Shipborne platform for deploying and retracting precise device

Abstract

The invention relates to the field of ships, in particular to a shipborne platform for deploying and retracting a precision device, which comprises a six-degree-of-freedom platform, a control device and a tail end stable platform, and is characterized in that the control device is electrically connected with the six-degree-of-freedom platform and the tail end stable platform respectively; the tail end stabilizing platform comprises a rotating mechanism, a telescopic mechanism and a lifting mechanism, the rotating mechanism is fixed to the six-degree-of-freedom platform, the lifting mechanism is movably connected to the lower portion of the telescopic mechanism, the telescopic mechanism and the lifting mechanism are movably connected to the rotating mechanism, and the precision device is fixed to the end of the extending end of the telescopic mechanism. The tail end stabilizing platform is arranged on the basis of a traditional six-degree-of-freedom platform, when large waves of the sea surface are faced, the control device adjusts the movement of the rotating mechanism, the telescopic mechanism and the lifting mechanism in real time, the compensation amount exceeding the compensation range of the six-degree-of-freedom platform is further compensated, and the compensation precision of the six-degree-of-freedom platform is improved. Therefore, the recovered and laid precision device does not shake along with the fluctuation, torsion and displacement of the ship.

Description

Technical Field

[0001] The present application relates to the field of ships, and in particular to a ship-borne platform for retracting and deploying precision devices. Background Art

[0002] When ships are sailing at sea, they are faced with many unavoidable natural environmental factors, mainly including wind, waves, currents and tides. These harsh environmental conditions can cause the ship to produce various forms of motion, including six degrees of freedom such as roll, pitch, bow pitch, sway, sway and heave. Each form of motion may affect the stability and safety of the ship, and also bring great challenges to the equipment, instruments and personnel on board. These movements will not only cause vibration and impact of the equipment, but may also cause equipment failure, thus affecting the operating efficiency and safety of the ship.

[0003] A Chinese patent document (publication number CN117948044B) discloses a working method of an offshore drilling platform (i.e., a six-degree-of-freedom platform) with six-degree-of-freedom wave compensation, comprising the following steps: an inertial navigation system measures the real-time position, speed, and azimuth data of a floating body; a data processing module in a master control platform performs information processing to couple the position change of the floating body with the displacement required for drilling by the drilling rig; coordinate transformation is used to convert the coupling amount into the coordinate change of the hinge point on the platform base in the wave compensation device, and the real-time length of the driving electric cylinder in the wave compensation device is obtained according to the new coordinates of the hinge point on the platform base and the fixed coordinates of the hinge point on the compensation plate in the wave compensation device; the difference between the real-time length of the driving electric cylinder and the length at the initial position is calculated to obtain the compensation amount of the driving electric cylinder; the master control platform sends a control instruction according to the compensation amount of the driving electric cylinder to control the driving electric cylinder to move; the above steps are repeated to achieve real-time compensation for wave interference motion.

[0004] Although the six-degree-of-freedom platform can reduce the swaying of the hull affected by waves to a certain extent, it still has some shortcomings. Especially when the sea conditions are complex and the surge is large, during the deployment or recovery process, the absolute spatial position of the terminal precision device may change, so when it is hit by large waves, a larger compensation amount is often required. The maximum compensation range of the six-degree-of-freedom platform is limited, resulting in the precision device still shaking with the large waves, and the interior of the precision device is easily damaged. Summary of the invention

[0005] The technical problem to be solved by the present application is to provide a ship-borne platform for deploying and retracting precision devices that can compensate for the ups and downs, torsion and displacement of ships under large wave conditions. By setting an end stabilizing platform on the basis of a traditional six-degree-of-freedom platform, when facing large waves on the sea surface, the control device adjusts the movement of the rotating mechanism, the telescopic mechanism and the lifting mechanism in real time, and further compensates for the compensation amount that exceeds the compensation range of the six-degree-of-freedom platform, so that the precision devices that are recovered and deployed do not shake with the ups and downs, torsion and displacement of the ship.

[0006] The specific technical solution adopted in this application is as follows: a ship-borne platform for retracting and deploying precision devices, comprising a six-degree-of-freedom platform, a control device and a terminal stabilization platform, wherein the control device is respectively connected to the six-degree-of-freedom platform and the terminal stabilization platform; the terminal stabilization platform comprises a rotating mechanism, a telescopic mechanism and a lifting mechanism, the rotating mechanism is fixed on the six-degree-of-freedom platform, the lifting mechanism is movably connected below the telescopic mechanism, the telescopic mechanism and the lifting mechanism are respectively movably connected to the rotating mechanism, and the precision device is fixed to the end of the extended end of the telescopic mechanism.

[0007] Furthermore, the lifting mechanism includes a first motor and a first telescopic cylinder connected to the first motor, the first telescopic cylinder is fixed to the precision device, and the first motor is connected to the control device.

[0008] Further preferably, the lifting mechanism further includes a telescopic transmission assembly, a first telescopic rod is arranged in the first telescopic cylinder, and the telescopic transmission mechanism is respectively connected to the first motor and the first telescopic rod.

[0009] Furthermore, the fixed end of the telescopic mechanism is movably connected to the rotating mechanism, the lifting mechanism is in an inclined state, the fixed end of the lifting mechanism is movably connected to the rotating mechanism, and the extending end of the lifting mechanism is movably connected to the middle part of the telescopic mechanism.

[0010] Further preferably, the initial inclination angle of the lifting mechanism is 0-15 degrees.

[0011] Furthermore, the rotating mechanism includes a second motor, a rotating transmission assembly and a rotating base, the rotating transmission assembly is connected to the second motor and the rotating base respectively, and the rotating transmission assembly is fixedly connected to the six-degree-of-freedom platform.

[0012] Furthermore, the telescopic mechanism includes a third motor, a telescopic frame and a second telescopic cylinder, a second telescopic rod is arranged in the second telescopic cylinder, the third motor is connected to the second telescopic rod, the third motor and the second telescopic cylinder are fixed on the telescopic frame, and the end of the second telescopic rod is connected to the extension end of the telescopic frame.

[0013] Preferably, it also includes a gyroscope and a position sensor, the gyroscope and the position sensor are fixed on a six-degree-of-freedom platform, and the control device is connected to the gyroscope and the position sensor.

[0014] Preferably, a motor driver is further included, wherein the first motor, the second motor and the third motor are all servo motors, and the motor driver is connected to the first motor, the second motor and the third motor respectively.

[0015] Preferably, it further comprises a reference base, the six-degree-of-freedom platform is connected to the reference base via a hinge, and the control device is fixed on the reference base.

[0016] Compared with the prior art, this application has the following beneficial effects: The present application arranges a terminal stabilizing platform on the basis of a six-degree-of-freedom platform. When facing large waves on the sea surface, when the compensation range of the six-degree-of-freedom platform reaches its limit, the control device calculates the remaining compensation amount according to the existing wave compensation method, and adjusts the movement of the rotating mechanism, the lifting mechanism and the telescopic mechanism in real time, so as to further compensate for the remaining compensation amount during large waves, further maintain the stability of the precision device at the terminal, so that the recovered and deployed precision device does not shake with the ups and downs, torsion and displacement of the ship, and reduces the possibility of failure of the precision device due to shaking. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the structure of the embodiment of the present application installed on a six-degree-of-freedom platform; Figure 2 This is a schematic diagram of the lifting mechanism structure of an embodiment of the present application; Figure 3 This is a schematic diagram of the rotating mechanism structure of an embodiment of the present application; Figure 4 This is a schematic diagram of the telescopic mechanism structure of an embodiment of the present application; In the figure: 1. six-degree-of-freedom platform; 2. control device; 3. lifting mechanism; 31. first motor; 32. telescopic transmission assembly; 33. first telescopic cylinder; 34. first telescopic rod; 4. rotating mechanism; 41. second motor; 42. rotating transmission assembly; 43. rotating base; 5. telescopic mechanism; 51. third motor; 52. second telescopic cylinder; 53. second telescopic rod; 54. telescopic frame; 6. gyroscope; 7. motor driver; 8. reference base. DETAILED DESCRIPTION

[0018] To make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of them.

[0019] Therefore, the following detailed description of the embodiments of the present application is not intended to limit the scope of the present application for protection, but merely represents some embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0020] Example See also Figures 1 to 4 , this embodiment provides a ship-borne platform for retracting and releasing precision devices, including a six-degree-of-freedom platform 1, a control device 2 and a terminal stabilizing platform, wherein the control device 2 is electrically connected to the six-degree-of-freedom platform 1 and the terminal stabilizing platform respectively; the terminal stabilizing platform includes a rotating mechanism 4, a telescopic mechanism 5 and a lifting mechanism 3, the rotating mechanism 4 is fixed on the six-degree-of-freedom platform 1, the lifting mechanism 3 is hingedly connected to the bottom of the telescopic mechanism 5, the telescopic mechanism 5 and the lifting mechanism 3 are respectively connected to the rotating mechanism 4 by hinges, and the precision device is fixed to the end of the extension end of the telescopic mechanism 5. In this embodiment, the lifting mechanism 3, the rotating mechanism 4 and the telescopic mechanism 5 are integrated into the terminal stabilizing platform to facilitate the unified control of the control device 2, the lifting mechanism 3 is used to lift the telescopic mechanism 5 to lift or lower the precision device at the end of the telescopic mechanism 5, and is responsible for the compensation of the precision device in the vertical direction; the telescopic mechanism 5 is used to push and pull the precision device away, and is responsible for the compensation of the horizontal distance of the precision device; the rotating mechanism 4 causes the lifting mechanism 3 and the telescopic mechanism 5 to rotate as a whole, and is responsible for the compensation of the horizontal position of the precision device.

[0021] When facing large waves on the sea surface, when the compensation distance of the six-degree-of-freedom platform 1 reaches its limit, the control device 2 calculates the remaining compensation amount according to the existing wave compensation method, and adjusts the movement of the rotating mechanism 4, the lifting mechanism 3 and the telescopic mechanism 5 in real time, so as to further compensate for the remaining compensation amount during large waves, and further maintain the stability of the precision device at the end, so that the recovered and deployed precision device will not shake with the ups and downs, twisting and displacement of the ship, reducing the possibility of failure of the precision device due to shaking.

[0022] Furthermore, if Figure 2 As shown, in this embodiment, the lifting mechanism 3 includes a first motor 31 and a first telescopic cylinder 33 connected to the first motor 31, the first telescopic cylinder 33 is fixed to the precision device, and the first motor 31 is connected to the control device 2. The lifting mechanism 3 also includes a telescopic transmission assembly 32, a first telescopic rod 34 is arranged in the first telescopic cylinder 33, and the telescopic transmission mechanism is connected to the first motor 31 and the first telescopic rod 34 respectively. The distance between the telescopic mechanism 5 and the six-degree-of-freedom platform 1 is limited, and the provision of the telescopic transmission assembly 32 can optimize the installation position of the first motor 31, save the space occupied by the lifting mechanism 3 itself, and thus reduce the volume of the entire ship-borne platform.

[0023] Furthermore, the fixed end of the telescopic mechanism 5 is hinged to the rotating mechanism 4, the lifting mechanism 3 is in an inclined state, the fixed end of the lifting mechanism 3 is hinged to the rotating mechanism 4, and the extended end of the lifting mechanism 3 is hinged to the middle of the telescopic mechanism 5. The lifting mechanism 3 is tilted to control the pitch posture of the telescopic mechanism 5, so as to lift or lower the precision device located at the extended end of the telescopic mechanism 5, and finally stabilize the ups and downs position of the precision device. The initial tilt angle of the lifting mechanism 3 is preferably 0-15 degrees. When the tilt angle is too large, under the same pitch posture, the travel of the lifting mechanism 3 will be longer, and it will be more difficult to compensate for large wave fluctuations in real time, and the precision device at the end will be difficult to stabilize.

[0024] In this embodiment, if Figure 3 As shown, the rotating mechanism 4 includes a second motor 41, a rotating transmission assembly 42 and a rotating base 43. The rotating transmission assembly 42 is connected to the second motor 41 and the rotating base 43 respectively, and the rotating transmission assembly 42 is fixedly connected to the six-degree-of-freedom platform 1. The rotating base 43 is used to connect with the telescopic mechanism 5 and the lifting mechanism 3. The second motor 41 drives the rotating transmission assembly 42 to drive the rotating base 43 to rotate, thereby driving the telescopic mechanism 5 and the lifting mechanism 3 connected thereto to rotate. Adding the rotating transmission assembly 42 can control the rotation torque, which is more stable than the motor direct drive.

[0025] In this embodiment, if Figure 4 As shown, the telescopic mechanism 5 includes a third motor 51, a telescopic frame 54 and a second telescopic cylinder 52, a second telescopic rod 53 is arranged in the second telescopic cylinder 52, the third motor 51 is connected to the second telescopic rod 53, the third motor 51 and the second telescopic cylinder 52 are fixed on the telescopic frame 54, and the end of the second telescopic rod 53 is connected to the extension end of the telescopic frame 54, so that the second telescopic rod 53 can push the telescopic frame 54 to extend or shorten. The telescopic mechanism 5 has a long space, and the motor direct drive solution can be used to make the compensation control more efficient.

[0026] Preferably, it also includes a gyroscope 6 and a position sensor, which are fixed on the six-degree-of-freedom platform 1, and the control device 2 is connected to the gyroscope 6 and the position sensor. The gyroscope 6 can monitor the tilt angle and direction of the hull in real time, and the position sensor can monitor the position of the hull, thereby providing data support for the control device 2 to perform compensation calculations.

[0027] Preferably, a motor driver 7 is further included, and the first motor 31, the second motor 41 and the third motor 51 are all servo motors, and the motor driver 7 is respectively connected to the first motor 31, the second motor 41 and the third motor 51. The servo motor has a fast response speed, and the motor driver 7 can make it easier for the control device 2 to linearly control the motor in real time, thereby improving the real-time compensation efficiency of the terminal stabilization platform and further ensuring the stability of the recovery and deployment of the terminal precision device.

[0028] Preferably, a reference base 8 is further included, the six-degree-of-freedom platform 1 is connected to the reference base 8 through a hinge, and the control device 2 and the motor driver 7 are fixed on the reference base 8. The reference base 8 is placed on the hull and can serve as a reference for the control device 2 to measure the position and angle of the hull, thereby improving the compensation accuracy and further promoting the stability of the terminal precision device.

[0029] The existing wave compensation method is as follows: the control device 2 processes the information of the real-time position and azimuth of the hull, and couples the change in the hull's posture with the displacement recovered or deployed by the precision device; the coupling amount is converted into the coordinate change of the hinge point of the reference base 8 of the six-degree-of-freedom platform 1 by using coordinate transformation, and the real-time length of the driving electric cylinder in the six-degree-of-freedom platform 1 is obtained according to the new coordinates of the hinge point of the six-degree-of-freedom platform 1 and the fixed coordinates of the hinge point on the compensation plate of the six-degree-of-freedom platform 1; the difference between the real-time length of the driving electric cylinder and the length at the initial position is calculated to obtain the compensation amount of the driving electric cylinder; it is determined whether the compensation amount exceeds the limit of the six-degree-of-freedom platform 1, and if it exceeds, the lifting mechanism 3 is controlled to compensate for the unreached compensation amount, and the control device 2 sends a control instruction according to the compensation amount of the driving electric cylinder to control the movement of the driving electric cylinder, the rotating mechanism 4, the telescopic mechanism 5 and the lifting mechanism 3; the above steps are repeated to achieve real-time compensation for large wave fluctuations.

[0030] A person skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of protection of the present application is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0031] One or more embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of the present application should be included in the protection scope of the present application.

Claims

1. A ship-borne platform for retracting and deploying precision devices, characterized in that: The invention comprises a six-degree-of-freedom platform (1), a control device (2) and a terminal stabilizing platform, wherein the control device (2) is respectively connected to the six-degree-of-freedom platform (1) and the terminal stabilizing platform; the terminal stabilizing platform comprises a rotating mechanism (4), a telescopic mechanism (5) and a lifting mechanism (3), wherein the rotating mechanism (4) is fixed on the six-degree-of-freedom platform (1), the lifting mechanism (3) is movably connected below the telescopic mechanism (5), the telescopic mechanism (5) and the lifting mechanism (3) are respectively movably connected to the rotating mechanism (4), and the precision device is fixed to the end of the extension end of the telescopic mechanism (5).

2. The shipborne platform according to claim 1, characterized in that: The lifting mechanism (3) comprises a first motor (31) and a first telescopic cylinder (33) connected to the first motor (31); the first telescopic cylinder (33) is fixed to the precision device; and the first motor (31) is connected to the control device (2).

3. The shipborne platform according to claim 2, characterized in that: The lifting mechanism (3) further comprises a telescopic transmission assembly (32); a first telescopic rod (34) is arranged in the first telescopic cylinder (33); and the telescopic transmission mechanism is respectively connected to the first motor (31) and the first telescopic rod (34).

4. The shipborne platform according to claim 1, characterized in that: The fixed end of the telescopic mechanism (5) is movably connected to the rotating mechanism (4), the lifting mechanism (3) is in an inclined state, the fixed end of the lifting mechanism (3) is movably connected to the rotating mechanism (4), and the extended end of the lifting mechanism (3) is movably connected to the middle part of the telescopic mechanism (5).

5. The shipborne platform according to claim 4, characterized in that: The initial inclination angle of the lifting mechanism (3) is 0-15 degrees.

6. The shipborne platform according to claim 1, characterized in that: The rotating mechanism (4) comprises a second motor (41), a rotating transmission assembly (42) and a rotating base (43); the rotating transmission assembly (42) is connected to the second motor (41) and the rotating base (43) respectively; and the rotating transmission assembly (42) is fixedly connected to the six-degree-of-freedom platform (1).

7. The shipborne platform according to claim 1, characterized in that: The telescopic mechanism (5) comprises a third motor (51), a telescopic frame (54) and a second telescopic cylinder (52); a second telescopic rod (53) is arranged in the second telescopic cylinder (52); the third motor (51) is connected to the second telescopic rod (53); the third motor (51) and the second telescopic cylinder (52) are fixed to the telescopic frame (54); and the end of the second telescopic rod (53) is connected to the extension end of the telescopic frame (54).

8. The shipborne platform according to claim 1, characterized in that: It also comprises a gyroscope (6) and a position sensor, wherein the gyroscope (6) and the position sensor are fixed on the six-degree-of-freedom platform (1), and the control device (2) is connected to the gyroscope (6) and the position sensor.

9. The shipborne platform according to any one of claims 2, 3, 6 or 7, characterized in that: It also includes a motor driver (7), wherein the first motor (31), the second motor (41) and the third motor (51) are all servo motors, and the motor driver (7) is respectively connected to the first motor (31), the second motor (41) and the third motor (51).

10. The shipborne platform according to any one of claims 1 to 8, characterized in that: It also comprises a reference base (8), the six-degree-of-freedom platform (1) being connected to the reference base (8) via a hinge, and the control device (2) being fixed on the reference base (8).

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