Self-adaptive device for realizing docking detection of log in air

Abstract

The invention discloses a self-adaptive device for realizing docking detection of a log in air, and belongs to the technical field of underwater unmanned equipment guarantee. The self-adaptive device comprises a top frame assembly, a chassis assembly, a lead screw and a lifting rod; a spherical hinge mechanism is arranged in the top frame, so that the top frame has circumferential degree of freedom; a guide rail is arranged above the chassis, rollers are arranged below the chassis, the guide rail is in sliding fit with the bottom end of a lifting rod, the top end of the lifting rod is also in sliding fit with the bottom of the top frame, and the lifting rod is driven by screw transmission between the lead screw and the top frame to generate lifting motion, so that the top frame is lifted up and down; the self-adaptive capability is realized through the circumferential degree of freedom of the top frame spherical hinge mechanism; the chassis is matched with an interface of a general assembly debugging platform of the UUV, and the chassis can move back and forth on the general assembly debugging platform by means of rollers, so that the adjustment of the degree of freedom in the axial direction of the UUV is realized. According to the invention, the requirement of the log for realizing function detection on land can be met.

Description

Technical Field

[0001] The invention relates to the technical field of underwater unmanned equipment support, and in particular to an adaptive device for realizing air docking detection of a speed meter. Background Art

[0002] At present, underwater unmanned vehicles (UUVs) are gradually developing towards intelligence, long-term duty and high reliability. UUVs are designed to sail and standby underwater for a long time, and the accuracy of their autonomous navigation determines whether the vehicle can sail safely and perform its mission.

[0003] Currently, most UUV underwater navigation adopts the combined navigation method of inertial navigation + odometer. The odometer can provide the absolute speed and range of the vehicle and is a key component for the vehicle to achieve autonomous navigation. Its technical status and reliability are related to whether the vehicle can work normally and reliably for a long time.

[0004] Before launching the vehicle, each component and system function must be checked to confirm that the vehicle is in normal condition before launching. The speed log is an active sound-generating device and cannot be powered on and work alone in the air medium. In order to meet the functional testing requirements of the speed log on land, a set of auxiliary devices is needed to cooperate with the docking array to test the functional performance of the speed log in the air, but there is currently no mature device that can meet this testing requirement. Summary of the invention

[0005] In view of this, the present invention provides an adaptive device for realizing docking detection of a speed meter in the air, which can solve the demand for realizing functional detection of the speed meter on land.

[0006] An adaptive device for realizing air docking detection of a speed meter, comprising a top frame assembly, a bottom plate assembly, a lead screw and a lifting rod;

[0007] A ball joint mechanism is provided inside the top frame to enable it to have circumferential freedom;

[0008] The chassis is provided with a guide rail on the top and a roller on the bottom. The guide rail is slidably matched with the bottom end of the lifting rod, and the top end of the lifting rod is also slidably matched with the bottom of the top frame. The lifting rod is driven by a spiral transmission between the lead screw and the top frame to produce a lifting movement, thereby realizing the up and down lifting of the top frame. During the lifting process of the top frame, the circumferential freedom of the top frame ball joint mechanism is used to realize the adaptive ability; the chassis is matched with the interface of the UUV's general assembly and debugging platform, and the chassis can be moved back and forth on the general assembly and debugging platform with the help of rollers to realize the adjustment of the axial freedom of the UUV.

[0009] Further, the top frame assembly includes a top frame, a quick-locking screw, a slider, a ball joint, a ball joint seat and a tray;

[0010] Slide rails are processed on both sides of the bottom of the top frame, and sliders are installed on the slide rails. The sliders are used to connect the upper end of the lifting rod. Quick-lock screws are installed on the sliders to lock the sliders on the top frame. An installation groove is processed at the center of the upper surface of the top frame. After the ball joint is placed in the ball joint seat, it is placed in the installation groove as a whole, and a mounting tray is fixed above the ball joint seat.

[0011] Further, the chassis assembly includes a chassis, a support foot, a slider, a butterfly screw, a guide rail, a roller and a locking rod component;

[0012] The guide rails are fixedly installed on the front and rear sides above the chassis, and a slider is installed on the guide rails. The slider is used to connect the lower end of the lifting rod. The butterfly screw is assembled on the slider. After the slider is adjusted into place, the slider is effectively locked; the supporting feet are installed at the bottom of the chassis, and the rollers are installed on the front and rear sides of the chassis. The rolling direction of the rollers is perpendicular to the sliding direction of the slider; the locking rod component is installed at the bottom of the chassis. After the adaptive device slides to the corresponding position, it is used to lock the adaptive device on the guide rail of the debugging table to prevent the axial position of the adaptive device from changing.

[0013] Furthermore, the mating portion between the top frame and the docking array is made of non-metallic composite material, which can protect the outer surface of the docking array. The mating portion is designed with a positioning step to prevent the docking array from tipping over during the lifting process.

[0014] Furthermore, the tray is made of nylon material, which can protect the docking array placement surface.

[0015] Beneficial effects:

[0016] 1. The adaptive device of the present invention drives the lifting rod of the "scissor mechanism" to extend or compress through the transmission of the lead screw nut, so as to realize the up and down movement of the support surface and meet the adjustment in the height direction.

[0017] 2. The bottom of the top frame support surface of the present invention is designed as a hinged mechanism, which can realize full circumferential adjustment of the support surface to meet the alignment of the upper docking array of the support surface and the lower surface of the odometer transducer, ultimately ensuring that the two transducer surfaces fit seamlessly to meet the detection requirements.

[0018] 3. The present invention has been maturely applied in finalized products, and the improved and upgraded UUVs have also borrowed the device. With the development, finalization and mass production of various types of UUVs, the device is indispensable as a support equipment for UUV equipment. It can be adaptively improved and optimized for different products, and has high engineering value and promotion significance. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The schematic diagram of the overall structure of the adaptive device for realizing the air docking detection of the odometer of the present invention;

[0020] Figure 2 It is a schematic diagram of the top frame structure of the present invention;

[0021] Figure 3 This is a schematic diagram of the chassis structure of the present invention;

[0022] Figure 4-7 Schematic diagram of the process of using the adaptive device.

[0023] Among them, 1-top frame assembly, 1-1-quick lock screw, 1-2-ball joint, 1-3-ball joint seat, 1-4-tray, 2-chassis assembly, 2-1-support foot, 2-2-slider, 2-3-dish screw, 2-4-guide rail, 2-5-roller, 2-6-locking rod component, 3-screw, 4-lifting rod. DETAILED DESCRIPTION

[0024] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0025] As attached Figure 1 As shown in FIG. 1 , the present invention provides an adaptive device for realizing air docking detection of a speedometer, comprising a top frame assembly 1, a chassis assembly 2, a lead screw 3 and a lifting rod 4; wherein, as shown in FIG. Figure 2 As shown in the figure, the top frame assembly 1 includes a quick-locking screw 1-1, a ball joint 1-2, a ball joint seat 1-3 and a tray 1-4; Figure 3 As shown, the chassis assembly 2 includes a supporting foot 2-1, a slider 2-2, a disc screw 2-3, a guide rail 2-4, a roller 2-5 and a locking rod component 2-6.

[0026] The top frame is the main part of the device, which is connected to the chassis through a lifting rod 4, and is used to receive the docking array. It needs to adapt to the placement of the docking array, and the part that matches the docking array is made of non-metallic composite materials to protect the outer surface of the docking array. The matching part is designed with a positioning step to prevent the docking array from tipping over during the lifting process.

[0027] The quick-locking screw 1-1 is used to lock the sliding block on the top frame, and the operation is convenient.

[0028] Ball joint 1-2 is used to realize 360° circumferential rotation of the top frame. The docking array is placed on the top frame and moves with the ball joint to realize seamless docking between the docking array and the mating surface of the odometer transducer, meeting the docking array detection requirements;

[0029] The ball joint seat 1-3 cooperates with the ball joint 1-2 to realize the rotation of the ball joint 1-2 inside the ball joint seat 1-3, and the ball joint seat 1-3 is connected to the top frame;

[0030] Tray 1-4 is used to place the docking array. After the docking array is placed at this position, it rises up to be close to the odometer, and then needs to continue to rise to be as close to it as possible. During this process, it needs to bear a certain pressure. The nylon material is used to design it to protect the docking array placement surface.

[0031] Support legs 2-1 are used to store the device when it is not in use and to protect the rollers 2-5 during transportation;

[0032] The slider 2-2 is used in conjunction with the guide rail 2-4 and connected to the top frame 1 to achieve the movement of the top frame on the guide rail. Figure 4 and Figure 5 The usage status;

[0033] The disc screw 2-3 is assembled on the slider 2-2. After the slider 2-2 is adjusted into place, the slider 2-2 is effectively locked to prevent the lateral position of the top frame from changing.

[0034] Guide rail 2-4 is a standard linear guide rail, which allows slider 2-2 to slide horizontally and drives the horizontal adjustment of the top frame position;

[0035] Rollers 2-5 are used to roll on the guide rails of the debugging platform. In order to adapt to the guide rails of the debugging platform, they are adaptively designed, similar to "train wheels", and have strong adaptability to the guide rails of the debugging platform when rolling;

[0036] The locking rod component 2-6 is used to lock the device on the guide rail of the debugging platform after the detection device slides to the corresponding position to prevent the axial position of the device from changing.

[0037] The connection relationship between the above components is as follows: Figure 1 As shown, the top frame assembly is used to carry the docking array transducer to achieve the coordination between the docking array transducer and the odometer transducer. The chassis assembly is used to cooperate with the guide rail of the debugging platform to achieve the longitudinal and lateral movement adjustment of the device. The lifting rod 4 and the lead screw 3 are between the top frame assembly and the chassis assembly to achieve the lifting of the top frame. The upper and lower ends of the lifting rod 4 are respectively connected to the corresponding sliders on the top frame assembly 1 and the chassis assembly 2. The sliders on the left and right sides of the top frame assembly 1 have a limiting structure at the extreme position. When the lead screw 3 is rotated, the top frame cooperating with the lead screw converts the spiral motion into the up and down lifting motion of the lifting rod 4 under the action of the limiting structure.

[0038] The specific working process of this design is as follows: In order to realize the UUV's odometer working on land and detect it, a docking array is specially developed to simulate its working mechanism underwater, and a docking detection device is used to cooperate with the docking array to work and meet the detection function. The detection device has few parts, simple structure, easy operation, strong adaptability, and low cost. It has been maturely applied on various types of UUV equipment and has strong engineering application and promotion value.

[0039] The specific working process and method of the device are as follows:

[0040] (1) Place the docking array on the top frame of the detection device. Figure 4 As shown, ready to place;

[0041] (2) Loosen the locking screw on the slider and move the top frame horizontally. You can move the top frame horizontally to the docking array position according to the position of the odometer. Figure 5 shown.

[0042] (3) Push the lifting machine and chassis to the appropriate position to ensure that the docking array can basically coincide with the center line of the odometer. Figure 6 shown.

[0043] (4) Shake the handle of the lead screw 3 to raise the docking array transducer and dock it with the speedometer transducer on the UUV product. During this process, the docking array and the speedometer must be tightly attached to ensure that there is no gap between the fitting surfaces. Then, lock the trolley in this position. Figure 7 shown.

[0044] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An adaptive device for realizing air docking detection of a speedometer, characterized in that: It includes a top frame assembly, a chassis assembly, a lead screw and a lifting rod; A ball joint mechanism is provided inside the top frame to enable it to have circumferential freedom; The chassis is provided with a guide rail on the top and a roller on the bottom. The guide rail is slidably matched with the bottom end of the lifting rod. The top end of the lifting rod is also slidably matched with the bottom of the top frame. The lifting rod is driven by a spiral transmission between the lead screw and the top frame to generate a lifting motion, so as to realize the up and down lifting of the top frame. During the lifting process, the top frame realizes adaptive capability through the circumferential degree of freedom of the top frame ball joint mechanism. The chassis is matched with the interface of the UUV's final assembly and debugging platform. The chassis can be moved back and forth on the final assembly and debugging platform with the help of rollers to achieve adjustment of the axial freedom of the UUV.

2. The adaptive device for realizing air docking detection of a speedometer as claimed in claim 1, characterized in that: The top frame assembly includes a top frame, a quick-locking screw, a slider, a ball joint, a ball joint seat and a tray; Slide rails are processed on both sides of the bottom of the top frame, and sliders are installed on the slide rails. The sliders are used to connect the upper end of the lifting rod. Quick-lock screws are installed on the sliders to lock the sliders on the top frame. An installation groove is processed at the center of the upper surface of the top frame. After the ball joint is placed in the ball joint seat, it is placed in the installation groove as a whole, and a mounting tray is fixed above the ball joint seat.

3. The adaptive device for realizing air docking detection of a speedometer as claimed in claim 2, characterized in that: The chassis assembly includes a chassis, a support foot, a slider, a butterfly screw, a guide rail, a roller and a locking rod component; The guide rails are fixedly installed on the front and rear sides above the chassis, and a slider is installed on the guide rail. The slider is used to connect the lower end of the lifting rod. The butterfly screw is assembled on the slider. After the slider is adjusted into place, the slider is effectively locked; the supporting feet are installed at the bottom of the chassis, and the rollers are installed on the front and rear sides of the chassis. The rolling direction of the rollers is perpendicular to the sliding direction of the slider; the locking rod component is installed at the bottom of the chassis. After the adaptive device slides to the corresponding position, it is used to lock the adaptive device on the guide rail of the debugging table to prevent the axial position of the adaptive device from changing.

4. The adaptive device for realizing air docking detection of a speedometer as claimed in claim 3, characterized in that: The mating parts of the top frame and the docking array are made of non-metal composite materials, and a positioning step is designed at the mating part.

5. An adaptive device for realizing air docking detection of a speedometer as claimed in claim 3 or 4, characterized in that: The tray is made of nylon material.

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