Centroid Measurement Platform, Measurement System and Method for an Underwater Unmanned Submersible

Abstract

The present invention belongs to the technical field of centroid measurement of underwater unmanned submersibles, and particularly relates to a centroid measurement platform, a measurement system and a method for an underwater unmanned submersible. The centroid measurement platform of the present invention includes a base, a leveling mechanism, two groups of lifting mechanisms, three groups of sensing mechanisms, a support platform, a support rotating part, a horizontal fixing seat, a flipping platform and a flipping driving part. The addition of a controller constitutes the centroid measurement system. The present invention has few components, a simple structure, is easy to process and has few processes. Using the present invention, not only can the centroid of products with different shapes be measured, but also the accuracy of centroid measurement is within 0.1±0.05 mm. The present invention is processed by using standard profiles and welding methods, and the production cost can be reduced by 30%. Using the present invention for measurement, the measurement of the centroid in three directions can be realized with one installation. The present invention also has the characteristic of a large measurement range, and can measure products with a mass ranging from 100 kg to 3000 kg.

Description

Technical Field

[0001] The present invention belongs to the technical field of the centroid measurement of underwater unmanned vehicles, and particularly relates to a centroid measurement platform, a measurement system and a method for an underwater unmanned vehicle. Background Art

[0002] There are two centroid measurement platforms in the current prior art. One is to adopt the centroid distance measurement principle in the horizontal direction: reasonably distribute the installation positions of three weighing sensors on the lower base, and record the relative position dimensions between the installation positions and two direction reference points (the two directions are perpendicular to each other); when the lifting system is turned on, the upper ball head of the centroid measurement platform is in free contact with the lower weighing sensor. According to the relationship between the measured force and the distance, the centroid in the horizontal direction of the object to be measured is calculated. The other is to adopt the centroid distance measurement principle in the height direction: use the thrust generated by the electric cylinder to make the workbench rotate around the rotating main shaft, and stop rotating under the action of the limiting device. A centroid distance measurement in one horizontal direction is carried out according to the centroid measurement dimension principle in the horizontal direction. Calculation is carried out through the trigonometric function relationship formed by the distance and the angle, and the horizontal distance in the inclined state is converted into the centroid distance in the height direction.

[0003] The defects existing in the above centroid measurement platform technology are as follows:

[0004] A. The structure is complex and the centroid measurement in three directions cannot be carried out simultaneously.

[0005] B. The measurement accuracy is low and an accurate centroid cannot be provided for the underwater unmanned vehicle.

[0006] C. The overall structural stability is poor, and the measurement accuracy decreases with the passage of time.

[0007] D. The measurement products are single and the applicable range is small.

[0008] E. The product to be measured needs to be clamped multiple times during the measurement process.

[0009] F. The processing cost is high.

[0010] Due to the above reasons, the centroid measurement platform for underwater unmanned vehicles cannot be mass-produced. Summary of the Invention

[0011] The present invention provides a centroid measurement platform, a measurement system and a method for an underwater unmanned vehicle. One of the purposes is to provide a centroid measurement platform with a simple structure, easy processing, few processes and high measurement accuracy; the second purpose is to provide a centroid measurement platform for an underwater unmanned vehicle with low production cost, convenient measurement, capable of realizing the centroid distance measurement in three directions and a large range in one clamping.

[0012] In order to achieve the above object, the technical solution adopted by the present invention is:

[0013] A centroid measurement platform for an underwater unmanned submersible, comprising:

[0014] Base;

[0015] A leveling mechanism, the leveling mechanism is arranged on the lower surface of the base;

[0016] A lifting mechanism, wherein two sets of lifting mechanisms are provided, and the two sets of lifting mechanisms are connected to the base;

[0017] The sensing mechanism is provided in three groups, and the three groups of sensing mechanisms are detachably connected to the base;

[0018] A supporting platform, the supporting platform is connected to the upper surfaces of the two sets of lifting mechanisms and the three sets of sensor mechanisms;

[0019] A supporting rotating part, which is vertically connected to the middle of the supporting platform;

[0020] A horizontal fixing seat, two of which are provided, the bottoms of which are fixedly connected to the supporting platform and are located on the same side of the supporting rotating part;

[0021] The flip platform, the center position of the lower surface of the flip platform is detachably connected to the supporting rotating part, the lower part of one side of the flip platform is placed on two horizontal fixed seats, the upper surface of the flip platform is connected with a transition plate, and the transition plate is provided with an adapter for connecting with the test piece; the flip platform is horizontally provided with an X-direction reference component and a Y-direction reference component, and the X-direction reference component and the Y-direction reference component are vertically provided;

[0022] The flip driving unit is provided with two groups, the bottom ends of the two groups of flip driving units are fixed on the same side of the horizontal fixing seat provided on the supporting platform, and the top end of each group of flip driving units is rotatably and detachably connected to the side wall of the flip platform.

[0023] The base is a rectangular steel frame structure; four elevator connection holes for connecting the lifting mechanism and three sensor connection holes for connecting the sensing mechanism are symmetrically opened on the base.

[0024] The leveling mechanism described above includes a plurality of leveling seats and a plurality of leveling pads; one leveling pad is connected to each leveling seat; the plurality of leveling seats are evenly arranged around the base; the X-direction reference component includes an X-direction reference member and an X-direction tightening plate, and the Y-direction reference component includes a Y-direction reference member and a Y-direction tightening plate; the flipping platform is a rectangular plate, and an X-direction reference member and a Y-direction reference member are respectively arranged on two adjacent sides of the rectangular plate, an X-direction tightening plate is arranged on the opposite side of the side where the X-direction reference member is arranged, and a Y-direction tightening plate is arranged on the opposite side of the side where the Y-direction reference member is arranged; tightening screws are arranged at both ends of the X-direction tightening plate and the Y-direction tightening plate; the X-direction tightening plate tightens the X-direction reference member on the transition plate through the tightening screws, and the Y-direction tightening plate tightens the Y-direction reference member on the transition plate through the tightening screws.

[0025] The lifting mechanism described above includes a reduction motor, two lift seats, two lifts, a travel switch, and a transmission mechanism; the transmission mechanism includes a steering gear and two transmission rods, the two transmission rods are symmetrically connected to both sides of the steering gear, and each of the two transmission rods is connected to a lift; the top of each lift is connected to the support platform, and the bottom of each lift is fixed to the base through the lift seat; the travel switch includes an upper limit switch, a lower limit switch, a driven dial, and a connecting rod, the upper limit switch and the lower limit switch are connected to the connecting rod from top to bottom, one end of the driven dial is fixed to the top of the lift, and the other end of the driven dial is placed between the upper limit switch and the lower limit switch; the lower end of the connecting rod is fixed to the lift seat.

[0026] It further includes an anti-disengagement mechanism and a top block seat; the top of the lift is connected to the anti-disengagement mechanism, and the anti-disengagement mechanism is connected to the support platform through the top block seat; the anti-disengagement mechanism includes an anti-disengagement cap and a conical seat, the anti-disengagement cap is a plate-like structure with a frustum-shaped through hole in the middle, and the conical seat is a frustum body matching the frustum-shaped through hole on the anti-disengagement cap; the anti-disengagement cap is fixed to the lower surface of the support platform, and the conical seat is fixedly connected to the upper end surface of the lift.

[0027] The sensing mechanism described above includes a sensor pad, a sensor seat, a load cell, and a ball head assembly; the load cell is vertically and detachably connected to the base through the sensor seat; a sensor pad is arranged at the upper end of the load cell; the ball head assembly is fixedly connected to the lower surface of the support platform and is located directly above the load cell; the ball head assembly includes a ball head seat, a ball head cover, a steel ball, a connecting screw, and a contact head, the connecting screw is connected to the upper end of the contact head, the lower end of the contact head is connected to a steel ball through the ball head seat, the ball head cover is arranged between the ball head seat and the steel ball, and the upper end of the connecting screw is connected to the support platform.

[0028] The described support rotating part includes an upper support rotating seat, a lower support rotating seat, a rotating shaft, a rotating heightening seat, and a bearing; the upper support rotating seat and the lower support rotating seat are arranged vertically, and the upper support rotating seat is rotatably connected to the lower support rotating seat through the rotating shaft; the upper part of the rotating heightening seat is detachably connected to the lower support rotating seat, and the lower part of the rotating heightening seat is connected to the support platform through the bearing; the upper support rotating seat is detachably connected to the flipping platform through the bearing.

[0029] The described flipping driving part includes an electric push rod, a bottom connecting seat of the electric push rod, a top connecting seat of the electric push rod, an angle limit switch, and a touch rod; the lower end of the electric push rod is rotatably connected to one side of the horizontal fixed seat arranged on the support platform through the bottom connecting seat of the electric push rod; the upper part of the electric push rod is rotatably and detachably connected to the flipping platform through the top connecting seat of the electric push rod; the angle limit switch is fixed on the support platform and is located on the opposite side of the side where the horizontal fixed seat is located; one end of the touch rod is connected to the angle limit switch, and the other end of the touch rod is connected to the top end of the electric push rod.

[0030] A centroid measurement system for an underwater unmanned submersible at least includes a centroid measurement platform of the underwater unmanned submersible, and also includes a controller; the controller is electrically connected to a lifting mechanism, a sensing mechanism, and a flipping driving part in the centroid measurement platform of the underwater unmanned submersible; the controller at least includes a data acquisition module, a data calculation module, and a control signal sending module, which are used to acquire data in the sensing mechanism and calculate to realize the control of the lifting mechanism and the flipping driving part.

[0031] A measurement method for a centroid measurement system of an underwater unmanned submersible is characterized by including the following steps

[0032] Step 1: Input the weight of the workpiece to be measured, the position set by the sensing mechanism, and the distances from the X-direction reference component and the Y-direction reference component set on the flipping platform into the controller.

[0033] Step 2: Fix the workpiece to be measured on the transition plate on the flipping platform through an adapter.

[0034] Step 3: The controller controls the lifting mechanism to start, and the lifting mechanism descends so that the sensing mechanism contacts the support platform. When the support platform reaches the lower limit of the preset position, the lifting mechanism stops working.

[0035] Step 4: The sensing mechanism acquires the gravity value and sends it to the controller. The controller calculates the X-direction and Y-direction torques according to the acquired gravity value data.

[0036] Step 5: The lifting mechanism starts, and the lifting mechanism ascends so that the sensing mechanism separates from the support platform. After the support platform is reset, the lifting mechanism stops working.

[0037] Step Six: The controller controls the flipping drive unit to start, driving the flipping platform to rotate around the support rotating part. When it rotates to the preset 15°, the flipping drive unit stops working;

[0038] Step Seven: The controller controls the lifting mechanism to start, and the lifting mechanism descends, making the sensing mechanism contact the support platform. When the support platform reaches the lower limit of the preset position, the lifting mechanism stops working;

[0039] Step Eight: The sensing mechanism obtains the gravity value at this time and sends it to the controller. The controller calculates the Z-direction moment based on the obtained gravity value data;

[0040] Step Nine: The controller controls the flipping drive unit to start, driving the flipping platform to rotate and reset around the support rotating part. When the flipping platform rotates to the horizontal position, the flipping drive unit stops working;

[0041] Step Ten: The lifting mechanism starts, and the lifting mechanism ascends, separating the sensing mechanism from the support platform. After the support platform is reset, the lifting mechanism stops working, and the centroid measurement ends.

[0042] Beneficial effects:

[0043] (1) The centroid measurement platform of the present invention includes a base, a leveling mechanism, two groups of lifting mechanisms, three groups of sensing mechanisms, a support platform, a support rotating part, a horizontal fixing seat, a flipping platform, and a flipping drive unit. The addition of the controller constitutes a centroid measurement system. The present invention has few components, a simple structure, is easy to process, and has few processes.

[0044] (2) The present invention can not only measure the centroid of products with different shapes, but also the accuracy of centroid measurement is within 0.1 ± 0.05 mm.

[0045] (3) The present invention selects standard profiles and welding methods for processing, and the production cost can be reduced by 30%.

[0046] (4) When the present invention performs measurement, the measurement of the centroid distances in three directions can be achieved with only one clamping.

[0047] (5) The present invention has the characteristic of a large measurement range and can measure products with a mass ranging from 100 kg to 3000 kg.

[0048] (6) By replacing the flipping platform and the weighing sensor, the present invention can achieve the centroid measurement of different products, achieving the purpose of multi-purpose use of one machine.

[0049] The above description is only an overview of the technical solution of the present invention. In order to understand the technical means of the present invention more clearly and implement it according to the content of the specification, the following provides a detailed description of the preferred embodiments of the present invention. Description of the Drawings

[0050] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0051] Figure 1 It is a structural front view of the present invention;

[0052] Figure 2 It is a top view of the structure of the present invention;

[0053] Figure 3 It is a schematic diagram of the installation and contact plane of the weighing sensor of the present invention;

[0054] Figure 4 It is a schematic diagram of the anti-escape structure in the lifting mechanism of the present invention;

[0055] Figure 5 It is a schematic diagram of the transmission mechanism of the present invention;

[0056] Figure 6 It is a schematic diagram of the limiting device of the present invention;

[0057] Figure 7 It is a schematic diagram of the flipping mechanism of the present invention;

[0058] Figure 8 It is a schematic diagram of the base structure of the present invention;

[0059] Figure 9 It is a schematic diagram of the structure of the ball head assembly in the sensing mechanism of the present invention;

[0060] Figure 10 It is a front view of the supporting rotating part structure in the present invention;

[0061] Figure 11 It is a side view of the supporting rotating part structure in the present invention;

[0062] Figure 12 It is a structural side view of the present invention.

[0063] In the figure: 1 - leveling mechanism; 2 - base; 3 - support platform; 4 - bottom connecting seat of electric push rod; 5 - top connecting seat of electric push rod; 6 - flipping platform; 7 - X-direction reference part; 8 - travel switch; 9 - ball head assembly; 10 - support rotating part; 11 - transition plate; 12 - X-direction top pressing plate; 13 - sensor cushion block; 14 - angle limit switch; 15 - sensor seat; 16 - top block seat; 17 - anti-disengagement mechanism; 18 - lift seat; 19 - Y-direction reference part; 20 - top connecting shaft of push rod; 21 - bottom connecting shaft of push rod; 22 - horizontal fixing seat; 23 - Y-direction top pressing plate; 24 - electric push rod; 25 - weighing sensor; 26 - reduction motor; 27 - lift; 28 - transmission mechanism; 29 - sensor connection hole; 30 - lift connection hole; 31 - ball head seat; 32 - ball head cover; 33 - steel ball; 34 - connecting screw; 35 - upper support rotating seat; 36 - lower support rotating seat; 37 - rotating shaft; 38 - spacer; 39 - rotating heightening seat; 40 - bearing; 41 - anti-out cap; 42 - conical seat; 43 - contact; 44 - transmission rod; 45 - steering gear; 46 - upper limit switch; 47 - lower limit switch; 48 - driven flap; 49 - connecting rod; 50 - touch rod; 51 - adapter.

[0064] The above description is only an overview of the technical solution of the present invention. In order to understand the technical means of the present invention more clearly and be able to implement it according to the content of the specification, the following provides a detailed description through the preferred embodiments of the present invention. Detailed implementation manners

[0065] Next, the technical solution of the present invention will be described clearly and completely in conjunction with the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0066] Embodiment 1:

[0067] Referring to Figures 1 - 12 A centroid measurement platform of an underwater unmanned submersible shown, including

[0068] Base 2;

[0069] Leveling mechanism 1, the leveling mechanism 1 is arranged on the lower surface of the base 2;

[0070] Lifting mechanism, two groups of lifting mechanisms are arranged, and the two groups of lifting mechanisms are connected to the base 2;

[0071] Sensing mechanism, three groups of sensing mechanisms are arranged, and the three groups of sensing mechanisms are detachably connected to the base 2;

[0072] A support platform 3, the support platform 3 is connected to the upper surfaces of the two sets of lifting mechanisms and the three sets of sensor mechanisms;

[0073] A supporting rotating part 10, wherein the supporting rotating part 10 is vertically connected to the middle part of the supporting platform 3;

[0074] A horizontal fixing seat 22, two horizontal fixing seats 22 are provided, and the bottoms of the two horizontal fixing seats 22 are fixedly connected to the supporting platform 3 and are located on the same side of the supporting rotating part 10;

[0075] The flip platform 6, the center position of the lower surface of the flip platform 6 is detachably connected to the supporting rotating part 10, the lower part of one side of the flip platform 6 is placed on two horizontal fixed seats 22, the upper surface of the flip platform 6 is connected with a transition plate 11, and the transition plate 11 is provided with an adapter 51 for connecting with the test piece; the flip platform 6 is horizontally provided with an X-direction reference component and a Y-direction reference component, and the X-direction reference component and the Y-direction reference component are vertically provided;

[0076] The flipping driving unit is provided with two groups, the bottom ends of the two groups of flipping driving units are fixed on the same side of the horizontal fixing seat 22 of the supporting platform 3, and the top end of each group of flipping driving units is rotatably and detachably connected to the side wall of the flipping platform 6.

[0077] In actual use, in order to ensure the accuracy of measurement, before testing, the center of mass measurement platform of the underwater unmanned submersible is firstly leveled by the leveling mechanism 1.

[0078] When the centroid of the test piece needs to be measured, the test piece is first fixed on the transition plate 11 on the flip platform 6 through the adapter 51 . Then, the lifting mechanism is started to descend, so that the sensing mechanism contacts the support platform 3. When the support platform 3 reaches the lower limit of the preset position, the lifting mechanism stops working; the sensing mechanism obtains the gravity value at this time and sends it to the controller of the external device for controlling the center of mass measurement platform of the underwater unmanned submersible to calculate the torque values ​​in the X and Y directions; then, the lifting mechanism is started and rises, so that the sensing mechanism is separated from the support platform 3. When the support platform 3 reaches the upper limit of the preset position, the lifting mechanism stops working; the flip drive unit is started to drive the flip platform 6 to rotate around the support rotating part 10. When it rotates to the preset 15°, the drive unit starts to stop working. At the same time, the sensing mechanism obtains the gravity value at this time and sends it to the controller. The controller calculates the Z-direction torque according to the obtained gravity value data; then, the flip drive unit is started to drive the flip platform 6 to rotate and reset around the support rotating part 10. When it rotates to the level of the flip platform 6, the flip drive unit stops working; then, the lifting mechanism is started and rises, so that the sensing mechanism is separated from the support platform 3. After the support platform 3 is reset, the lifting mechanism stops working.

[0079] In this embodiment, the base, the leveling mechanism, the two sets of lifting mechanisms, the support platform, the support rotating part, the horizontal fixing base, the flipping platform and the flipping driving part are designed to have sufficient strength and stiffness to ensure safe measurement. When connecting components, after welding the components that need to be welded and fixed, artificial aging is required to thoroughly release the residual stress of the welded parts. To ensure safety, the structural stability of the centroid measurement platform can also be analyzed by the finite element analysis method of the existing technology, and the design parameters can be optimized to improve the overall stiffness and strength of the centroid measurement platform.

[0080] In this embodiment, the flipping platform 6 and the sensing mechanism are replaced to achieve the centroid measurement of different products, so as to achieve the purpose of multi-purpose use of one device.

[0081] Through the construction of two-level platforms of the flipping platform 6 and the support platform 3, the present invention conveniently realizes the up-and-down displacement and angular rotation of the test piece placed on the flipping platform 6, and realizes the accurate measurement of the centroid distances of the test piece in the X, Y, and Z directions of the centroid.

[0082] Embodiment 2:

[0083] Refer to Figure 1 、 Figure 2 and Figure 8 As shown in a centroid measurement platform of an underwater unmanned submersible, on the basis of Embodiment 1, the base 2 is a steel rectangular frame structure; four lift connecting holes 30 for connecting the lifting mechanism and three sensor connecting holes 29 for connecting the sensing mechanism are symmetrically opened on the base 2.

[0084] In actual use, the base 2 is cut from Q235 low-carbon steel channel steel and formed by carbon dioxide gas shielded welding; after the weighing sensor 25 is installed on the support platform 3 and the plane to be welded is completed, artificial aging is carried out to release the residual stress, and then they are processed uniformly to ensure that the strength of the present invention meets the requirements.

[0085] The lift connecting holes 30 and the sensor connecting holes 29 are opened on the base 2, making the connection of the lift and the weighing sensor 25 more convenient and accurately positioned, so as to ensure the accuracy of centroid measurement.

[0086] Embodiment 3:

[0087] Refer to Figure 1 and Figure 12A centroid measurement platform for an underwater unmanned submersible. On the basis of Embodiment 1, the leveling mechanism 1 includes a plurality of leveling seats and a plurality of leveling pads; one leveling pad is connected to each leveling seat; the plurality of leveling seats are evenly arranged around the base 2; the X-direction reference assembly includes an X-direction reference member 7 and an X-direction tightening plate 12, and the Y-direction reference assembly includes a Y-direction reference member 19 and a Y-direction tightening plate 23; the flipping platform 6 is a rectangular plate, and an X-direction reference member 7 and a Y-direction reference member 19 are respectively arranged on two adjacent sides of the rectangular plate. An X-direction tightening plate 12 is arranged on the opposite side of the side where the X-direction reference member 7 is arranged, and a Y-direction tightening plate 23 is arranged on the opposite side of the side where the Y-direction reference member 19 is arranged; tightening screws are arranged at both ends of the X-direction tightening plate 12 and the Y-direction tightening plate 23; the X-direction tightening plate 12 tightens the X-direction reference member 7 on the transition plate 11 through the tightening screws, and the Y-direction tightening plate 23 tightens the Y-direction reference member 19 on the transition plate 11 through the tightening screws.

[0088] During actual use, the leveling mechanism 1 adopts this technical solution to ensure the overall level of the centroid measurement platform, thereby guaranteeing the measurement accuracy.

[0089] In specific applications, after the workpiece to be measured is fixed on the transition plate 11 on the flipping platform 6 through the adapter 51, it is necessary to screw the tightening screws to make the X-direction tightening plate 12, the X-direction reference member 7, the Y-direction tightening plate 23 and the Y-direction reference member 19 tighten on the transition plate 11, so that the subsequent measurement results are more accurate.

[0090] Embodiment 4:

[0091] Referring to Figure 1 、 Figure 2 、 Figure 5 and Figure 6 A centroid measurement platform for an underwater unmanned submersible. On the basis of Embodiment 1, the lifting mechanism includes a reduction motor 26, two lift seats 18, two lifts 27, a travel switch 8 and a transmission mechanism 28; the transmission mechanism 28 includes a steering gear 45 and two transmission rods 44, the two transmission rods 44 are symmetrically connected to both sides of the steering gear 45, and each of the two transmission rods 44 is connected to a lift 27; the top of each lift 27 is connected to the support platform 3, and the bottom of each lift 27 is fixed to the base 2 through the lift seat 18; the travel switch 8 includes an upper limit switch 46, a lower limit switch 47, a driven dial 48 and a connecting rod 49. The upper limit switch 46 and the lower limit switch 47 are connected to the connecting rod 49 from top to bottom. One end of the driven dial 48 is fixed to the top end of the lift 27, and the other end of the driven dial 48 is placed between the upper limit switch 46 and the lower limit switch 47; the lower end of the connecting rod 49 is fixed to the lift seat 18.

[0092] During actual use, when it is necessary to move the tilting platform 6 up and down for measurement, the reduction motor 26 is started, driving the steering gear 45 to work, driving the transmission rod 44 to rotate, thereby driving the elevator 27 to lift or lower. Under the action of the elevator 27, the lifting of the support platform 3 is realized, so that the tilting platform 6 connected to the support platform 3 realizes lifting and lowering, meeting the need for the centroid measurement of the test piece placed on the tilting platform 6.

[0093] The travel switch 8 provided in this embodiment is to stop the reduction motor 26 from working when the up and down displacement of the elevator 27 reaches the preset value, ensuring safe and accurate measurement results. When presetting the displacement value, it is necessary to ensure that the weighing sensor 25 collects favorable data under the compressed state and for a short and effective time, avoiding the decline of the measurement accuracy caused by the long-term force on the weighing sensor 25.

[0094] Embodiment Five:

[0095] Refer to Figure 1 and Figure 4 A centroid measurement platform for an underwater unmanned submersible shown in, on the basis of Embodiment Four, further includes an anti-disengagement mechanism 17 and a top block seat 16; the top end of the elevator 27 is connected to the anti-disengagement mechanism 17, and the anti-disengagement mechanism 17 is connected to the support platform 3 through the top block seat 16; the anti-disengagement mechanism 17 includes an anti-removal cap 41 and a conical seat 42, the anti-removal cap 41 is a plate-like structure with a frustum-shaped through hole in the middle, and the conical seat 42 is a frustum body matching the frustum-shaped through hole on the anti-removal cap 41; the anti-removal cap 41 is fixed on the lower surface of the support platform 3, and the conical seat 42 is fixedly connected to the upper end surface of the elevator 27.

[0096] During actual use, when the elevator 27 moves, the conical seat 42 moves up and down along the frustum-shaped through hole in the anti-removal cap 41, effectively controlling the ejection position of the support platform 3, and at the same time preventing disengagement due to the loss of center of gravity instability, avoiding upper overturning caused by uneven supporting force, and ensuring the safety of the use of the centroid measurement platform.

[0097] Embodiment Six:

[0098] Refer to Figure 1 、 Figure 3 and Figure 9A centroid measurement platform for an underwater unmanned submersible, based on Embodiment 1, wherein the sensing mechanism includes a sensor cushion block 13, a sensor seat 15, a load cell 25, and a ball head assembly 9; the load cell 25 is vertically and detachably connected to the base 2 through the sensor seat 15; a sensor cushion block 13 is arranged at the upper end of the load cell 25; the ball head assembly 9 is fixedly connected to the lower surface of the support platform 3 and is located directly above the load cell 25; the ball head assembly 9 includes a ball head seat 31, a ball head cover 32, a steel ball 33, a connecting screw 34, and a contact head 43. The connecting screw 34 is connected to the upper end of the contact head 43. The lower end of the contact head 43 is connected with a steel ball 33 through the ball head seat 31. The ball head cover 32 is arranged between the ball head seat 31 and the steel ball 33. The upper end of the connecting screw 34 is connected to the support platform 3.

[0099] During actual use, it is necessary to ensure that the three load cells 25 connected to the support platform 3 are stressed simultaneously.

[0100] When the lifting mechanism is activated and the elevator 27 moves downward, after the steel ball 33 arranged on the lower surface of the support platform 3 contacts the load cell 25, the lifting mechanism stops, and the three load cells 25 start to acquire gravity data.

[0101] In this embodiment, the contact parts with the load cell 25 adopt a ball head design and are processed with high-hardness materials to form point contact, improving the accuracy of distance dimensions; reducing the measurement error caused by the soft material of the contact parts being deformed under pressure.

[0102] Embodiment 7:

[0103] Referring to Figure 1 、 Figure 10 and Figure 11 A centroid measurement platform for an underwater unmanned submersible, based on Embodiment 1, wherein the support and rotation part 10 includes an upper support and rotation seat 35, a lower support and rotation seat 36, a rotating shaft 37, a rotating heightening seat 39, and a bearing 40; the upper support and rotation seat 35 and the lower support and rotation seat 36 are arranged up and down, and the upper support and rotation seat 35 and the lower support and rotation seat 36 are rotatably connected through the rotating shaft 37; the upper part of the rotating heightening seat 39 is detachably connected to the lower support and rotation seat 36, and the lower part of the rotating heightening seat 39 is connected to the support platform 3 through the bearing 40; the upper support and rotation seat 35 is detachably connected to the flipping platform 6 through the bearing 40.

[0104] During actual use, when the electric push rod 24 in the flipping drive part works, it pushes the flipping platform 6, and the flipping platform 6 rotates around the rotating shaft 37. The support and rotation part 10 and the two groups of flipping drive parts form a triangular support, providing stiffness and strength support for the tilted flipping platform 6 to ensure the consistency of repeated measurements.

[0105] In specific applications, a spacer 38 is provided between the bearing 40 and the upper support rotating seat 35, and between the bearing 40 and the lower support rotating seat 36. The provision of the spacer 38 effectively prevents the bearing 40 from moving axially along the rotating shaft 37.

[0106] Example Eight:

[0107] Referring to Figure 1 、 Figure 7 and Figure 12 A centroid measurement platform of an underwater unmanned submersible shown, on the basis of Example One, the flipping drive part includes an electric push rod 24, an electric push rod bottom connecting seat 4, an electric push rod top connecting seat 5, an angle limit switch 14 and a touch rod 50; the lower end of the electric push rod 24 is rotatably connected to one side of the support platform 3 provided with a horizontal fixed seat 22 through the electric push rod bottom connecting seat 4; the upper part of the electric push rod 24 is rotatably and detachably connected to the flipping platform 6 through the electric push rod top connecting seat 5; the angle limit switch 14 is fixed on the support platform 3 and is located on the opposite side of the side where the horizontal fixed seat 22 is located; one end of the touch rod 50 is connected to the angle limit switch 14, and the other end of the touch rod 50 is rotatably connected to the top end of the electric push rod 24.

[0108] During actual use, a push rod top connecting shaft 20 is provided on the electric push rod top connecting seat 5. Through the push rod top connecting shaft 20, the upper part of the electric push rod 24 is rotatably connected to the flipping platform 6; a push rod bottom connecting shaft 21 is provided on the electric push rod bottom connecting seat 4. Through the push rod bottom connecting shaft 21, the lower part of the electric push rod 24 is rotatably connected to the support platform 3.

[0109] When the centroid measurement requires the flipping platform 6 to be flipped, the electric push rod 24 is activated. The electric push rod 24 pushes out its push rod, driving the flipping platform 6 to rotate around the rotating shaft 37 in the support rotating part 10. When the rotation angle reaches the preset value, the electric push rod 24 stops working. After the sensing mechanism obtains relevant data, the electric push rod 24 is activated to retract its push rod. When the acute angle formed by the touch rod 50 and the flipping platform 6 reaches 15°, the electric push rod 24 stops working.

[0110] The provision of the angle limit switch 14 ensures that the flipping drive part can work smoothly and safely.

[0111] Example Nine:

[0112] Referring to Figures 1 - 12A centroid measurement platform for an underwater unmanned submersible, on the basis of Embodiment 1, the base 2 is a rectangular frame structure made of steel; four elevator connection holes 30 for connecting the lifting mechanism and three sensor connection holes 29 for connecting the sensing mechanism are symmetrically opened on the base 2; the leveling mechanism 1 includes a plurality of leveling seats and a plurality of leveling pads; each leveling seat is connected with a leveling pad; the plurality of leveling seats are evenly arranged around the base 2; the X-direction reference assembly includes an X-direction reference member 7 and an X-direction tightening plate 12, and the Y-direction reference assembly includes a Y-direction reference member 19 and a Y-direction tightening plate 23; the flipping platform 6 is a rectangular plate, and an X-direction reference member 7 and a Y-direction reference member 19 are respectively arranged on two adjacent sides of the rectangular plate, an X-direction tightening plate 12 is arranged on the opposite side of the X-direction reference member 7, and a Y-direction tightening plate 23 is arranged on the opposite side of the Y-direction reference member 19; tightening screws are arranged at both ends of the X-direction tightening plate 12 and the Y-direction tightening plate 23; the X-direction tightening plate 12 tightens the X-direction reference member 7 on the transition plate 11 through the tightening screw, and the Y-direction tightening plate 23 tightens the Y-direction reference member 19 on the transition plate 11 through the tightening screw; the lifting mechanism includes a reduction motor 26, two elevator seats 18, two elevators 27, a travel switch 8, a transmission mechanism 28, an anti-disengagement mechanism 17 and a top block seat 16, the transmission mechanism 28 includes a steering gear 45 and two transmission rods 44, the two transmission rods 44 are symmetrically connected to both sides of the steering gear 45, and each of the two transmission rods 44 is connected with an elevator 27; the top of each elevator 27 is connected with the support platform 3, and the bottom of each elevator 27 is fixed on the base 2 through the elevator seat 18; the travel switch 8 includes an upper limit switch 46, a lower limit switch 47, a driven dial 48 and a connecting rod 49, the upper limit switch 46 and the lower limit switch 47 are connected to the connecting rod 49 from top to bottom, one end of the driven dial 48 is fixed at the top end of the elevator 27, and the other end of the driven dial 48 is placed between the upper limit switch 46 and the lower limit switch 47; the lower end of the connecting rod 49 is fixed on the elevator seat 18; the top end of the elevator 27 is connected with the anti-disengagement mechanism 17, and the anti-disengagement mechanism 17 is connected with the support platform 3 through the top block seat 16; the anti-disengagement mechanism 17 includes an anti-disengagement cap 41 and a tapered seat 42, the anti-disengagement cap 41 is a plate-like structure with a frustum-shaped through hole in the middle, and the tapered seat 42 is a frustum body matching the frustum-shaped through hole on the anti-disengagement cap 41; the anti-disengagement cap 41 is fixed on the lower surface of the support platform 3, and the tapered seat 42 is fixedly connected to the upper end surface of the elevator 27; three sets of sensing mechanisms are provided, and the three sets of sensing mechanisms are arranged in an equilateral triangle on the base 2. Each set of sensing mechanism includes a sensor pad 13, a sensor seat 15, a load cell 25 and a ball head assembly 9; the load cell 25 is vertically and detachably connected to the base 2 through the sensor seat 15; a sensor pad 13 is arranged at the upper end of the load cell 25;The described ball head assembly 9 is fixedly connected to the lower surface of the support platform 3 and is located directly above the load cell 25; the ball head assembly 9 includes a ball head seat 31, a ball head cover 32, a steel ball 33, a screw 34, and a contact head 43. The screw 34 is connected to the upper end of the contact head 43. The lower end of the contact head 43 is connected to a steel ball 33 through the ball head seat 31. The ball head cover 32 is arranged between the ball head seat 31 and the steel ball 33. The upper end of the screw 34 is connected to the support platform 3; the support and rotation part 10 includes an upper support and rotation seat 35, a lower support and rotation seat 36, a rotating shaft 37, a rotation elevation seat 39, and a bearing 40; the upper support and rotation seat 35 and the lower support and rotation seat 36 are arranged one above the other. The upper support and rotation seat 35 is rotatably connected to the lower support and rotation seat 36 through the rotating shaft 37; the upper part of the rotation elevation seat 39 is detachably connected to the lower support and rotation seat 36. The lower part of the rotation elevation seat 39 is connected to the support platform 3 through the bearing 40; the upper support and rotation seat 35 is detachably connected to the flipping platform 6 through the bearing 40; the flipping drive part includes an electric push rod 24, an electric push rod bottom connecting seat 4, an electric push rod top connecting seat 5, an angle limit switch 14, and a touch rod 50; the lower end of the electric push rod 24 is rotatably connected to one side of the support platform 3 where a horizontal fixed seat 22 is arranged through the electric push rod bottom connecting seat 4; the upper part of the electric push rod 24 is rotatably and detachably connected to the flipping platform 6 through the electric push rod top connecting seat 5; the angle limit switch 14 is fixed on the support platform 3 and is located on the opposite side of the side where the horizontal fixed seat 22 is located; one end of the touch rod 50 is connected to the angle limit switch 14, and the other end of the touch rod 50 is connected to the top end of the electric push rod 24.;

[0113] In this embodiment, 2 deceleration motors 26 with a power of 0.37KW and 2 electric push rods 24 with a force of 12000N are adopted. The 2 deceleration motors 26 convert electrical energy into kinetic energy and provide up and down kinetic energy for the centroid measurement platform through a transmission mechanism and a lift. The 2 electric push rods 24 convert electrical energy into kinetic energy and provide flipping power for the flipping platform 6 through a rotating bearing.

[0114] The deceleration motor 26 in this embodiment is a Boren deceleration explosion-proof motor.

[0115] In specific applications, the more load cells 25 are set, the better. However, from an economic perspective, setting three load cells 25 is both economical and can meet the test requirements.

[0116] Embodiment Ten:

[0117] Refer to Figures 1 - 12A centroid measurement system for an underwater unmanned submersible, including a centroid measurement platform of the underwater unmanned submersible, further including a controller; the controller is electrically connected to a lifting mechanism, a sensing mechanism, and a flipping drive unit in the centroid measurement platform of the underwater unmanned submersible; the controller at least includes a data acquisition module, a data calculation module, and a control signal sending module, which are used to acquire data in the sensing mechanism and calculate, so as to realize the control of the lifting mechanism and the flipping drive unit.

[0118] During actual use, the controller receives in real time the data acquired by the sensing mechanism, and through calculation, precisely controls the lifting mechanism and the flipping drive unit in the centroid measurement platform of the underwater unmanned submersible, so as to realize the precise measurement of the centroid of the test piece to be tested.

[0119] The data acquisition and sending module and the calculation module in the controller can both adopt existing technologies, and any module that can realize data acquisition, calculation of the acquired data, and sending of control signals can be used.

[0120] Example Eleven:

[0121] Refer to Figures 1 - 12 As shown, a measurement method for a centroid measurement system of an underwater unmanned submersible includes the following steps

[0122] Step 1: Input the weight of the test piece to be tested, the position set by the sensing mechanism, and the distances from the X-direction reference component and the Y-direction reference component set on the flipping platform 6 into the controller;

[0123] Step 2: Fix the test piece to be tested on the transition plate 11 on the flipping platform 6 through the adapter 51;

[0124] Step 3: The controller controls the lifting mechanism to start, and the lifting mechanism descends to make the sensing mechanism contact the support platform 3. When the support platform 3 reaches the lower limit of the preset position, the lifting mechanism stops working;

[0125] Step 4: The sensing mechanism acquires the gravity value and sends it to the controller. The controller calculates the X-direction and Y-direction torques based on the acquired gravity value data;

[0126] Step 5: The lifting mechanism starts, and the lifting mechanism ascends to separate the sensing mechanism from the support platform 3. After the support platform 3 is reset, the lifting mechanism stops working;

[0127] Step 6: The controller controls the flipping drive unit to start, driving the flipping platform 6 to rotate around the support rotating part 10. When it rotates to the preset 15°, the flipping drive unit stops working;

[0128] Step Seven: The controller controls the lifting mechanism to start, and the lifting mechanism descends, causing the sensing mechanism to contact the support platform 3. When the support platform 3 reaches the lower limit of the preset position, the lifting mechanism stops working;

[0129] Step Eight: The sensing mechanism obtains the gravity value at this time and sends it to the controller. The controller calculates the Z-direction moment based on the obtained gravity value data;

[0130] Step Nine: The controller controls the flipping drive unit to start, driving the flipping platform 6 to rotate and reset around the support rotating part 10. When the flipping platform 6 rotates to the horizontal position, the flipping drive unit stops working;

[0131] Step Ten: The lifting mechanism starts, and the lifting mechanism ascends, separating the sensing mechanism from the support platform 3. After the support platform 3 is reset, the lifting mechanism stops working, and the centroid measurement ends.

[0132] In specific applications, first, input the weight of the component to be measured and the distance values between the load cell 25 in the sensing mechanism and the X-direction reference member 7 and the Y-direction reference member 19 into the controller; then, fix the component to be measured on the transition plate 11 on the flipping platform 6 through the adapter 51; subsequently, screw the tightening screw to make the X-direction pressing plate 12, the X-direction reference member 7, the Y-direction pressing plate 23 and the Y-direction reference member 19 press tightly on the transition plate 11; the controller controls the reduction motor 26 in the lifting mechanism to start, and the reduction motor 26 drives the elevator 27 to descend with a torque of 0.35 - 0.39 KN, so that the sensing mechanism contacts the support platform 3. When the support platform 3 reaches the lower limit of the preset position, the travel switch 8 in the lifting mechanism starts, and the elevator 27 in the lifting mechanism stops working. At the same time, the load cell 25 in the sensing mechanism obtains the gravity value and sends it to the controller. The controller calculates the X-direction and Y-direction torques based on the obtained gravity value data, and completes the measurement of the X-direction and Y-direction mass centers; then, the controller controls the electric push rod 24 in the flipping drive part to extend, driving the flipping platform 6 to rotate around the support rotating part 10. When it rotates to the preset 15°, the touch rod 50 touches the angle limit switch 14, and the electric push rod 24 stops working; then, the controller controls the reduction motor 26 in the lifting mechanism to start, and the reduction motor 26 drives the elevator 27 to descend with a torque of 0.35 - 0.39 KN, so that the sensing mechanism contacts the support platform 3. When the support platform 3 reaches the lower limit of the preset position, the travel switch 8 in the lifting mechanism starts, and the elevator 27 in the lifting mechanism stops working. At the same time, the load cell 25 in the sensing mechanism obtains the gravity value at this time and sends it to the controller. The controller calculates the Z-direction torque based on the obtained gravity value data; subsequently, the controller controls the electric push rod 24 in the flipping drive part to retract, driving the flipping platform 6 to rotate and reset around the support rotating part 10. When the flipping platform 6 rotates to the horizontal position, the touch rod 50 touches the angle limit switch 14, and the electric push rod 24 in the flipping drive part stops working; then, the reduction motor 26 in the lifting mechanism starts, and the reduction motor 26 drives the elevator 27 to rise with a torque of 0.35 - 0.39 KN, so that the sensing mechanism is separated from the support platform 3. After the support platform 3 is reset, the elevator 27 in the lifting mechanism stops working, and the whole process of measuring the mass center of the component to be measured is completed.

[0133] In this embodiment, when the controller calculates the torque, the existing torque calculation method in the prior art is adopted.

[0134] The principle of mass center calculation is as follows:

[0135] In the mass center measurement platform of the underwater unmanned submersible, the set positions of the load cells 25 are determined. Therefore, the distances from the three load cells 25 to the X-direction reference member 7 and to the Y-direction reference member 19 are determined, and the weight of the component to be measured is known.

[0136] For the convenience of description, the tipping platform 6, support platform 3, support rotating part 10, horizontal fixing base 22, tipping platform 6 and tipping driving part carried on the upper parts of the three weighing sensors are collectively referred to as the centroid acquisition part.

[0137] It is set that the distances from the three weighing sensors to the X-direction reference part 7 are L 1X , L 2X , L 3X , and the distances from the three weighing sensors to the Y-direction reference part 19 are L 1Y , L 2Y , L 3Y ; when the three weighing sensors obtain the gravity of the centroid acquisition part in the horizontal state as F 1P , F 2P , F 3P ; after connecting the test piece to the centroid acquisition part, the gravity in the horizontal state is F1, F2, F3 respectively, the weight of the test piece is G, the distance L X between the test piece and the X-direction reference part 7, and the distance L Y

[0138] Then the weight G P of the centroid acquisition part is calculated by the formula: G p = F 1P + F 2P + F 3P ,

[0139] The X-direction moment of the centroid acquisition part = F 1P × L 1X + F 2P × L 2X + F 3P × L 3X

[0140] The Y-direction moment of the centroid acquisition part = F 1P × L 1Y + F 2P × L 2Y + F 3P × L 3Y

[0141] After connecting the test piece to the tipping platform 6,

[0142] The X-direction moment of the test piece = G × L X = (F1 × L 1X + F2 × L 2X + F3 × L 3X ) - (F 1P × L 1X + F 2P × L 2X + F 3P × L 3X)

[0143] Y - direction moment of the component under test = G × L Y =(F1 × L 1Y + F2 × L 1Y + F3 × L 1Y )-(F 1P × L 1Y + F 2P × L 2Y + F 3P × L 3Y )

[0144] Thus, the X - direction and Y - direction centroid positions of the component under test can be obtained.

[0145] When the component under test is connected to the flipping platform 6 and in a state of inclination of α, the three load cells re - obtain the gravity in the inclined state, and the centroid position of the component under test in the Z - direction can be obtained by using the relationship between the sides and angles of a triangle.

[0146] The above - mentioned is only the preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0147] Without conflict, those skilled in the art can combine the relevant technical features in the above - mentioned examples according to the actual situation to achieve the corresponding technical effects, and the specific combination situations are not elaborated herein one by one.

[0148] It should be noted that all the directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative position relationship and movement situation between components in a certain specific posture (as shown in the drawings). If the specific posture changes, the directional indications will also change accordingly.

[0149] As mentioned above, this is only the preferred embodiment of the present invention. The present invention will not be limited to these embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein. Any simple modification, equivalent change, and modification made to the above - mentioned embodiments based on the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A centroid measurement platform for an underwater unmanned submersible, comprising: Base (2); A leveling mechanism (1), the leveling mechanism (1) being arranged on the lower surface of the base (2); A lifting mechanism, wherein two sets of lifting mechanisms are provided, and the two sets of lifting mechanisms are connected to the base (2); A sensor mechanism, wherein three groups of the sensor mechanism are provided, and the three groups of the sensor mechanism are detachably connected to the base (2); A support platform (3), the support platform (3) being connected to the upper surfaces of the two sets of lifting mechanisms and the three sets of sensor mechanisms; A supporting rotating part (10), the supporting rotating part (10) being vertically connected to the middle part of the supporting platform (3); A horizontal fixing seat (22), wherein two horizontal fixing seats (22) are provided, and the bottoms of the two horizontal fixing seats (22) are fixedly connected to the supporting platform (3) and are located on the same side of the supporting rotating portion (10); A flip platform (6), wherein the center position of the lower surface of the flip platform (6) is detachably connected to the supporting rotating part (10), and the lower part of one side of the flip platform (6) is placed on two horizontal fixing seats (22); the upper surface of the flip platform (6) is connected to a transition plate (11), and the transition plate (11) is provided with an adapter (51) for connecting with the test piece; an X-direction reference component and a Y-direction reference component are horizontally provided on the flip platform (6), and the X-direction reference component and the Y-direction reference component are vertical; A turning drive unit, wherein two groups of turning drive units are provided, the bottom ends of the two groups of turning drive units are fixed to the same side of the support platform (3) where the horizontal fixing seat (22) is provided, and the top end of each group of turning drive units is rotatably and detachably connected to the side wall of the turning platform (6); The X-direction reference assembly comprises an X-direction reference member (7) and an X-direction tightening plate (12), and the Y-direction reference assembly comprises a Y-direction reference member (19) and a Y-direction tightening plate (23); the flip platform (6) is a rectangular plate, and the X-direction reference member (7) and the Y-direction reference member (19) are respectively arranged on two adjacent sides of the rectangular plate, the X-direction tightening plate (12) is arranged on the side opposite to the side where the X-direction reference member (7) is arranged, and the Y-direction tightening plate (23) is arranged on the side opposite to the side where the Y-direction reference member (19) is arranged; The flip driving unit comprises an electric push rod (24), an electric push rod bottom connecting seat (4), an electric push rod top connecting seat (5), an angle limit switch (14) and a touch rod (50); the lower end of the electric push rod (24) is rotatably connected to a side of a support platform (3) on which a horizontal fixing seat (22) is arranged through the electric push rod bottom connecting seat (4); the upper part of the electric push rod (24) is rotatably and detachably connected to the flip platform (6) through the electric push rod top connecting seat (5); the angle limit switch (14) is fixed on the support platform (3) and is located on the side opposite to the side where the horizontal fixing seat (22) is located; one end of the touch rod (50) is connected to the angle limit switch (14), and the other end of the touch rod (50) is connected to the top of the electric push rod (24).

2. The centroid measurement platform of an underwater unmanned submersible according to claim 1, characterized in that: The base (2) is a rectangular frame structure made of steel; four elevator connection holes (30) for connecting the lifting mechanism and three sensor connection holes (29) for connecting the sensing mechanism are symmetrically formed on the base (2).

3. The centroid measurement platform of an underwater unmanned submersible according to claim 1, characterized in that: The leveling mechanism (1) includes a plurality of leveling seats and a plurality of leveling pads; one leveling pad is connected to each leveling seat; the plurality of leveling seats are evenly arranged around the base (2); tightening screws are provided at both ends of the X-direction tightening plate (12) and the Y-direction tightening plate (23); the X-direction tightening plate (12) tightens the X-direction reference member (7) on the transition plate (11) through the tightening screws, and the Y-direction tightening plate (23) tightens the Y-direction reference member (19) on the transition plate (11) through the tightening screws.

4. The centroid measurement platform of an underwater unmanned submersible according to claim 1, characterized in that: The lifting mechanism includes a reduction motor (26), two elevator seats (18), two elevators (27), a travel switch (8) and a transmission mechanism (28); the transmission mechanism (28) includes a steering gear (45) and two transmission rods (44), the two transmission rods (44) are symmetrically connected to both sides of the steering gear (45), and one elevator (27) is connected to each of the two transmission rods (44); the top of each elevator (27) is connected to the support platform (3), and the bottom of each elevator (27) is fixed to the base (2) through the elevator seat (18); the travel switch (8) includes an upper limit switch (46), a lower limit switch (47), a driven dial (48) and a connecting rod (49), the upper limit switch (46) and the lower limit switch (47) are connected to the connecting rod (49) from top to bottom, one end of the driven dial (48) is fixed to the top end of the elevator (27), and the other end of the driven dial (48) is placed between the upper limit switch (46) and the lower limit switch (47); the lower end of the connecting rod (49) is fixed to the elevator seat (18).

5. The centroid measurement platform of an underwater unmanned submersible according to claim 4, characterized in that: It further includes an anti-disengagement mechanism (17) and a top block seat (16); the top end of the elevator (27) is connected to the anti-disengagement mechanism (17), and the anti-disengagement mechanism (17) is connected to the support platform (3) through the top block seat (16); the anti-disengagement mechanism (17) includes an anti-disengagement cap (41) and a conical seat (42), the anti-disengagement cap (41) is a plate-like structure with a frustum-shaped through hole in the middle, and the conical seat (42) is a frustum body matching the frustum-shaped through hole on the anti-disengagement cap (41); the anti-disengagement cap (41) is fixed to the lower surface of the support platform (3), and the conical seat (42) is fixedly connected to the upper end surface of the elevator (27).

6. The centroid measurement platform of an underwater unmanned submersible according to claim 1, characterized in that: The described sensing mechanism includes a sensor cushion block (13), a sensor seat (15), a load cell (25), and a ball head assembly (9); the load cell (25) is vertically and detachably connected to the base (2) through the sensor seat (15); a sensor cushion block (13) is provided at the upper end of the load cell (25); the ball head assembly (9) is fixedly connected to the lower surface of the support platform (3) and is located directly above the load cell (25); the ball head assembly (9) includes a ball head seat (31), a ball head cover (32), a steel ball (33), a connecting screw (34), and a contact head (43), the connecting screw (34) is connected to the upper end of the contact head (43), the lower end of the contact head (43) is connected with a steel ball (33) through the ball head seat (31), the ball head cover (32) is arranged between the ball head seat (31) and the steel ball (33), and the upper end of the connecting screw (34) is connected to the support platform (3).

7. The centroid measurement platform of an underwater unmanned submersible as described in claim 1, characterized in that: The described support rotating part (10) includes an upper support rotating seat (35), a lower support rotating seat (36), a rotating shaft (37), a rotating heightening seat (39), and a bearing (40); the upper support rotating seat (35) and the lower support rotating seat (36) are arranged up and down, and the upper support rotating seat (35) and the lower support rotating seat (36) are rotatably connected through the rotating shaft (37); the upper part of the rotating heightening seat (39) is detachably connected to the lower support rotating seat (36), and the lower part of the rotating heightening seat (39) is connected to the support platform (3) through the bearing (40); the upper support rotating seat (35) is detachably connected to the flipping platform (6) through the bearing (40).

8. A centroid measurement system for an underwater unmanned submersible, characterized in that: It at least includes the centroid measurement platform of the underwater unmanned submersible as described in any one of claims 1 - 7, and also includes a controller; the controller is electrically connected to the lifting mechanism, the sensing mechanism, and the flipping driving part in the centroid measurement platform of the underwater unmanned submersible; the controller at least includes a data acquisition module, a data calculation module, and a control signal sending module, which are used to acquire and calculate the data in the sensing mechanism to realize the control of the lifting mechanism and the flipping driving part.

9. The measurement method of the centroid measurement system of an underwater unmanned submersible according to claim 8, characterized in that: It includes the following steps Step 1: Input the weight of the test piece, the set position of the sensing mechanism, and the distances from the X - direction reference component and the Y - direction reference component set on the flipping platform (6) into the controller. Step 2: Fix the test piece on the transition plate (11) on the flipping platform (6) through the adapter (51). Step 3: The controller controls the lifting mechanism to start, and the lifting mechanism descends to make the sensing mechanism contact the support platform (3). When the support platform (3) reaches the lower limit of the preset position, the lifting mechanism stops working. Step 4: The sensing mechanism acquires the gravity value and sends it to the controller. The controller calculates the X - direction and Y - direction torques based on the acquired gravity value data. Step 5: The lifting mechanism starts, and the lifting mechanism ascends to separate the sensing mechanism from the support platform (3). After the support platform (3) is reset, the lifting mechanism stops working. Step Six: The controller controls the flipping drive unit to start, driving the flipping platform (6) to rotate around the support rotating unit (10). When it rotates to the preset 15°, the flipping drive unit stops working; Step Seven: The controller controls the lifting mechanism to start, and the lifting mechanism descends, causing the sensing mechanism to contact the support platform (3). When the support platform (3) reaches the lower limit of the preset position, the lifting mechanism stops working; Step Eight: The sensing mechanism obtains the gravity value at this time and sends it to the controller. The controller calculates the Z-direction moment based on the obtained gravity value data; Step Nine: The controller controls the flipping drive unit to start, driving the flipping platform (6) to rotate and reset around the support rotating unit (10). When the flipping platform (6) rotates to the horizontal position, the flipping drive unit stops working; Step Ten: The lifting mechanism starts, and the lifting mechanism ascends, separating the sensing mechanism from the support platform (3). After the support platform (3) is reset, the lifting mechanism stops working, and the centroid measurement ends.

Images