A wave compensation test bench with adjustable amplitude

Abstract

The present invention discloses an amplitude-adjustable wave compensation test platform, including a support platform, a knob sleeve, an amplitude adjustment mechanism and a vertical wave mechanism, the upper surface of the support platform is provided with an embedded groove, and the upper surface of the support platform is fixedly connected with a guide frame, the guide frame is provided with a guide groove, and one end of a guide rod is limitedly connected in the guide groove, the upper surface of the support platform is also provided with a ball holder, and a swing ball is installed on the ball holder, the swing ball is arranged at the central position of a swing plate, and the swing plate is also connected to the other end of the guide rod, and the swing ball is fixedly connected to the lower end of the shaft rod whose axis passes through the center of the ball. The invention can not only facilitate the staff to easily adjust the amplitude of the swing, but also facilitate the up and down movement of the platform while swinging, and can better fit the situation in which the working platform is affected by waves in reality, so that the test data is more referenceable.

Description

Technical Field

[0001] The invention relates to the technical field of wave compensation test benches, in particular to a wave compensation test bench with adjustable amplitude. Background Art

[0002] Wave compensation refers to reducing the impact of waves on the working platform by adjusting the working platform, so that the working platform can remain stable in the sea for stable operation. The most common is the lifting platform in the ocean. If the platform swings with the waves, the lifted cargo will shake, which will not only make it impossible to stably transport the lifted cargo to the designated location, but also easily cause safety accidents.

[0003] The heave compensation test bench is a test device whose main purpose is to detect the stability of the heave compensation structure in order to ensure its stability during practical use;

[0004] The existing wave compensation test bench still has the following technical problems when in use, such as:

[0005] 1. The existing wave compensation test bench is not convenient to adjust the swing amplitude when in use. The main reason is that the existing swing structure is mainly composed of a cylinder or a telescopic rod. When adjusting the swing amplitude, the stroke of the cylinder or the telescopic rod needs to be changed. At this time, the cylinders or telescopic rods at different positions need to cooperate to achieve the amplitude adjustment. Therefore, the telescopic distance of the cylinders or telescopic rods at different positions needs to be calculated, which makes it more troublesome to adjust the swing amplitude of the existing wave compensation test bench;

[0006] 2. The existing wave compensation test bench can only swing when in use, but the force exerted by the waves on the working platform is complicated, so the existing wave compensation test bench only performs detection by swinging, and the result is quite different from the actual use, and the reference is insufficient;

[0007] Therefore, a wave compensation test bench with adjustable amplitude is needed to solve the above problems. Summary of the invention

[0008] The object of the present invention is to provide a wave compensation test bench with adjustable amplitude, so as to solve the problems mentioned in the above background technology that the existing wave compensation test bench is not convenient for adjusting the amplitude and the reference of only swing detection is insufficient.

[0009] To achieve the above object, the present invention provides the following technical solutions:

[0010] A wave compensation test bench with adjustable amplitude comprises a support platform, a knob sleeve, an amplitude adjustment mechanism and a vertical wave mechanism, wherein the upper surface of the support platform is provided with an embedded groove, and the upper surface of the support platform is fixedly connected with a guide frame, the guide frame is provided with a guide groove, and one end of a guide rod is limitedly connected in the guide groove, the upper surface of the support platform is also provided with a ball holder, and a swing ball is installed on the ball holder, the swing ball is arranged at the central position of a swing plate, and the swing plate is also connected to the other end of the guide rod, the swing ball is fixedly connected to the lower end of a shaft rod whose axis passes through the center of the ball, the upper end of the swing ball is connected to the amplitude adjustment mechanism, and the amplitude adjustment mechanism is connected to The shaft end of servo motor 1 is installed and fixed on the upper end of the guide frame. The upper surface of the swing plate is arranged with the lower surface of the linkage disk through the upper part of the vertical wave mechanism, and the upper surface of the linkage disk is connected to the connecting platform through a balance adjustment component. The balance adjustment component is composed of a servo electric cylinder, a servo control box and an inertial navigation system, and is used to adjust the level of the connecting platform. A horizontal sensor is arranged on the upper surface of the connecting platform. The center points of the swing plate and the swing ball coincide, and the swing plate and the linkage disk are parallel to each other. The lower part of the vertical wave mechanism is arranged between the lower surface of the swing plate and the embedded groove, and a control component is also installed on the upper surface of the support platform.

[0011] Furthermore, the amplitude adjustment mechanism includes a connecting cover, a second servo motor, a worm and an arc-shaped worm gear plate, the upper end of the shaft is connected to the lower surface of the arc-shaped worm gear plate through a universal ball shaft, and the two sides of the arc-shaped worm gear plate are slidably connected to the inner side of the lower surface of the connecting cover, the upper end of the connecting cover is fixedly connected to the shaft end of the first servo motor, and the second servo motor is fixedly installed on the outer side of the connecting cover, the end key of the shaft end extending into the interior of the connecting cover is connected to the worm, and the worm is connected to the upper surface of the arc-shaped worm gear plate.

[0012] By adopting the above technical solution, the arc-shaped worm gear plate can be driven to rotate by rotating the worm, thereby changing the angle between the axis of the shaft rod and the axis of the ball holder. As a result, when the arc-shaped worm gear plate rotates with the connecting cover under the operation of servo motor 1, the swing amplitude of the swinging ball can be changed, thereby facilitating a simple and quick adjustment of the swing amplitude.

[0013] Furthermore, the axis of the arc-shaped worm gear plate passes through the center of the swinging ball.

[0014] The adoption of the technical solution can facilitate the rotation of the arc-shaped worm gear plate, and can drive the swinging ball to rotate through the shaft rod.

[0015] Furthermore, the vertical fluctuation mechanism includes a piston tube, a piston rod, an air guide tube, a support tube, an air guide ring, a support rod, a screw rod, a spring and an elastic tube. The piston tube is arranged in the embedded groove, and the lower end of the piston tube is threaded with a screw rod, the inner end bearing of the screw rod is connected to the inner wall of the embedded groove, and the outer end bearing of the screw rod passes through the outer surface of the support platform, the lower end of the piston rod is connected to the inside of the piston tube, and the lower end of the piston tube is connected to the lower end of the air guide tube through the elastic tube, the upper end of the air guide tube is connected to the support tube, and the lower end of the support tube is fixedly connected to the upper surface of the swing plate, the lower end of the support rod is connected to the inner side of the upper end of the support tube, and the upper end of the support rod is fixedly connected to the lower surface of the linkage disk, and a spring nested in the outside of the support rod is arranged between the upper surface of the support tube and the lower surface of the linkage disk.

[0016] By adopting the above technical scheme, the position of the piston tube in the embedded groove can be adjusted by rotating the screw rod. When the swing plate is swinging, the outer ring side moves up and down to the greatest extent, and the closer it is to the swing ball, the smallest degree of up and down movement. Therefore, the degree to which the swing plate squeezes the piston rod downward can be changed. When the piston rod is squeezed, the gas in the piston tube can enter the support tube through the elastic tube and the air guide tube in sequence, and the air pressure in all the support tubes is increased through the air guide ring, so that the support rod drives the linkage disk to move upward. When the piston rod is no longer squeezed, the gas can be squeezed back into the piston tube through the spring. Since the swing plate is swinging, it will continuously squeeze the piston rod back and forth, so that the linkage disk moves back and forth up and down while swinging, so that the movement of the linkage disk is more in line with the situation in which the working platform is affected by waves in reality, thereby improving the reference value of the test data.

[0017] Furthermore, the structure shape of the embedded groove is a straight slot, and the diameter of the end of the straight slot is consistent with the outer diameter of the piston tube.

[0018] The adoption of the technical solution can facilitate the movement of the piston tube in the embedded groove and prevent the piston tube from moving with the screw rod.

[0019] Furthermore, there are three support tubes, and the upper surface of the swing plate is fixed to the three support tubes at equal angles. Adjacent support tubes are connected by air guide rings, and each support tube is provided with a support rod and a spring, and only one support tube is connected to the air guide tube.

[0020] The adoption of the above technical solution can facilitate the improvement of the stability of the structural support linkage disk formed by the support tube and the support rod.

[0021] Furthermore, the upper end of the piston rod is configured to be a smooth hemispherical shape, and the piston rod is disposed below the swing plate.

[0022] By adopting the above technical solution, the piston rod can be stably squeezed by the swing plate, thereby reducing the wear of both.

[0023] Furthermore, the lower ends of the piston rod and the support rod are both provided with piston plates, and the piston plates connecting the piston rod and the support rod are seamlessly slidably connected to the inner sides of the piston tube and the support tube, respectively.

[0024] By adopting the above technical solution, the gas in the piston tube and the support tube can be squeezed respectively by moving the piston rod and the support rod.

[0025] Furthermore, the outer end of the screw rod and the outer end of the second servo motor are both provided with a knob sleeve.

[0026] The adoption of the technical solution can facilitate the operation of the screw rod and the servo motor 2 by the staff.

[0027] Furthermore, the inertial navigation system on the balance adjustment component is electrically connected to the control component, and the control component is also electrically connected to the horizontal sensor, and the servo motor 2 is also electrically connected to the control component.

[0028] By adopting the above technical scheme, the horizontal degree of the connection platform can be easily transmitted to the control component through the horizontal sensor, and the inertial navigation system can be controlled by the control component to correct the leveling coefficient, so that the connection platform can be leveled by the balance adjustment component. The operation of servo motor 2 can also be controlled by the control component to change the amplitude of the swing, so that the situation in the ocean can be easily simulated.

[0029] Compared with the prior art, the beneficial effects of the present invention are as follows: the amplitude-adjustable wave compensation test platform, based on the sensor linkage application, can not only facilitate the staff to easily adjust the amplitude of the swing, but also facilitate the up and down movement of the platform while swinging, and can better fit the actual situation where the working platform is affected by waves, so that the test data is more referenceable:

[0030] 1. The worm gear structure composed of the arc-shaped worm gear plate and the worm can achieve the purpose of changing the angle between the axis of the shaft and the axis of the ball holder. By changing the angle, the swing amplitude of the shaft can be changed, so that the swing amplitude of the swing ball and the swing plate connected thereto can be changed. By changing the swing amplitude, the stability of the connection platform under the adjustment of the balance adjustment component under different swing amplitudes can be detected;

[0031] 2. By rotating the screw, the position of the piston tube in the embedded groove is changed, so that the degree of squeezing of the piston rod by the piston plate can be changed. By changing the degree of squeezing of the piston rod, the degree of up and down movement of the linkage plate can be changed. This can not only simulate the situation in which the working platform is affected by waves in reality, but also improve the realism of the simulation by changing the degree of up and down movement, thereby improving the reference value of the test data. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the main structure of the present invention;

[0033] Figure 2 It is a schematic diagram of a partial cross-sectional structure of the present invention;

[0034] Figure 3 For the present invention Figure 2 A schematic diagram of the enlarged structure of point A;

[0035] Figure 4 It is a schematic cross-sectional structure diagram of the amplitude adjustment mechanism of the present invention;

[0036] Figure 5 For the present invention Figure 4 A schematic diagram of the enlarged structure of point B in the middle;

[0037] Figure 6 It is a schematic diagram of the structure of the vertical wave mechanism of the present invention;

[0038] Figure 7 For the present invention Figure 6 Schematic diagram of the enlarged structure at point C in the middle.

[0039] In the figure: 1. support platform; 2. embedded groove; 3. piston tube; 4. piston rod; 5. knob sleeve; 6. air guide tube; 7. support tube; 8. swing plate; 9. air guide ring; 10. support rod; 11. linkage disk; 12. connecting platform; 13. guide frame; 14. guide groove; 15. guide rod; 16. swing ball; 17. ball holder; 18. screw rod; 19. connecting cover; 20. spring; 21. servo motor one; 22. servo motor two; 23. worm; 24. arc worm gear plate; 25. shaft; 26. balance adjustment component; 27. elastic tube; 28. control component; 29. ​​level sensor. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] See also Figure 1-Figure 7 , the present invention provides a technical solution:

[0042] Embodiment 1:

[0043] In order to solve the problem that the wave compensation test bench is not convenient to adjust the amplitude in the past, the following technical solutions are now provided, specifically:

[0044] A wave compensation test bench with adjustable amplitude includes a support platform 1, a knob sleeve 5, an amplitude adjustment mechanism and a vertical wave mechanism. An embedded groove 2 is provided on the upper surface of the support platform 1, and a guide frame 13 is fixedly connected to the upper surface of the support platform 1. A guide groove 14 is provided on the guide frame 13, and one end of a guide rod 15 is connected to the guide groove 14 in a limited position. A ball holder 17 is also provided on the upper surface of the support platform 1, and a swing ball 16 is installed on the ball holder 17. The swing ball 16 is arranged at the central position of a swing plate 8, and the other end of the guide rod 15 is also connected to the swing plate 8. The swing ball 16 is fixedly connected to the lower end of a shaft rod 25 whose axis runs through the center of the ball, and the upper end of the swing ball 16 is connected to the amplitude adjustment mechanism. The amplitude adjustment mechanism is connected to the shaft end of the servo motor 21. The amplitude adjustment mechanism includes a connecting cover 19, a servo motor 22, a worm 23 and an arc-shaped worm gear plate 24. The upper end of the shaft 25 is connected to the lower surface of the arc-shaped worm gear plate 24 through a universal ball shaft, and the two sides of the arc-shaped worm gear plate 24 are slidably connected to the inner side of the lower surface of the connecting cover 19. The upper end of the connecting cover 19 is fixedly connected to the shaft end of the servo motor 21, and the servo motor 22 is fixedly installed on the outer side of the connecting cover 19. The end key of the servo motor 22 extending into the interior of the connecting cover 19 is connected to the worm 23, and the worm 23 is connected to the upper surface of the arc-shaped worm gear plate 24, and the axis of the arc-shaped worm gear plate 24 passes through the center of the swinging ball 16.

[0045] When in use, the servo motor 22 is rotated to drive the worm 23 to rotate, thereby realizing the movement of the arc-shaped worm gear plate 24 and changing the inclination degree of the shaft 25. Then, the servo motor 1 21 is started to drive the connecting cover 19 and the arc-shaped worm gear plate 24 connected thereto to rotate, and the shaft 25 connected to the arc-shaped worm gear plate 24 will shake. Through the shaking of the shaft 25, the swing plate 8 and the swing ball 16 connected thereto form a whole body that swings.

[0046] Embodiment 2:

[0047] In order to solve the problem that the previous wave compensation test bench did not simulate the impact of waves on the working platform in reality, the specific steps are as follows:

[0048] The servo motor 21 is installed and fixed on the upper end of the guide frame 13. The upper surface of the swing plate 8 is arranged with the lower surface of the linkage disk 11 through the upper part of the vertical fluctuation mechanism, and the upper surface of the linkage disk 11 is connected to the connecting platform 12 through the balance adjustment component 26. The balance adjustment component 26 is composed of a servo electric cylinder, a servo control box and an inertial navigation system, and is used to adjust the level of the connecting platform 12. A horizontal sensor 29 is arranged on the upper surface of the connecting platform 12. The center points of the swing plate 8 and the swing ball 16 coincide, and the swing plate 8 and the linkage disk 11 are parallel to each other. The lower part of the vertical fluctuation mechanism is arranged between the lower surface of the swing plate 8 and the embedded groove 2, supporting A regulating component 28 is also installed on the upper surface of the platform 1. The vertical fluctuation mechanism includes a piston tube 3, a piston rod 4, an air guide tube 6, a support tube 7, an air guide ring 9, a support rod 10, a screw 18, a spring 20 and an elastic tube 27. The piston tube 3 is arranged in the embedded groove 2, and the lower end of the piston tube 3 is threaded with a screw 18, the inner end bearing of the screw 18 is connected to the inner wall of the embedded groove 2, and the outer end bearing of the screw 18 penetrates to the outer surface of the support platform 1, the lower end of the piston rod 4 is connected to the inside of the piston tube 3, and the lower end of the piston tube 3 is connected to the lower end of the air guide tube 6 through the elastic tube 27, and the upper end of the air guide tube 6 is connected to the support tube 7. , and the lower end of the support tube 7 is fixedly connected to the upper surface of the swing plate 8, the lower end of the support rod 10 is connected to the inner side of the upper end of the support tube 7, and the upper end of the support rod 10 is fixedly connected to the lower surface of the linkage disk 11, and a spring 20 is nested on the outside of the support rod 10 between the upper surface of the support tube 7 and the lower surface of the linkage disk 11. The structural shape of the embedded groove 2 is a straight notch, and the diameter of the end of the straight notch coincides with the outer diameter of the piston tube 3. There are three support tubes 7, and the three support tubes 7 are fixed at the same angle to the upper surface of the swing plate 8. The adjacent support tubes 7 are connected by the air guide ring 9, and each support tube 7 is provided with a support rod 10 and a spring 20. Spring 20, only one support tube 7 is connected to the air guide tube 6, the upper end of the piston rod 4 is set to a smooth hemispherical shape, and the piston rod 4 is set below the swing plate 8, the lower end of the piston rod 4 and the lower end of the support rod 10 are both provided with piston plates, and the piston plates connecting the piston rod 4 and the support rod 10 are seamlessly slidably connected to the inner sides of the piston tube 3 and the support tube 7 respectively, the outer end of the screw rod 18 and the outer end of the servo motor 22 are both provided with a knob sleeve 5, the inertial navigation system on the balance adjustment component 26 is electrically connected to the control component 28, and the control component 28 is also electrically connected to the level sensor 29, and the servo motor 22 is also electrically connected to the control component 28.

[0049] When in use, the screw rod 18 is rotated to change the position of the piston tube 3 in the embedded groove 2, thereby changing the position of the piston rod 4 in the piston tube 3 relative to the swing plate 8. When the swing plate 8 swings and squeezes the piston rod 4, the gas in the piston tube 3 can be squeezed into the support tube 7 through the elastic tube 27 and the air guide tube 6. The air guide ring 9 is used to make the air pressure in the three support tubes 7 the same, so that the three support rods 10 can stably lift the linkage disk 11. When the swing plate 8 no longer squeezes the piston rod 4, the spring 20 is used to reset the piston rod 4. The swing of the swing plate 8 makes the piston rod 4 reciprocally squeezed, and the spring 20 cooperates to make the linkage disk 11 reciprocate up and down, so that the influence of waves simulated by the test bench on the working platform is more in line with the actual situation, thereby improving the reference of the test data;

[0050] At the same time, by utilizing sensor linkage control, the horizontal degree of the connection platform 12 can be easily transmitted to the control component 28 through the horizontal sensor 29, and the inertial navigation system is controlled by the control component 28 to correct the leveling coefficient. The inertial navigation system adopts existing conventional technical means to enable the connection platform 12 to be leveled by the balance adjustment component 26, and the servo motor 22 can be controlled by the control component 28 to change the amplitude of the swing, so that the situation in the ocean can be easily simulated.

[0051] The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

[0052] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A wave compensation test bench with adjustable amplitude, comprising a support platform (1), a knob sleeve (5), an amplitude adjustment mechanism and a vertical wave mechanism, characterized in that: The upper surface of the support platform (1) is provided with an embedded groove (2), and the upper surface of the support platform (1) is fixedly connected to a guide frame (13), the guide frame (13) is provided with a guide groove (14), and one end of a guide rod (15) is connected to the guide groove (14) in a limited position, the upper surface of the support platform (1) is also provided with a ball holder (17), and a swing ball (16) is installed on the ball holder (17), the swing ball (16) is arranged at a central position of the swing plate (8), and the swing plate (8) is also connected to the other end of the guide rod (15), the swing ball (16) is fixedly connected to the lower end of a shaft rod (25) whose axis passes through the center of the ball, and the upper end of the swing ball (16) is connected to an amplitude adjustment The servo motor (21) is mounted on the upper end of the guide frame (13), and the amplitude adjustment mechanism is connected to the shaft end of the servo motor (21). The servo motor (21) is installed and fixed on the upper end of the guide frame (13). The upper surface of the swing plate (8) is arranged with the lower surface of the linkage disk (11) through the upper part of the vertical wave mechanism, and the upper surface of the linkage disk (11) is connected to the connecting platform (12) through a balance adjustment component (26). The balance adjustment component (26) is composed of a servo electric cylinder, a servo control box and an inertial navigation system, and is used to adjust the level of the connecting platform (12). The upper surface of the connecting platform (12) is provided with a level sensor (29). The center points of the swing plate (8) and the swing ball (16) coincide with each other, and the swing plate (8) and The linkage disks (11) are parallel to each other. The lower part of the vertical fluctuation mechanism is arranged between the lower surface of the swing plate (8) and the embedded groove (2). The upper surface of the support platform (1) is also equipped with a control component (28). The amplitude adjustment mechanism comprises a connecting cover (19), a servo motor 2 (22), a worm (23) and an arc-shaped worm gear plate (24). The upper end of the shaft (25) is connected to the lower surface of the arc-shaped worm gear plate (24) through a universal ball shaft, and the two sides of the arc-shaped worm gear plate (24) are slidably connected to the inner side of the lower surface of the connecting cover (19). The upper end of the connecting cover (19) is fixedly connected to the shaft end of the servo motor 1 (21), and the outer side of the connecting cover (19) is fixedly equipped with a servo motor 2 (23). 2), the end of the servo motor second shaft end (22) extending into the connection cover (19) is key-connected with a worm (23), and the worm (23) is connected to the upper surface of the arc-shaped worm wheel plate (24), the vertical wave mechanism comprises a piston tube (3), a piston rod (4), an air guide tube (6), a support tube (7), an air guide ring (9), a support rod (10), a screw (18), a spring (20) and an elastic tube (27), the piston tube (3) is arranged in the embedded groove (2), and the lower end of the piston tube (3) is threadedly penetrated by the screw (18), the inner end bearing of the screw (18) is connected to the inner wall of the embedded groove (2), and the outer end bearing of the screw (18) penetrates to the outer surface of the support platform (1).

2. The amplitude-adjustable wave compensation test bench according to claim 1, characterized in that: The axis of the arc-shaped worm wheel plate (24) passes through the center of the swing ball (16).

3. The amplitude-adjustable heave compensation test bench according to claim 1, characterized in that: The piston tube (3) is connected to the lower end of the piston rod (4), and the lower end of the piston tube (3) is connected to the lower end of the air guide tube (6) through an elastic tube (27). The upper end of the air guide tube (6) is connected to the support tube (7), and the lower end of the support tube (7) is fixedly connected to the upper surface of the swing plate (8). The lower end of the support rod (10) is connected to the inner side of the upper end of the support tube (7), and the upper end of the support rod (10) is fixedly connected to the lower surface of the linkage disk (11). A spring (20) is provided between the upper surface of the support tube (7) and the lower surface of the linkage disk (11) and is nested on the outside of the support rod (10).

4. The amplitude-adjustable heave compensation test bench according to claim 1, characterized in that: The structural shape of the embedded groove (2) is a straight groove, and the diameter of the end of the straight groove matches the outer diameter of the piston tube (3).

5. The amplitude-adjustable heave compensation test bench according to claim 1, characterized in that: Three support tubes (7) are provided, and the upper surface of the swing plate (8) is fixed to the three support tubes (7) at equal angles. Adjacent support tubes (7) are connected via an air guide ring (9), and each support tube (7) is provided with a support rod (10) and a spring (20). Only one support tube (7) is connected to the air guide tube (6).

6. The amplitude-adjustable heave compensation test bench according to claim 5, characterized in that: The upper end of the piston rod (4) is arranged in a smooth hemispherical shape, and the piston rod (4) is arranged below the swing plate (8).

7. The amplitude-adjustable heave compensation test bench according to claim 6, characterized in that: The lower ends of the piston rod (4) and the support rod (10) are both provided with piston plates, and the piston plates connecting the piston rod (4) and the support rod (10) are seamlessly slidably connected to the inner sides of the piston tube (3) and the support tube (7), respectively.

8. The amplitude-adjustable heave compensation test bench according to claim 7, characterized in that: The outer ends of the screw rod (18) and the second servo motor (22) are both provided with knob sleeves (5).

9. The amplitude-adjustable heave compensation test bench according to claim 8, characterized in that: The inertial navigation system on the balance adjustment component (26) is electrically connected to the control component (28), and the control component (28) is also electrically connected to the level sensor (29). In addition, the servo motor 2 (22) is also electrically connected to the control component (28).

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