatus (6), a L connection equipment (7), a connection element between the L connection equipment and upper platform (8), a linear actuator end bearing (9), an electronic control unit (10), a vertical linear electrical actuator (1 1 ), an actuator electrical motor (1 1 .1 ), a vertical linear electrical actuator rod (1 1 .2), at least a gyroscope sensor (12), at least an accelerometer sensor (13).
The lower floor fixed plate (2) of claim 1 , wherein the platform lower actuator fixing leg (4) and the L connection equipment fixing apparatus (6) is mounted on.
The platform lower actuator fixing leg (4) of claim 1 , further comprising at least three the electrical actuator motors (5).
The platform lower actuator fixing leg (4) of claim 1 , further comprising at least one the vertical linear electrical actuator (1 1 ). The electrical motor connection apparatus (5.1 ) of claim 1 , wherein it fixes the actuator electrical motor (5) and the platform lower actuator fixing leg (4).
The actuator electrical motor (5) of claim 1 , wherein the linear electrical actuator (3) is fixed on.
The gyroscope sensor (12) of claim 1 , wherein it is fixed on at least one of the mobile upper platform (1 ) and the lower floor fixed plate (2) parts.
The accelerometer sensor (13) of claim 1 , wherein it is fixed on at least one of the mobile upper platform (1 ) and the lower floor fixed plate (2) parts.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TR201412794 | 2014-10-31 | ||
| TR2014/12794 | 2014-10-31 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2016068826A1 true WO2016068826A1 (en) | 2016-05-06 |
Family
ID=54782794
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/TR2015/050155 WO2016068826A1 (en) | 2014-10-31 | 2015-10-28 | Shock immobilization and stabilization platform |
Country Status (1)
| Country | Link |
|---|---|
| WO (1) | WO2016068826A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102019213950B3 (en) * | 2019-09-12 | 2020-11-26 | Thyssenkrupp Ag | Device and method for compensating for at least vertical changes in position in response to fluctuations in the subsurface, and use |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4101102A (en) * | 1976-04-26 | 1978-07-18 | Westinghouse Electric Corp. | Vibration isolation load support apparatus |
| WO2000072726A1 (en) * | 1999-05-28 | 2000-12-07 | Grober David E | Autonomous, self leveling, self correcting stabilized platform |
| DE10258020B3 (en) * | 2002-12-12 | 2004-06-09 | Daimlerchrysler Ag | Automobile passenger seat with active seat suspension controlled by detected acceleration forces acting on spring-mounted seat frame |
| EP2261530A1 (en) * | 2009-06-12 | 2010-12-15 | Nederlandse Organisatie voor toegepast -natuurwetenschappelijk onderzoek TNO | An active vibration isolation and damping system |
-
2015
- 2015-10-28 WO PCT/TR2015/050155 patent/WO2016068826A1/en active Application Filing
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4101102A (en) * | 1976-04-26 | 1978-07-18 | Westinghouse Electric Corp. | Vibration isolation load support apparatus |
| WO2000072726A1 (en) * | 1999-05-28 | 2000-12-07 | Grober David E | Autonomous, self leveling, self correcting stabilized platform |
| DE10258020B3 (en) * | 2002-12-12 | 2004-06-09 | Daimlerchrysler Ag | Automobile passenger seat with active seat suspension controlled by detected acceleration forces acting on spring-mounted seat frame |
| EP2261530A1 (en) * | 2009-06-12 | 2010-12-15 | Nederlandse Organisatie voor toegepast -natuurwetenschappelijk onderzoek TNO | An active vibration isolation and damping system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102019213950B3 (en) * | 2019-09-12 | 2020-11-26 | Thyssenkrupp Ag | Device and method for compensating for at least vertical changes in position in response to fluctuations in the subsurface, and use |
| WO2021048013A1 (en) | 2019-09-12 | 2021-03-18 | Thyssenkrupp Industrial Solutions Ag | Device and method for compensating for at least vertical changes in position in reaction to variations in the underlying surface, and use thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11077935B2 (en) | Thruster based locomotion for perched unmanned aerial vehicles | |
| US11195430B2 (en) | Movement platform system | |
| US6196514B1 (en) | Large airborne stabilization/vibration isolation system | |
| JP6207003B2 (en) | Aircraft system and aircraft control method | |
| KR20150084985A (en) | A six-degree-of-freedom motion simulator assembly | |
| CN103365297A (en) | Optical flow-based four-rotor unmanned aerial vehicle flight control method | |
| US9875217B2 (en) | Semi-active feedback control of sway of cables in elevator system | |
| US20160330436A1 (en) | Multi-axis center of mass balancing system for an optical gimbal assembly guided by inertial measurement | |
| US20220024604A1 (en) | Self-leveling launch and recovery platform for aerial vehicle and method of maintaining a level platform during launch and recovery | |
| US20170260025A1 (en) | Controlling Sway of Elevator Cable Connected to Elevator Car | |
| WO2015119488A1 (en) | Stabilized platform for camera | |
| KR20160049810A (en) | Apparatus for testing multirotor system | |
| US10151710B2 (en) | Portable industrial radiography apparatus | |
| Kivrak | Design of control systems for a quadrotor flight vehicle equipped with inertial sensors | |
| CN112414402B (en) | High-precision stable platform system, control method, device, medium and terminal | |
| JP2011150470A (en) | Control method and remote control device for unmanned moving body | |
| CN108463782A (en) | The method of the posture of control device of the estimation for controlling operation machine | |
| WO2016068826A1 (en) | Shock immobilization and stabilization platform | |
| Liu et al. | A method for measuring the inertia properties of a rigid body using 3-URU parallel mechanism | |
| CN105526907B (en) | The measuring device and measuring method of the space angle in large scale space | |
| CN209776826U (en) | Automatic stabilizing system of unmanned aerial vehicle landing platform | |
| KR101932930B1 (en) | Air craft gimbal | |
| de Oliveira et al. | Air bearing platforms for simulation of spacecraft attitude control systems | |
| YÜZGEÇ et al. | Development of the test platform for rotary wing unmanned air vehicle | |
| Jones et al. | Photogrammetric technique for center of gravity determination |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 15804993 Country of ref document: EP Kind code of ref document: A1 |
|
| NENP | Non-entry into the national phase |
Ref country code: DE |
|
| 122 | Ep: pct application non-entry in european phase |
Ref document number: 15804993 Country of ref document: EP Kind code of ref document: A1 |