WO2021248513A1 - 一种海底监测平台多自由度采样探测机构 - Google Patents

一种海底监测平台多自由度采样探测机构 Download PDF

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Publication number
WO2021248513A1
WO2021248513A1 PCT/CN2020/096345 CN2020096345W WO2021248513A1 WO 2021248513 A1 WO2021248513 A1 WO 2021248513A1 CN 2020096345 W CN2020096345 W CN 2020096345W WO 2021248513 A1 WO2021248513 A1 WO 2021248513A1
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Prior art keywords
turntable
detection mechanism
degree
monitoring platform
ring body
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PCT/CN2020/096345
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English (en)
French (fr)
Inventor
曾锦锋
章雪挺
杨平宇
吴涛
龙威
吴国涛
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浙江瀚陆海洋科技有限公司
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Publication of WO2021248513A1 publication Critical patent/WO2021248513A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal

Definitions

  • the invention relates to the technical field of submarine detection devices, in particular to a multi-degree-of-freedom sampling detection mechanism of a submarine monitoring platform.
  • the existing submarine monitoring platforms are mainly deployed with cables, and some use cable-free submarine detection systems.
  • the submarine environment is complex and changeable, and a single location is often difficult to meet the needs of sampling and detection, and the monitoring platform is expensive to deploy and the location cannot be moved, so the detection results often have certain limitations.
  • some marine scientific expedition teams currently rely on advances in science and technology to mount existing detection devices on submersibles, and use manned submersibles or unmanned submersibles to bring measurement devices into the deep sea. And deployed to the seabed area for scientific research.
  • this detection method is flexible, it has the disadvantages that the deployment method is extremely costly and is not suitable for long-term continuous detection.
  • the prior art has the disadvantages that the deployment method of the submarine monitoring platform is extremely costly and is not suitable for long-term continuous detection.
  • a submarine monitoring platform that can balance flexibility and deployment cost and can continuously detect for a long time is required.
  • the invention provides a multi-degree-of-freedom sampling detection mechanism for a submarine monitoring platform, which can realize multi-degree-of-freedom movement of a submarine detector, improves detection efficiency, and has strong adaptability to subsea working conditions.
  • a turntable, the turntable is provided with teeth in the circumferential direction;
  • the rotating mechanism includes a rotating motor, and the output end of the rotating motor is provided with a gear meshing with the turntable;
  • the translation mechanism includes a transverse track and a frame moving along the transverse track, the transverse track extends from the edge of the turntable to the middle part and crosses the rotating shaft of the turntable;
  • the detection mechanism is arranged on the frame, and the detection mechanism includes a vertical track and a detector that moves along the vertical track.
  • the turntable includes a first ring body and a second ring body, the first ring body includes the teeth, the first ring body is made of plastic, and the second ring body is made of metal material. production.
  • a first limiting member is provided on the upper side of the turntable, a second limiting member is provided on the lower side of the turntable opposite to the first limiting member, and the first limiting member includes The first roller contacting the upper surface of the first ring body, and the second limiting member includes a second roller contacting the lower surface and the side surface of the second ring body.
  • bracket also includes a bracket, the bracket includes a lower frame body, the lower frame body is provided with a horizontal plate, the horizontal plate is provided with a vertical plate, the first roller and the second roller rotate Connected to the vertical plate.
  • the lower side of the turntable is provided with a transverse lead screw and two mutually parallel transverse rods, the frame body moves along the transverse rod, and the frame body is provided with the transverse lead screw to cooperate with each other.
  • a lead screw motor that drives the frame to move.
  • the frame is provided with a vertical screw, a screw motor, and two vertical rods parallel to each other, the vertical rod is provided with the detector, and the screw motor drives the The vertical screw moves up and down to drive the detector to move.
  • a spoke plate is provided on the turntable, and the spoke plate extends to one side of the middle of the turntable and forms a connecting part. Extend and go over the rotating shaft of the turntable.
  • a rotating shaft is provided on the connecting portion, and the rotating shaft is rotatably connected to the sleeve.
  • the present invention has the advantages of being able to realize the vertical detection of various position points in the horizontal plane of the seabed area, improving the detection efficiency, and having a strong adaptability to the working conditions of the seabed.
  • Figure 1 is a schematic diagram of the structure of the utility model
  • Figure 2 is a front view of the structure of the utility model
  • Figure 3 is an enlarged view of the structure at A in Figure 2;
  • Figure 4 is a schematic diagram of the structure of the turntable.
  • the multi-degree-of-freedom detection mechanism of the submarine monitoring platform includes:
  • the turntable 1 is circular, with teeth 11 provided in the circumferential direction;
  • the rotating mechanism 2 includes a rotating motor 21.
  • the output end of the rotating motor 21 is provided with a gear 22 that meshes with the turntable 1 and can drive the turntable 1 to rotate;
  • the translation mechanism 3 includes a horizontal rail 31 and a frame 32 that moves along the horizontal rail 31.
  • the horizontal rail 31 extends from the edge of the turntable 1 to the middle and crosses the rotating shaft 15 of the turntable 1. When the turntable 1 rotates 360°, the horizontal rail 31 can scan Go through the entire turntable 1 area;
  • the detection mechanism 4 is arranged on the frame 32 and can move laterally with the frame 32.
  • the detection mechanism 4 includes a vertical rail 41 and a detector 42 that moves along the vertical rail 41.
  • the turntable 1 includes a first ring body 12 and a second ring body 13.
  • the first ring body 12 includes teeth 11, the first ring body 12 is made of plastic, and the second ring body 13 is made of metal material.
  • the first ring body 12 is located on the upper side of the second ring body 13, and the two are connected by bolts arranged in the circumferential direction of the ring body.
  • the combined ring body can reduce the mass of the turntable 1 while taking into account plastics such as polytetrafluoroethylene.
  • plastics such as polytetrafluoroethylene.
  • the first ring body 12 may be a circular ring structure formed by splicing several arc-shaped segments, and the second ring body 13 may be an integral or multi-segment splicing structure.
  • the diameter of the outer part of the second ring body 13 is smaller than the diameter of the outer part of the first ring body 12 to avoid interference with the gear transmission structure.
  • the upper side of the turntable 1 is provided with a first limiting member 51
  • the lower side of the turntable 1 is provided with a second limiting member 52 opposite to the first limiting member 51.
  • the first limiting member 51 includes The first roller 511 contacting the upper surface of the ring body 12, and the second limiting member 52 includes a second roller 521 contacting the lower surface and the side surface of the second ring body 13.
  • the number of the first limiting member 51 and the second limiting member 52 are both four, and they are evenly arranged along the circumference of the turntable 1.
  • the contact part of the second roller 521 and the second ring body 13 is a stepped structure, which cooperates with the first roller 511 to limit the turntable 1 vertically and at the same time limit the turntable 1 laterally to ensure the posture of the turntable during rotation Stability, while avoiding the situation that the load acting on the translation mechanism and the detection mechanism causes the turntable to jam.
  • the detection mechanism also includes a bracket 6.
  • the bracket 6 includes a lower frame 61.
  • the lower frame 61 is provided with a horizontal plate 62
  • the horizontal plate 62 is provided with a vertical plate 63
  • a reinforcing rib is provided between the horizontal plate 62 and the vertical plate 63.
  • the first roller 511 and the second roller 521 are rotatably connected to the vertical plate 63.
  • the lower frame body 61 includes two square frames 611 parallel to each other, and a connecting rod 612 is arranged between the two square frames.
  • the horizontal plate 62 is fixed at the connection between the inner square frame and the connecting rod to ensure the structure of the stopper. Strength and stability.
  • the lower side of the turntable 1 is fixed with a transverse screw 33 parallel to the spoke plate 14 and two parallel rails 311.
  • the transverse rails 311 are used as the transverse rails 31.
  • the frame 32 moves along the transverse rods 311.
  • the lead screw 33 cooperates with the lead screw motor that drives the frame 32 to move.
  • the transverse lead screw 33 passes through the lead screw motor. During the rotation of the lead screw motor, it acts on the transverse lead screw 33, and the generated transverse load acts on the frame 32 and The drive frame 32 moves along the transverse rail 31.
  • the frame 32 is provided with a vertical screw 43, a screw motor, and two vertical rods 411 parallel to each other.
  • the vertical rod 411 is used as the vertical track 41, and the detector 42 is fixed on the vertical rod 411.
  • the vertical screw 43 passes through the screw motor. During the rotation of the screw motor, the vertical screw 43 is driven to move up and down, and then the detector is driven. 42 moves.
  • the turntable 1 is provided with a spoke plate 14 which extends to one side of the middle of the turntable 1 and forms a connecting part.
  • the spoke plates 14 are hollowed out to meet the requirements of lightweight.
  • the spoke plate 14 includes a long side 1411 and a short side 1412.
  • the arrangement of the short side improves the structural strength of the turntable 1, so that it can maintain structural stability under the action of the rotation mechanism 2 and the stopper on the outer edge.
  • the short side and the ring body of the turntable 1 form a suspension beam structure supporting the long side to ensure the stable operation of the translation mechanism 3 on the long side.
  • the frame body 32 is located on the side of the side 141, and the vertical screw 43 and the vertical rod 411 on the frame body 32 pass through the hollow structure.
  • a rotating shaft 15 is provided on the connecting part, and the rotating shaft 15 is rotatably connected to the sleeve.

Abstract

一种海底监测平台多自由度采样探测机构，包括：转盘（1），转盘（1）周向上设有齿（11）；转动机构（2），包括转动电机（21），转动电机（21）的输出端设有与转盘（1）啮合的齿轮（22）；平移机构（3），包括横向轨道（31）以及沿横向轨道（31）移动的架体（32），横向轨道（31）由转盘（1）边缘向中部延伸并越过转盘（1）的转轴（15）；探测机构（4），探测机构（4）设置在架体（32）上，探测机构（4）包括竖向轨道（41），以及沿竖向轨道（41）移动的探测器（42）。能够实现海底监测器多自由度运动，提高了探测工作效率，对海底工况的适应能力强。

Description

一种海底监测平台多自由度采样探测机构 技术领域
本发明涉及海底探测装置技术产领域，尤其涉及一种海底监测平台多自由度采样探测机构。
 背景技术
随着海底监测平台的不断发展，其工作区域由浅海向深海拓展，对海底沉积物或上覆水进行采样探测。现有海底监测平台的布放方式以有缆布放为主，一些采用无缆式海底探测系统。海底环境复杂多变，单一位置往往难以满足采样探测的需求，而监测平台布放成本高、位置无法移动，因此探测结果往往具有一定的局限性。为了满足深海探测的需求，目前某些海洋科考团队借助于科学技术的进步，将现有的探测装置搭载在潜水器上，利用载人潜水器或无人潜水器将测量装置带入深海，并布放到海底区域进行科研工作。这种探测方式虽然灵活性强，但是存在布放方式成本极高，且不适合长时间的连续探测的缺点。
 技术问题
现有技术中存在海底监测平台布放方式成本极高，且不适合长时间的连续探测的缺点，需要一种能够兼顾灵活性与布放成本，且能够长时间连续探测的海底监测平台。
 技术解决方案
本发明提供了一种海底监测平台多自由度采样探测机构，能够实现海底探测器多自由度运动，提高了探测工作效率，对海底工况的适应能力强。
为了达到所述目的，本发明采用如下技术方案：
一种海底监测平台多自由度采样探测机构，其特征在于，包括：
转盘，所述转盘周向上设有齿；
转动机构，包括转动电机，所述转动电机的输出端设有与所述转盘啮合的齿轮；
平移机构，包括横向轨道以及沿所述横向轨道移动的架体，所述横向轨道由所述转盘边缘向中部延伸并越过所述转盘的转轴；
探测机构，所述探测机构设置在所述架体上，所述探测机构包括竖向轨道，以及沿所述竖向轨道移动的探测器。
作为一种优选，所述转盘包括第一圈体和第二圈体，所述第一圈体包括所述齿，所述第一圈体由塑料制成，所述第二圈体由金属材料制成。
作为一种优选，所述转盘上侧设有第一限位件，所述转盘下侧与所述第一限位件相对设置有第二限位件，所述第一限位件包括与所述第一圈体上表面接触的第一滚轮，所述第二限位件包括与所述第二圈体下表面和侧表面接触的第二滚轮。
作为一种优选，还包括支架，所述支架包括下框体，所述下框体上设有横板，所述横板上设有竖板，所述第一滚轮与所述第二滚轮转动连接在所述竖板上。
作为一种优选，所述转盘下侧设有横向丝杠以及两个相互平行的横杆，所述架体沿所述横杆移动，所述架体上设有与所述横向丝杠配合以驱动所述架体移动的丝杠电机。
作为一种优选，所述架体上设有竖向丝杠、丝杠电机，以及两个相互平行的竖杆，所述竖杆上设有所述探测器，所述丝杠电机驱动所述竖向丝杠上下移动以驱动所述探测器移动。
作为一种优选，所述转盘上设有辐条板，所述辐条板向所述转盘中部一侧延伸并形成连接部，所述辐条板包括侧边，所述侧边由所述转盘边缘向中部延伸并越过所述转盘的转轴。
作为一种优选，所述连接部上设有转轴，所述转轴转动连接在套筒上。
 有益效果
与现有技术相比，本发明的优点在于：能够实现海底区域水平面内各位置点在垂向上的探测，提高了探测工作效率，对海底工况的适应能力强。
 附图说明
图1是本实用新型的结构示意图；
图2是本实用新型的结构主视图；
图3是图2中A处结构放大图；
图4是转盘结构示意图。
图中的标号如下：
1．转盘，11．齿，12．第一圈体，13．第二圈体，14．辐条板，141．侧边，15．转轴，16．连接部，2．转动机构，21．转动电机，22．齿轮，3．平移机构，31．横向轨道，311．横杆，32．架体，33．横向丝杠，4．探测机构，41．竖向轨道，411．竖杆，42．探测器，43．竖向丝杠，51．第一限位件，511．第一滚轮，52．第二限位件，521．第二滚轮，6．支架，61．下框体，62．横板，63．竖板，64．套筒。
 本发明的实施方式
下面结合附图中实施例对本发明作进一步说明。
如图1和图2所示，该海底监测平台多自由度探测机构包括：
转盘1，转盘1为圆形，其周向上设有齿11；
转动机构2，包括转动电机21，转动电机21的输出端设有与转盘1啮合的齿轮22，并可驱动转盘1转动；
平移机构3，其包括横向轨道31以及沿横向轨道31移动的架体32，横向轨道31由转盘1边缘向中部延伸并越过转盘1的转轴15，转盘1转动360°时，横向轨道31可扫过整个转盘1区域；
探测机构4，探测机构4设置在架体32上并可随架体32横向移动，探测机构4包括竖向轨道41，以及沿竖向轨道41移动的探测器42。
通过转动机构、平移机构以及可竖向移动的探测机构，可实现海底一定区域的水平面内各位置点在垂向上的探测。
转盘1包括第一圈体12和第二圈体13，第一圈体12包括齿11，第一圈体12由塑料制成，第二圈体13由金属材料制成。第一圈体12位于第二圈体13上侧，二者采用沿圈体周向排列的螺栓连接，采用组合圈体的形式可以减轻转盘1的质量，同时可以兼顾塑料，诸如聚四氟乙烯材料的自润滑性、抗腐蚀性能，以及钢圈的刚度。第一圈体12可为若干弧形段拼接成的圆环结构，第二圈体13可为一体式或多段拼接结构。第二圈体13外侧部直径小于第一圈体12外侧部直径，避免对齿轮传动结构产生干涉。
如图3所示，转盘1上侧设有第一限位件51，转盘1下侧与第一限位件51相对设置有第二限位件52，第一限位件51包括与第一圈体12上表面接触的第一滚轮511，第二限位件52包括与第二圈体13下表面和侧表面接触的第二滚轮521。第一限位件51与第二限位件52的数量均为四个，并沿转盘1周向均匀设置。第二滚轮521与第二圈体13的接触部位为台阶形结构，配合第一滚轮511对转盘1竖向进行限位，同时可对转盘1横向进行限位，保证转盘在转动过程中的姿态稳定性，同时避免平移机构和探测机构作用的载荷导致转盘卡死的情况。
该探测机构还包括支架6，支架6包括下框体61，下框体61上设有横板62，横板62上设有竖板63，横板62与竖板63之间设有加强肋板，第一滚轮511与第二滚轮521转动连接在竖板63上。下框体61包括两个相互平行的方形框架611，且两方形框架之间设有连杆612，横板62固定在内侧的方形框架与该连杆的连接处，以保证限位件的结构强度与稳定性。
转盘1下侧固定有与辐条版14平行的横向丝杠33以及两个相互平行的横杆311，横杆311作为横向轨道31，架体32沿横杆311移动，架体32上固定与横向丝杠33配合以驱动架体32移动的丝杠电机，横向丝杠33穿过该丝杠电机，丝杠电机转动过程中与横向丝杠33作用，产生的横向载荷作用在架体32上并驱动架体32沿横向轨道31移动。
架体32上设有竖向丝杠43、丝杠电机，以及两个相互平行的竖杆411。竖杆411作为竖向轨道41，竖杆411上固定有探测器42，竖向丝杠43穿过该丝杠电机，丝杠电机转动过程中驱动竖向丝杠43上下移动，继而带动探测器42移动。
转盘1上设有辐条板14，辐条板14向转盘1中部一侧延伸并形成连接部，辐条板14包括侧边141，侧边141由转盘1边缘向中部延伸并越过转盘1的转轴15。辐条板14之间镂空，以满足轻量化的要求。辐条板14包括长边1411和短边1412，短边的设置提高了转盘1的结构强度，使其在外缘的转动机构2和限位件的作用下能够保持结构稳定性。同时，短边与转盘1的圈体组成支承长边的悬挂梁结构，以保证长边上的平移机构3稳定运行。架体32位于侧边141一侧，架体32上的竖向丝杠43以及竖杆411穿过镂空结构。连接部上设有转轴15，转轴15转动连接在套筒上。
以上说明仅仅是对本发明的解释，使得本领域普通技术人员能完整的实施本方案，但并不是对本发明的限制，本领域技术人员在阅读完本说明书后可以根据需要对本实施例做出没有创造性贡献的修改，这些都是不具有创造性的修改，但只要在本发明的权利要求范围内都受到专利法的保护。

Claims (8)

  1. 一种海底监测平台多自由度采样探测机构，其特征在于，包括：
    转盘（1），所述转盘（1）周向上设有齿（11）；
    转动机构（2），包括转动电机（21），所述转动电机（21）的输出端设有与所述转盘（1）啮合的齿轮（22）；
    平移机构（3），包括横向轨道（31）以及沿所述横向轨道（31）移动的架体（32），所述横向轨道（31）由所述转盘（1）边缘向中部延伸并越过所述转盘（1）的转轴（15）；
    探测机构（4），所述探测机构（4）设置在所述架体（32）上，所述探测机构（4）包括竖向轨道（41），以及沿所述竖向轨道（41）移动的探测器（42）。
  2. 根据权利要求1所述的一种海底监测平台多自由度采样探测机构，其特征在于：所述转盘（1）包括第一圈体（12）和第二圈体（13），所述第一圈体（12）包括所述齿（11），所述第一圈体（12）由塑料制成，所述第二圈体（13）由金属材料制成。
  3. 根据权利要求2所述的一种海底监测平台多自由度采样探测机构，其特征在于：所述转盘（1）上侧设有第一限位件（51），所述转盘（1）下侧与所述第一限位件（51）相对设置有第二限位件（52），所述第一限位件（51）包括与所述第一圈体（12）上表面接触的第一滚轮（511），所述第二限位件（52）包括与所述第二圈体（13）下表面和侧表面接触的第二滚轮（521）。
  4. 根据权利要求3所述的一种海底监测平台多自由度采样探测机构，其特征在于：还包括支架（6），所述支架（6）包括下框体（61），所述下框体（61）上设有横板（62），所述横板（62）上设有竖板（63），所述第一滚轮（511）与所述第二滚轮（521）转动连接在所述竖板（63）上。
  5. 根据权利要求1所述的一种海底监测平台多自由度采样探测机构，其特征在于：所述转盘（1）下侧设有横向丝杠（33）以及两个相互平行的横杆（311），所述架体（32）沿所述横杆（311）移动，所述架体（32）上设有与所述横向丝杠（33）配合以驱动所述架体（32）移动的丝杠电机。
  6. 根据权利要求1所述的一种海底监测平台多自由度采样探测机构，其特征在于：所述架体（32）上设有竖向丝杠（43）、丝杠电机，以及两个相互平行的竖杆（411），所述竖杆（411）上设有所述探测器（42），所述丝杠电机驱动所述竖向丝杠（43）上下移动以带动所述探测器（42）移动。
  7. 根据权利要求1所述的一种海底监测平台多自由度采样探测机构，其特征在于：所述转盘（1）上设有辐条板（14），所述辐条板（14）向所述转盘（1）中部一侧延伸并形成连接部（16），所述辐条板（14）包括侧边（141），所述侧边（141）由所述转盘（1）边缘向中部延伸并越过所述转盘（1）的转轴（15）。
  8. 根据权利要求7所述的一种海底监测平台多自由度采样探测机构，其特征在于：所述连接部（16）上设有转轴（15），所述转轴（15）转动连接在套筒（64）上。
PCT/CN2020/096345 2020-06-09 2020-06-16 一种海底监测平台多自由度采样探测机构 WO2021248513A1 (zh)

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