Multi-shaft multi-body maneuvering self-balancing water surface platform

Abstract

The invention belongs to the technical field of unmanned water surface platforms, and discloses a multi-shaft multi-body maneuvering self-balancing water surface platform which comprises a bearing plate, a working platform, cantilever type rocker mechanisms and a plurality of buoys, the working platform is horizontally arranged at the top of the bearing plate in a pivoted mode, and the cantilever type rocker mechanisms are symmetrically connected to the two sides of the bearing plate in a pivoted mode. The lower end of the cantilever type rocker mechanism is movably connected with a buoy, inertia attitude sensors are arranged on the bearing plate and the working platform and used for detecting the pitch angle or the rolling angle, a motor is arranged on a pivoting part on at least one side of the bearing plate and the working platform, and the bearing plate and the working platform are dynamically leveled according to the pitch angle or the rolling angle. Through the cantilever type rocker linkage mechanism and the active wave compensation technology, the influence of waves on the heaving, pitching and rolling directions of the platform can be greatly buffered, and self-balance adjustment of the platform in the waves is achieved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of unmanned water surface platforms, and particularly relates to a multi-axis multi-body mobile self-balancing water surface platform. BACKGROUND

[0002] At present, with the rapid development of ocean development, intelligent monitoring and unmanned system technology, unmanned water surface platforms have been widely used in many fields such as ocean monitoring, environmental investigation and resource exploration due to their unique advantages, such as long-term monitoring of marine ecology, accurate measurement of marine environmental parameters and efficient exploration of marine resource distribution, which provide important data support and technical support for marine scientific research, resource development and utilization and environmental protection.

[0003] At present, some technical solutions about water operation platforms have been disclosed. For example, patent CN105480386A discloses a water operation platform, which comprises a base located under the water surface, a counterweight unit connected below the base, and a plurality of floating seat units. The working principle is that the base is used as the center of the whole and provides sufficient weight, and the base is dragged to sink under the water surface by the counterweight unit, and the floating seat unit is connected to the base to realize stable floating and sinking and bear the water equipment. When encountering too large waves, the platform can sink under the water surface, to a certain extent, to maintain the stability of the water equipment.

[0004] In addition, patent CN112537416A discloses a self-balancing offshore floating platform, which connects the floating force box that can swing arbitrarily with the sea waves and the modular combined platform body through flexible connecting pieces (such as iron chains, ropes, etc.), so that the floating force box hangs the platform body floating on the sea surface. This design uses the swing of the floating force box to absorb the wave energy, thereby improving the wind and wave resistance and stability of the platform, and enabling the platform body to remain relatively stationary.

[0005] Although the existing unmanned water surface platforms have the ability to maintain suspension in complex waves, wind flow interference and other dynamic environments, there are still some problems to be solved. In actual application, the platform often appears large amplitude of pitching, rolling and tilting. These large amplitude of shaking will seriously affect the measurement accuracy of the sensors carried on the platform, leading to inaccurate data; at the same time, it will also interfere with the stability of the communication system, affecting the transmission of data and the reception of instructions; more seriously, it will also threaten the safety of the operation of the platform and increase the risk of accidents. It is difficult to meet the stable operation demand in complex marine environment.

[0006] Therefore, how to effectively solve the balance problem of unmanned water surface platform in complex marine environment and improve its stability has become a key technical problem to be solved in this field. SUMMARY

[0007] In view of the problem of seakeeping balance of the existing water surface platform, the application provides a multi-axis multi-body motorized self-balancing water surface platform. The platform can greatly buffer the influence of waves on the platform in the pitch direction through the cantilever rocker linkage mechanism and active wave compensation technology, and realizes the self-balancing adjustment effect of the platform in the waves.

[0008] In one aspect of the application, a multi-axis multi-body motorized self-balancing water surface platform is provided, comprising:

[0009] A load-bearing plate is horizontally arranged;

[0010] A work platform is horizontally arranged on the top of the load-bearing plate through roll rotation supports symmetrically distributed on both sides of the work platform, and the roll rotation supports adjust the work platform to pivot in the roll direction around an axis parallel to the load-bearing plate.

[0011] Symmetrically distributed cantilever rocker mechanisms are respectively connected to both sides of the load-bearing plate, each cantilever rocker mechanism includes a long-arm rocker and a short-arm rocker in a circular arc shape, the long-arm rocker is pivotally connected with the load-bearing plate in the pitch direction through a first horizontal pivot axis, the first horizontal pivot axis is located between the first end of the long-arm rocker and the geometric center of the long-arm rocker, and the short-arm rocker is pivotally connected with the first end of the long-arm rocker in the pitch direction through a second horizontal pivot axis, the second horizontal pivot axis is located at the geometric center of the short-arm rocker.

[0012] A plurality of floats are respectively horizontally movably connected to the second end of the long-arm rocker and the two ends of the short-arm rocker, and the plurality of floats are located on the same horizontal plane.

[0013] In one embodiment, the roll rotation support is fixed to the upper surface of the load-bearing plate, and the work platform is pivotally connected to the roll rotation support.

[0014] In one embodiment, the first side of the work platform is pivotally connected to the roll rotation support, and the second side of the work platform is connected with a first motor, and the work platform is pivotally connected with the roll rotation support through the first motor.

[0015] In one embodiment, a first inertial attitude sensor is arranged on the work platform to detect the roll angle of the work platform, and the self-balancing water surface platform includes a control system, which receives the detection signal of the first inertial attitude sensor to control the first motor to adjust the work platform to maintain balance.

[0016] In one embodiment, a damping link is arranged between the geometric center of the long-arm rocker and the second end of the long-arm rocker, and the two ends of the damping link are respectively connected with the long-arm rocker and the load-bearing plate.

[0017] In one embodiment, a damping connection mechanism is connected to the second end of the long-arm rocker and the two ends of the short-arm rocker, and the buoy is connected to the damping connection mechanism.

[0018] In one embodiment, the first side of the load-bearing plate is pivotally connected to the long-arm rocker, and the second side of the load-bearing plate is connected to a second motor, and the long-arm rocker is pivotally connected to the load-bearing plate through the second motor.

[0019] In one embodiment, a second inertial attitude sensor is arranged on the load-bearing plate to detect the pitch angle of the load-bearing plate, and the self-balancing water platform comprises a control system that receives the detection signal of the second inertial attitude sensor to control the second motor to adjust the work platform to maintain balance.

[0020] In one embodiment, the first end of the short-arm rocker is in the same plane as the long-arm rocker, and the second end of the short-arm rocker is curved away from the side of the load-bearing plate.

[0021] In one embodiment, the buoy connected to the second end of the long-arm rocker is connected to a propeller at the bottom.

[0022] The beneficial effects of the present application are:

[0023] The multi-axis multi-body mobile self-balancing water platform provided by the present application, by innovatively introducing a cantilever rocker linkage mechanism, skillfully using the principle of lever and the swing characteristics of rocker, realizes efficient absorption and conversion of irregular wave load, greatly weakens the action force of wave on the platform, and effectively reduces the interference of wave on the stability of the platform; at the same time, the layout design of multiple buoys significantly enhances the flexibility of buoyancy distribution adjustment and wave adaptation performance of the platform, and can alleviate the adverse effects of wave in the vertical, pitch and roll directions of the platform; further, the inertial attitude sensor is used to monitor the platform attitude in real time and accurately, and cooperates with the motor drive mechanism to achieve dynamic perception and instant adjustment of the platform attitude, greatly improving the stability and anti-interference ability of the platform in complex marine environment; in addition, the damping connection mechanism further enhances the impact resistance and overall structural stability of the platform, ensuring that the platform can still maintain stable and balanced working state under severe conditions such as high sea state; the overall structure of the platform is compact and the design is scientific, which can be widely adapted to various marine environments and diversified working task requirements, and has significant engineering application advantages and popularization value. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 is a structural schematic diagram of the multi-axis multi-body mobile self-balancing water platform in the embodiment of the present application;

[0025] Figure 2 is a front view of a multi-axis multi-body motorized self-balancing water platform shown in embodiments of the present application. Figure 1

[0026] Figure 3 is a side view of a multi-axis multi-body motorized self-balancing water platform shown in embodiments of the present application. Figure 1

[0027] In the figure:

[0028] 1 - load-bearing plate, 11 - second motor; 2 - work platform, 21 - first motor; 3 - cantilever rocker mechanism, 31 - long-arm rocker, 32 - short-arm rocker, 33 - first horizontal pivot axis, 34 - second horizontal pivot axis, 35 - damping connecting rod; 4 - pontoon; 5 - roll rotation support; 6 - damping connection mechanism, 61 - spring damper, 62 - long steel tank, 63 - short steel tank; 7 - propeller. DETAILED DESCRIPTION

[0029] The technical solutions of the present application will be described clearly and completely in combination with specific embodiments below, but those skilled in the art will understand that the following described embodiments are part of the embodiments of the present application, not all the embodiments, and are only used to illustrate the present application, and should not be regarded as limiting the scope of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts are within the scope of protection of the present application.

[0030] The present application focuses on solving the technical problem that the existing water work platform is difficult to maintain balance, and innovatively proposes a multi-axis multi-body motorized self-balancing water platform. The platform adopts a multi-pontoon support system, which significantly improves the adjustment ability of the buoyancy distribution through scientific and reasonable layout design; at the same time, a cantilever rocker linkage mechanism is introduced, which can effectively absorb and convert the irregular wave load generated by the front wave by virtue of its unique mechanical structure and motion characteristics, greatly buffering the force of the wave acting on the hull in the pitch direction from the structural level, and reducing the adverse effects of the wave on the platform attitude. In addition, the platform constructs a closed-loop control system cooperated by a motor-driven mechanism and an inertial attitude sensor, which dynamically perceives the platform attitude in real time and accurately through the inertial attitude sensor, and then realizes rapid and accurate attitude adjustment through the motor-driven mechanism, forming an efficient compensation adjustment mechanism, and thus significantly improving the stability and anti-interference ability of the platform in complex marine environment.

[0031] In one embodiment, referring to Figure 1 A multi-axis multi-body motorized self-balancing water platform includes a load-bearing plate 1, a work platform 2, a cantilever rocker mechanism 3, and a plurality of pontoons 4.

[0032] ​​The load-bearing plate 1 is arranged horizontally, and a pair of rolling and rotating supports 5 are symmetrically fixed on the upper surface of the load-bearing plate 1. The working platform 2 is pivotally installed on the rolling and rotating supports 5 in the rolling direction, and the pair of rolling and rotating supports 5 are respectively located on both sides of the working platform 2.

[0033] The cantilever rocker mechanism 3 is symmetrically connected to both sides of the load-bearing plate 1, and the cantilever rocker mechanism 3 includes a long arm rocker 31 and a short arm rocker 32 in an arc shape. The long arm rocker 31 is pivotally connected to the load-bearing plate 1 along the pitch direction through a first horizontal pivot axis 33, and the first horizontal pivot axis 33 is located between the first end of the long arm rocker 31 and the geometric center of the long arm rocker 31. The short arm rocker 32 is pivotally connected to the first end of the long arm rocker 31 along the pitch direction through a second horizontal pivot axis 34, and the second horizontal pivot axis 34 is located at the geometric center of the short arm rocker 32.

[0034] The plurality of buoys 4 are respectively and horizontally movably connected to the second end of the long arm rocker 31 and the two ends of the short arm rocker 32 , and the plurality of buoys 4 are located in the same horizontal plane.

[0035] In this application, the long-arm rocker 31 is pivotally connected to the bearing plate 1 in the pitch direction via a first horizontal pivot axis 33, located between the first end of the long-arm rocker 31 and its geometric center. This connection position allows the long-arm rocker 31 to be adjusted using the first horizontal pivot axis 33 as a fulcrum when subjected to wave action. When waves impact the platform, the bearing plate 1 is adjusted accordingly based on the wave's direction, effectively mitigating the impact of the waves on the platform body.

[0036] The short-arm rocker 32 is pivotally connected to the first end of the long-arm rocker 31 in the pitch direction via a second horizontal pivot axis 34, located at the geometric center of the short-arm rocker 32. The connection of the short-arm rocker 32 allows it to swing freely, in addition to the swinging of the long-arm rocker 31. When the long-arm rocker 31 swings in response to wave action, the short-arm rocker 32 swings in tandem. This multi-stage swing mechanism enables the cantilever rocker mechanism 3 to more effectively absorb and distribute wave loads, further enhancing the platform's ability to buffer wave disturbances.

[0037] The floating cylinder 4 as a component directly in contact with the water surface will swing with the fluctuation of the water surface when the platform is subjected to wave action, first absorbing a part of the wave load. At the same time, since the floating cylinder 4 is movably connected with the rocker mechanism, the movement of the floating cylinder 4 drives the swing of the movable rocker mechanism, thereby transmitting and dispersing the wave load to the entire cantilever rocker mechanism 3, further realizing the preliminary buffering of the platform pitch and vertical disturbance.

[0038] The multi-axis multi-body motorized self-balancing water platform of the present application is placed on the water surface when in use. When subjected to wave action to produce swinging motion, the self-balancing process of the platform is as follows: first, the movable floating cylinder 4 first contacts the wave, and since the floating cylinder 4 has a certain buoyancy and freedom of movement, it can absorb a part of the wave load, reducing the initial impact force of the wave on the platform body. Secondly, with the transmission of the wave load, the cantilever rocker mechanism 3 begins to respond passively. The long-arm rocker 31 and the short-arm rocker 32 swing freely according to the direction and intensity of the wave, further absorbing and dispersing the wave load through a multi-stage swing mechanism. The long-arm rocker 31 swings around the first horizontal pivot axis 33 as a fulcrum, driving the short-arm rocker 32 to produce linked swing, and this complex swing process can effectively buffer the platform pitch and vertical disturbance caused by the wave. Through the preliminary load absorption of the floating cylinder 4 and the further buffering of the cantilever rocker mechanism 3, the wave disturbance received by the platform is significantly weakened, thereby realizing the self-balancing of the platform and enabling the platform to maintain a relatively stable working state in the wave environment, providing reliable support for water surface operations.

[0039] In some embodiments, the roll and turn support 5 is a triangular bracket, which includes a bottom side, a first inclined side and a second inclined side, the bottom side is fixedly installed on the upper surface of the load-bearing plate 1 along the horizontal direction, the first inclined side and the second inclined side extend upward from both ends of the bottom side to intersect to form a top corner, and the working platform 2 is rotatably connected to the top corner, so that the working platform 2 can roll and turn around an axis parallel to the load-bearing plate 1.

[0040] In some embodiments, as shown in Figure 2 , the first side of the working platform 2 is pivotally connected to the roll and turn support 5, and the second side of the working platform 2 is connected with a first motor 21, and the working platform 2 is pivotally connected with the roll and turn support 5 through the first motor 21.

[0041] Specifically, the first side of the work platform 2 is rollingly and pivotally connected to the top corner of the triangular support, the second side of the work platform 2 is fixed with a first motor 21, and the output shaft of the first motor 21 is fixedly connected to the top corner of the triangular support. A first inertial attitude sensor is arranged on the work platform 2 to detect the roll angle of the work platform 2. The self-balancing water platform comprises a control system which receives the detection signal of the first inertial attitude sensor to control the first motor 21 to adjust the work platform 2 to maintain balance.

[0042] In actual application, the first inertial attitude sensor can monitor the attitude change of the work platform 2 in real time and accurately measure the roll angle and direction generated by the work platform 2. After the control system receives the pitch angle and roll angle signals transmitted by the sensor, it will quickly analyze and process them. It can be understood that the control system has preset ideal attitude parameters of the work platform 2, and by comparing the actual detected pitch angle and roll angle with the ideal parameters, the angle and direction that need to be adjusted are calculated. For example, if it is detected that the work platform 2 is tilted upward by a certain angle, the control system will determine that the work platform 2 needs to be turned downward by a corresponding angle to reach a horizontal state. According to the decision result of the control system, a control instruction is sent to the first motor 21 to control the operation of the motor. After receiving the instruction, the output shaft of the first motor 21 starts to rotate. Since the output shaft of the first motor 21 is fixedly connected to the top corner of the triangular support, and the first side of the work platform 2 is rollingly and pivotally connected to the top corner of the triangular support, when the output shaft of the first motor 21 rotates, since the motor housing is fixed on the work platform 2, according to the principle of action and reaction, the motor will exert a torque on the work platform 2 to force the work platform 2 to rotate around the roll pivot connection point of the first side thereof.

[0043] In some embodiments, referring to Figure 2 As shown, a damping link 35 is arranged between the geometric center of the long-arm rocker 31 and the second end of the long-arm rocker 31, and the two ends of the damping link 35 are respectively connected to the long-arm rocker 31 and the load-bearing plate 1 to prevent excessive displacement. Specifically, the damping link 35 is hingedly connected to the long-arm rocker 31 and the load-bearing plate 1. The hinge can be realized by a hinge or a hinged joint, wherein the hinge is usually composed of a pin shaft and a hole, and the pin shaft passes through the corresponding connecting holes of the long-arm rocker 31, the damping link 35 and the load-bearing plate 1, so that these three components can rotate around the pin shaft.

[0044] The damping connecting rod 35 is usually filled with hydraulic oil or special mechanical structure, so that it is a 0 pressure damping connecting rod. When the second motor 11 fails or uncontrollable external force causes the load plate 1 to generate an excessive inclination angle relative to the long arm rocker 31, the damping connecting rod 35 can effectively control the movement of the load plate 1, so as to avoid that the excessive inclination angle causes the load on the load plate 1 or the work platform 2 to fall off the platform.

[0045] In some embodiments, referring to Figure 2 As shown in the figure, the second end of the long arm rocker 31 and the two ends of the short arm rocker 32 are fixed with short steel grooves 63, and a damping connection mechanism 6 is connected through the short steel grooves 63, and the float 4 is connected with the damping connection mechanism 6. The wave impact can be alleviated, the platform shaking can be reduced, the navigation stability and operation accuracy can be improved, and the propeller 7 vibration can be absorbed, prolonging the service life of the equipment.

[0046] Specifically, the damping connection mechanism 6 includes a spring shock absorber 61 and a long steel groove 62. For the short arm rocker 32, the two ends of the spring shock absorber 61 are respectively hinged with the end short steel groove 63 of the short arm rocker 32 and the float 4, and the two ends of the long steel groove 62 are respectively hinged with the end short steel groove 63 of the short arm rocker 32 and the float 4. For the long arm rocker 31, the two ends of the spring shock absorber 61 are respectively hinged with the second end short steel groove 63 of the long arm rocker 31 and the float 4, and the two ends of the long steel groove 62 are respectively hinged with the second end short steel groove 63 of the long arm rocker 31 and the float 4. Thus, the spring shock absorber 61, the long steel groove 62 and the float 4 form a triangular structure.

[0047] In some embodiments, referring to Figure 3 As shown in the figure, the first side of the load plate 1 is pivotally connected to the long arm rocker 31, the second side of the load plate 1 is connected with the second motor 11, and the long arm rocker 31 is pivotally connected with the load plate 1 through the second motor 11. A second inertial attitude sensor is arranged on the load plate 1 to detect the pitch angle of the load plate 1, and the self-balancing water platform includes a control system, which receives the detection signal of the second inertial attitude sensor to control the second motor 11 to adjust the work platform 2 to maintain balance.

[0048] Specifically, the first side of the load-bearing plate 1 is connected to the long-arm rocker 31 through a pivoting structure. This pivoting connection can take the form of a pivot or a hinge, with the pivot passing through corresponding mounting holes on the first side of the load-bearing plate 1 and the long-arm rocker 31, allowing the load-bearing plate 1 to rotate around the pivot within a certain angular range. This connection provides the load-bearing plate 1 with a basic degree of freedom of movement, allowing it to produce a pitching action relative to the long-arm rocker 31 in response to fluctuations in the water surface waves or the movement needs of the platform itself. For example, when the water surface waves cause one side of the platform to rise, the load-bearing plate 1 rotates around the pivot to adapt to this change and maintain the relative balance of the platform.

[0049] The second side of the load-bearing plate 1 is connected to a second motor 11, which is fixedly connected to the load-bearing plate 1. The output shaft of the motor is fixedly connected to the long-arm rocker 31, and is used for precise control of the pitch angle of the load-bearing plate 1. Specifically, when the motor is running, the rotation of the output shaft will cause the load-bearing plate 1 to produce relative movement with respect to the long-arm rocker 31, thereby changing the pitch angle of the load-bearing plate 1. In cooperation with the pivoting connection on the first side, a complete adjustable pivoting system is formed.

[0050] The second inertial attitude sensor is installed at the center of the load-bearing plate 1, which can be located in the central region of the load-bearing plate 1 or a key position that can accurately reflect the overall pitch state of the load-bearing plate 1, to ensure that the sensor can accurately detect the angular change of the load-bearing plate 1 in the pitch direction, providing reliable data support for subsequent balance adjustment.

[0051] The control system receives the detection signal from the second inertial attitude sensor, extracts the key information such as the pitch angle and angular velocity of the load plate 1, and converts it into a digital signal that the control system can recognize and process. The control system judges the extracted pitch angle information according to the preset balance threshold. If the pitch angle of the load plate 1 is within the balance threshold range, it means that the platform is in a relatively balanced state, and the control system does not need to adjust; if the pitch angle exceeds the balance threshold, it means that the platform is out of balance, and the control system needs to develop appropriate adjustment strategies according to the size and direction of the deviation. According to the result of the balance state judgment, the control system sends control instructions to the second motor 11. The control instructions include the speed, direction and rotation time of the motor, which are calculated by a specific control algorithm according to the size and direction of the pitch angle deviation. For example, when the load plate 1 tilts upward, the control system controls the second motor 11 to rotate forward, driving the long arm rocker 31 to move downward, thereby adjusting the angle of the load plate 1 downward; conversely, when the load plate 1 tilts downward, the control system controls the second motor 11 to rotate in the opposite direction, causing the load plate 1 to adjust the angle upward. By continuously adjusting the operation of the second motor 11, the control system can correct the pitch deviation of the load plate 1 in real time, so that the working platform 2 always maintains a balanced state.

[0052] In some embodiments, referring to Figure 3 The first end of the short arm rocker 32 is in the same plane as the long arm rocker 31, and the second end of the short arm rocker 32 is curved away from the load plate 1.

[0053] Specifically, the first end of the short arm rocker 32 is in the same plane as the long arm rocker 31, which can ensure that the force transmission is more direct and efficient. When the platform is subjected to external forces such as wave impact forces, the force can be smoothly transmitted along the long arm rocker 31 and the short arm rocker 32 in the same plane, reducing energy loss and additional stress concentration due to structural misalignment. The second end of the short arm rocker 32 is curved away from the load plate 1. This curved structure breaks the spatial limitation, providing more installation space for the buoy 4, making the layout of the buoy 4 more flexible and diverse, and expanding the distribution range of the buoy 4. This layout significantly increases the effective width of the platform, effectively suppressing the movement of the platform in the rolling direction, and enhances the lateral stability. At the same time, it enables the platform to fully utilize the surrounding water space to arrange the buoy 4, improving the overall buoyancy support capacity and wave adaptation performance of the platform.

[0054] In some embodiments, referring to Figure 3As shown, the second end of the long arm rocker 31 is connected to the bottom of the pontoon 4, and a propeller 7 is connected to the bottom of the pontoon 4 to move the platform or buffer the horizontal wave. Among them, the propeller 7 located on both sides of the load-bearing plate 1 is a positive and negative propeller. The propeller 7 is fixedly connected with the pontoon 4, and the propeller 7 can adopt the mode of propeller or water jet propulsion. In order to realize the precise movement and direction control of the platform, a plurality of propellers 7 can be installed and distributed layout is adopted. At the same time, when the platform is impacted by the horizontal wave, the propeller 7 can actively generate a propelling force opposite to the wave force, so as to offset the influence of the wave on the platform, and make the platform keep relatively stable.

[0055] Embodiments

[0056] Reference Figures 1 to 3 As shown, a multi-axis multi-body mobile self-balancing water platform includes a load-bearing plate 1, a work platform 2, a cantilever rocker mechanism 3 and a plurality of pontoons 4.

[0057] The load-bearing plate 1 is horizontally arranged, and a pair of triangular support-shaped rolling rotation supports 5 are fixed on the upper surface of the load-bearing plate 1. The bottom edge of the rolling rotation support 5 is fixedly installed on the upper surface of the load-bearing plate 1. A pair of rolling rotation supports 5 are respectively located on both sides of the work platform 2. The top corner of the rolling rotation support 5 located on the first side of the work platform 2 is freely rotatably connected with the cantilever rocker mechanism 3 through a pin shaft. The second side of the work platform 2 is fixedly installed with a first motor 21, and the output shaft of the first motor 21 is fixedly connected with the top corner of the rolling rotation support 5 located on the second side of the work platform 2.

[0058] The cantilever rocker mechanism 3 includes a circular arc-shaped long arm rocker 31 and a short arm rocker 32.

[0059] On the first side of the bearing plate 1, a circular hole is provided between the geometric center of the long arm rocker 31 and the first end of the long arm rocker 31. The long arm rocker 31 is connected to the bearing plate 1 in a freely rotatable manner by cooperating with a pin through the circular hole. A circular hole is provided at the geometric center of the short arm rocker 32. The short arm rocker 32 is connected to the first end of the long arm rocker 31 in a freely rotatable manner by cooperating with a pin. On the second side of the bearing plate 1, a second motor 11 is fixed to the bottom of the bearing plate 1. The output shaft of the second motor 11 is fixedly connected to the long arm rocker 31. The connection position is between the geometric center of the long arm rocker 31 and the first end of the long arm rocker 31, and corresponds to the pin position of the long arm rocker 31 on the first side of the bearing plate 1. For each of the long-arm rockers 31 on both sides of the bearing plate 1, a damping link 35 is rotatably connected between the geometric center of the long-arm rocker 31 and the second end of the long-arm rocker 31 via a pin. The other end of the damping link 35 is rotatably connected to the bearing plate 1 via a pin. The first end of the short-arm rocker 32 is coplanar with the long-arm rocker 31, and the second end of the short-arm rocker 32 is bent toward the side away from the bearing plate 1.

[0060] The second end of the long-arm rocker 31 and both ends of the short-arm rocker 32 are respectively connected to the pontoon 4 via a shock-absorbing connection mechanism 6. The shock-absorbing connection mechanism 6 includes a spring damper 61 and a long steel channel 62. For the short-arm rocker 32, both ends of the spring damper 61 are hinged to the end of the short-arm rocker 32 and the pontoon 4, respectively, while both ends of the long steel channel 62 are hinged to the end of the short-arm rocker 32 and the pontoon 4. For the long-arm rocker 31, both ends of the spring damper 61 are hinged to the second end of the long-arm rocker 31 and the pontoon 4, respectively, while both ends of the long steel channel 62 are hinged to the second end of the long-arm rocker 31 and the pontoon 4. Both ends of the short-arm rocker 32 and the second end of the long-arm rocker 31 are equipped with a slot structure, into which one end of the spring damper 61 and one end of the long steel channel 62 are respectively inserted and hinged.

[0061] For the long arm rocker 31 on both sides of the bearing plate 1, a propeller 7 is installed at the bottom of the buoy 4 located at the second end of each long arm rocker 31, and the propellers 7 on both sides of the bearing plate 1 are one positive paddle and one negative paddle to provide power for the platform.

[0062] The first inertia attitude sensor and the second inertia attitude sensor are respectively arranged on the load-bearing plate 1 and the work platform 2, the self-balancing water platform further comprises a control system, the first inertia attitude sensor and the first motor 2 are respectively electrically connected with the control system, the second inertia attitude sensor and the second motor 11 are respectively electrically connected with the control system, and the control system, the first inertia attitude sensor, the second inertia attitude sensor, the first motor 21 and the second motor 11 form a motion compensation closed loop through real-time data interaction.

[0063] Although the embodiments of the present application are described above in combination with the drawings, the present application is not limited to the above-mentioned specific embodiments and application fields, and the above-mentioned specific embodiments are only illustrative and guiding, but not limiting. Those skilled in the art can make many forms under the inspiration of the present application and without departing from the scope protected by the claims of the present application, which all belong to the protection of the present application.

Claims

1. A multi-axis multi-body self-balancing surface platform, characterized in that: include: A load-bearing plate, the load-bearing plate being arranged horizontally; A working platform is horizontally arranged on top of the bearing plate through rolling and rotating supports symmetrically distributed on both sides of the working platform, and the rolling and rotating supports adjust the working platform to pivot in a rolling direction around an axis parallel to the bearing plate; Symmetrically distributed cantilever rocker mechanisms are respectively connected to both sides of the load-bearing plate, each cantilever rocker mechanism comprising an arc-shaped long arm rocker and a short arm rocker, the long arm rocker being pivotally connected to the load-bearing plate in a pitch direction via a first horizontal pivot axis, the first horizontal pivot axis being located between a first end of the long arm rocker and a geometric center of the long arm rocker, the short arm rocker being pivotally connected to the first end of the long arm rocker in a pitch direction via a second horizontal pivot axis, the second horizontal pivot axis being located at the geometric center of the short arm rocker; A plurality of buoys are respectively and horizontally movably connected to the second end of the long arm rocker and the two ends of the short arm rocker, and the plurality of buoys are located in the same horizontal plane.

2. The self-balancing water surface platform according to claim 1, characterized in that: The rolling and rotating support is fixed to the upper surface of the load-bearing plate, and the working platform is pivotally connected to the rolling and rotating support.

3. The self-balancing water surface platform according to claim 1, characterized in that: A first side of the working platform is pivotally connected to the rolling and rotating support, a second side of the working platform is connected to a first motor, and the working platform is pivotally connected to the rolling and rotating support via the first motor.

4. The self-balancing water surface platform according to claim 3, characterized in that: The working platform is provided with a first inertial attitude sensor to detect the roll angle of the working platform. The self-balancing water surface platform includes a control system. The control system receives the detection signal of the first inertial attitude sensor to control the first motor to adjust the working platform to maintain balance.

5. The self-balancing water surface platform according to claim 1, characterized in that: A damping link is provided between the geometric center of the long arm rocker and the second end of the long arm rocker, and the two ends of the damping link are respectively connected to the long arm rocker and the bearing plate.

6. The self-balancing water surface platform according to claim 1, characterized in that: The second end of the long-arm rocker and both ends of the short-arm rocker are connected with a shock-absorbing connection mechanism, and the buoy is connected to the shock-absorbing connection mechanism.

7. The self-balancing water surface platform according to claim 1, characterized in that: The first side of the load-bearing plate is pivotally connected to the long arm rocker, the second side of the load-bearing plate is connected to a second motor, and the long arm rocker is pivotally connected to the load-bearing plate through the second motor.

8. The self-balancing water surface platform according to claim 7, characterized in that: A second inertial attitude sensor is provided on the bearing plate to detect the pitch angle of the bearing plate. The self-balancing water surface platform includes a control system. The control system receives the detection signal of the second inertial attitude sensor to control the second motor to adjust the working platform to maintain balance.

9. The self-balancing water surface platform according to claim 1, characterized in that: The first end of the short arm rocker is in the same plane as the long arm rocker, and the second end of the short arm rocker is bent toward a side away from the load-bearing plate.

10. The self-balancing water surface platform according to claim 1, characterized in that: The bottom of the buoy to which the second end of the long-arm rocker is connected is connected is connected with a propeller.

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