High-precision positioning mechanism with four-degree-of-freedom adjusting function in high-pressure environment

Abstract

The invention relates to a high-precision positioning mechanism with a four-degree-of-freedom adjusting function in a high-pressure environment, which comprises a pressure cylinder, a pitching rotating mechanism is mounted in the pressure cylinder, a telescopic rotating mechanism is mounted outside the pressure cylinder, and the output end of the telescopic rotating mechanism is connected with the pitching rotating mechanism; the device is compact and reasonable in structure and convenient to operate, water sound pressure metering or underwater sound transducer calibration and performance testing are carried out in a pressure cylinder simulating a seawater environment, the problem of space relative positioning of transmitting and receiving equipment needs to be solved, and front-back, left-right, pitching and rotating four-degree-of-freedom position adjustment can be provided.

Description

Technical Field

[0001] This invention relates to the field of high-precision positioning mechanism technology, and in particular to a high-precision positioning mechanism with four degrees of freedom adjustment function under high pressure environment. Background Technology

[0002] In the laboratory or under certain working conditions, it is usually necessary to adjust the relative position and attitude between the test piece and the main test piece, including relative attitudes such as front-back, left-right, pitch, and rotation, in order to simulate various attitude conditions of the test piece and the main test piece, conduct transmission and reception, and obtain test data.

[0003] For multi-position adjustment and positioning of underwater acoustic testing equipment, an underwater remote-controlled multi-dimensional manipulator solution can be considered. However, due to the following reasons: to achieve similar target functions, the underwater manipulator needs to be equipped with two or more curved arm rotating joints and a gripper. The bending, extension, and rotation of the curved arm occupy a large radius space, causing difficulties in test space layout and high costs. In addition, the large shape of the straight cylindrical component of the manipulator body is prone to reflection and reception interference of various wavelengths emitted by the main test specimen. As the simulated water depth increases and the pressure increases, there are also many problems with the reliability of components such as manipulators and sensors. At the same time, the manipulator solution has obvious shortcomings in terms of motion repeatability, movement distance, and precise stroke control. Therefore, a new compact position and attitude adjustment mechanism is needed. Summary of the Invention

[0004] In response to the shortcomings of the existing production technology, the applicant provides a high-precision positioning mechanism with four degrees of freedom adjustment function under high pressure environment, which can conveniently achieve accurate positioning work.

[0005] The technical solution adopted in this invention is as follows:

[0006] A high-precision positioning mechanism with four degrees of freedom adjustment function under high pressure environment includes a pressure cylinder, a pitch rotation mechanism is installed inside the pressure cylinder, a telescopic rotation mechanism is installed outside the pressure cylinder, and the output end of the telescopic rotation mechanism is connected to the pitch rotation mechanism.

[0007] The telescopic rotation mechanism comprises: an electric servo cylinder fixing plate, an electric servo cylinder fixed on the outer side of the electric servo cylinder fixing plate, telescopic electric cylinder fixing brackets spaced apart at both ends of the inner side of the electric servo cylinder fixing plate, a telescopic sliding frame plate fitted on the two telescopic electric cylinder fixing brackets, a rotary servo motor frame installed in the space between the telescopic sliding frame plate and the electric servo cylinder fixing plate, the output end of the electric servo cylinder passing through the electric servo cylinder fixing plate and connected to the rotary servo motor frame, a rotary servo motor fixedly installed in the rotary servo motor frame, a telescopic rotation shaft installed on the output end of the rotary servo motor passing through the telescopic sliding frame plate, a through-chamber sealing bushing installed on the telescopic rotation shaft, and the telescopic rotation shaft connected to the pitch rotation mechanism;

[0008] The structure of the pitch and rotation mechanism is as follows: a base plate fixed inside a pressure cylinder is included, with X-axis guide rails installed at intervals on the top surface of the base plate, a worktable that slides along the X-axis guide rails is installed above the X-axis guide rails, a Y-axis guide rail is fixed on the top surface of the worktable, a Y-axis platform that slides along the Y-axis guide rails is installed above the Y-axis guide rails, and a rack is installed on the Y-axis platform; door frames are fixed on both sides of the worktable, and gears that mesh with the racks are installed inside the door frames. The door frames facing the telescopic rotation mechanism are connected to the central shaft of the gears through universal joints, and the universal joints are connected to the rotating shaft body. The rotating shaft body is coaxially installed with the telescopic rotation shaft.

[0009] Its further technical solution lies in:

[0010] The telescopic electric cylinder mounting bracket adopts a cylindrical structure.

[0011] The frame of the rotary servo motor adopts a portal frame structure.

[0012] The end face of the rotary servo motor frame is fixed to the outside of the telescopic sliding frame plate.

[0013] The pressure cylinder has a circular hole on its side wall, through which a telescopic rotating shaft passes. A through-chamber sealing bushing is used to connect and seal the circular hole. Telescopic electric cylinder fixing brackets are abutted on the side walls of the pressure cylinder on both sides of the circular hole.

[0014] A pivot bracket is also installed on the side of the door frame, and the pivot body is supported on the pivot bracket.

[0015] The two ends of the rack are fixed by right-angle brackets, which are fastened or welded to the Y-axis platform.

[0016] The front end of the Y-axis platform is also fixed with a gimbal bracket, on which a diaphragm frame is installed by tilting and rotating the gimbal.

[0017] Gear bearings are also installed on both sides of the door frame for support.

[0018] The beneficial effects of this invention are as follows:

[0019] This invention has a compact and reasonable structure and is easy to operate. In a pressure cylinder simulating a seawater environment, it is used to conduct underwater acoustic pressure measurement or underwater acoustic transducer calibration and performance testing. It is necessary to solve the problem of spatial relative positioning of the transmitting and receiving equipment and can provide position adjustment in four degrees of freedom: forward and backward, left and right, pitch and rotation.

[0020] This invention utilizes the extension and rotation of a telescopic rotating rod (connected to a drive device located outside the pressure cylinder) to move the internal platform left and right, and forward and backward, in conjunction with the pitch and rotation of a gimbal (located inside the pressure cylinder) to achieve the specific requirements of the underwater acoustic measurement transmitting and receiving equipment in terms of relative position.

[0021] This invention mainly consists of an electric servo cylinder, a rotary servo motor, a frame, a universal joint, a rotary rod, a through-chamber combined seal, gears, a rack, a moving platform, a guide rail, a gimbal, and a control system. The platform's forward and backward translation is achieved by the electric servo cylinder, the platform's left and right translation is achieved by the rotary servo motor driving the gears and racks, and the rotation and pitch are achieved by the gimbal mounted on the platform.

[0022] The forward and backward translation of the platform in this invention is controlled by a displacement sensor, while the left and right translation of the platform and the rotation and pitch of the gimbal are controlled by a photoelectric encoder to control the stroke, angle and accuracy.

[0023] Except for the electric servo cylinder and the rotary servo motor, which are installed outside the pressure cylinder and operate under normal pressure without being subjected to pressure, all other components of this invention are installed inside the pressure cylinder.

[0024] This invention has the advantages of simple structure, convenient use, easy maintenance and small space occupation, and can meet the requirements of adjusting the position and angle of underwater acoustic test equipment under water pressure environment. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of the present invention.

[0026] Figure 2 This is a schematic diagram of the structure of the present invention (pressure cylinder omitted).

[0027] Figure 3 This is a schematic diagram of the telescopic rotation mechanism of the present invention.

[0028] Figure 4 This is a schematic diagram of the pitch and rotation mechanism of the present invention.

[0029] Among them: 100, pressure cylinder; 200, pitch and rotation mechanism; 300, telescopic and rotation mechanism;

[0030] 1. Electric servo cylinder; 2. Electric servo cylinder mounting plate; 3. Telescopic electric cylinder mounting bracket; 4. Rotary servo motor; 5. Rotary servo motor frame; 6. Telescopic sliding frame plate; 7. Telescopic rotary shaft; 8. Through-chamber sealing bushing;

[0031] 9. Spindle bracket; 10. Spindle body; 11. Universal joint; 12. Door frame; 13. Rack; 14. Gear; 15. Gear bearing; 16. Pan / Tilt bracket; 17. Pitch / Rotation pan / tilt head; 18. Diaphragm frame; 19. Y-axis guide rail; 20. Worktable; 21. X-axis guide rail; 22. Base plate; 23. Y-axis platform. Detailed Implementation

[0032] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0033] like Figures 1-4 As shown, the high-precision positioning mechanism with four degrees of freedom adjustment function under high pressure environment in this embodiment includes a pressure cylinder 100, a pitch rotation mechanism 200 installed inside the pressure cylinder 100, a telescopic rotation mechanism 300 installed outside the pressure cylinder 100, and the output end of the telescopic rotation mechanism 300 connected to the pitch rotation mechanism 200.

[0034] The telescopic rotation mechanism 300 has the following structure: it includes an electric servo cylinder fixing plate 2, an electric servo cylinder 1 is fixed on the outside of the electric servo cylinder fixing plate 2, telescopic electric cylinder fixing brackets 3 are arranged at intervals on both ends of the inner side of the electric servo cylinder fixing plate 2, a telescopic sliding frame plate 6 is fitted on the two telescopic electric cylinder fixing brackets 3, a rotary servo motor frame 5 is installed in the space between the telescopic sliding frame plate 6 and the electric servo cylinder fixing plate 2, the output end of the electric servo cylinder 1 passes through the electric servo cylinder fixing plate 2 and is connected to the rotary servo motor frame 5, a rotary servo motor 4 is fixedly installed in the rotary servo motor frame 5, the output end of the rotary servo motor 4 passes through the telescopic sliding frame plate 6 and is installed on the telescopic rotation shaft 7, a through-chamber sealing bushing 8 is installed on the telescopic rotation shaft 7, and the telescopic rotation shaft 7 is connected to the pitch rotation mechanism 200.

[0035] The pitch and rotation mechanism 200 has the following structure: a base plate 22 fixed inside the pressure cylinder 100; X-axis guide rails 21 are installed at intervals on the top surface of the base plate 22; a worktable 20 that slides along the X-axis guide rails 21 is installed above the X-axis guide rails 21; a Y-axis guide rail 19 is fixed on the top surface of the worktable 20; a Y-axis platform 23 that slides along the Y-axis guide rail 19 is installed above the Y-axis guide rail 19; a rack 13 is installed on the Y-axis platform 23; door frames 12 are fixed on both sides of the worktable 20; gears 14 that mesh with the rack 13 are installed inside the door frames 12; the door frames 12 facing the telescopic rotation mechanism 300 are connected to the central shaft of the gears 14 through universal joints 11; the universal joints 11 are connected to the rotating shaft body 10; the rotating shaft body 10 is coaxially installed with the telescopic rotation shaft 7.

[0036] The telescopic electric cylinder fixing bracket 3 adopts a cylindrical structure.

[0037] The rotary servo motor frame 5 adopts a portal frame structure.

[0038] The end face of the rotary servo motor frame 5 is fixed to the outside of the telescopic sliding frame plate 6.

[0039] The pressure cylinder 100 has a circular hole on its side wall. The telescopic rotating shaft 7 passes through the circular hole and is connected and sealed at the circular hole by the through-chamber sealing bushing 8. The telescopic electric cylinder fixing bracket 3 is abutted on the side wall of the pressure cylinder 100 on both sides of the circular hole.

[0040] A pivot bracket 9 is also installed on the side of the door frame 12, and the pivot body 10 is supported on the pivot bracket 9.

[0041] The two ends of the rack 13 are fixed by right-angle brackets, which are fastened or welded to the Y-axis platform 23.

[0042] The front end of the Y-axis platform 23 is also fixed with a gimbal bracket 16, and a diaphragm frame 18 is installed on the gimbal bracket 16 via a pitch and rotation gimbal 17.

[0043] Gear bearings 15 are also installed on both outer sides of the door frame 12 for support.

[0044] This invention divides the system into two major systems: atmospheric pressure and pressurized system.

[0045] In the atmospheric pressure section, the telescopic and rotary drive mechanism and control system are installed outside the pressure cylinder 100. Telescopic and rotary operations occur under atmospheric pressure. The main equipment in the device, such as the electric servo cylinder 1 and the rotary servo motor 4, do not require any external pressure and do not occupy internal space within the pressure cylinder 100, resulting in high space utilization. This structure offers significant advantages such as simple design, convenient installation, easy operation, good maintainability and replaceability, and a low failure rate.

[0046] Among them, the pressure-bearing parts: the worktable 20 and the pitch and rotation gimbal 17 are pressure-bearing systems, which are installed in the pressure cylinder 100. They serve as carriers for adjusting the attitude. The position and angle of movement are output to the external controller terminal through sensor signals. The feedback is processed by the photoelectric encoder servo signal to perform precise stroke control and multiple repetition accuracy reproduction.

[0047] This invention proposes a mechanism for the arrangement, communication, and multi-degree-of-freedom adjustment of the attitude mechanism of the main transmitter and the receiver under test in a closed pressure environment.

[0048] It mainly consists of two parts: the telescopic rotation mechanism 300 and the pitch rotation mechanism 200.

[0049] Among them, the telescopic and rotating mechanism 300 outside the pressure cylinder 100, such as Figure 3 As shown, it mainly includes an electric servo cylinder 1, an electric servo cylinder fixing plate 2, a telescopic electric cylinder fixing bracket 3, a rotary servo motor 4, a rotary servo motor frame 5, a telescopic sliding frame plate 6, a telescopic rotating shaft 7, and a through-chamber sealing bushing 8, which are not shown in the control system diagram.

[0050] Among them, the pitching and rotating mechanism 200 inside the pressure cylinder 100, such as... Figure 4 As shown, it mainly includes a rotating shaft bracket 9, a rotating shaft body 10, a universal joint 11, a door frame 12, a rack 13, a gear 14, a gear bearing 15, a gimbal bracket 16, a pitch and rotation gimbal 17, a diaphragm frame 18, a Y-axis guide rail 19, a worktable 20, and an X-axis guide rail 21.

[0051] In actual work process:

[0052] In the X-direction (axial direction): When the external control terminal sends a telescopic displacement command signal, the electric servo cylinder 1 pushes the rotary servo motor frame 5, the rotary servo motor 4, and the telescopic sliding frame plate 6 to move along the telescopic electric cylinder fixed bracket 3. Specifically, it telescopically slides along the front-to-back direction (the direction of the electric servo cylinder 1). The telescopic rotating shaft 7 passes through the through-chamber sealing bushing 8 and pushes the rotating shaft body 10, the universal joint 11, and the worktable 20 to slide back and forth along the X-guide rail 21. The movement stroke can be fed back in real time by a displacement sensor (not shown in the figure, but can be installed on the support platform) to control the displacement speed and accuracy of the telescopic electric cylinder. The telescopic movement is realized by the electric cylinder, which has the characteristics of smooth movement, high rigidity, and no need for a separate hydraulic pump station.

[0053] In the Y direction (longitudinal direction): When the external control terminal sends a rotation command signal, the rotary servo motor 4 drives the telescopic rotary shaft 7 to rotate. The telescopic rotary shaft 7 passes through the through-chamber sealing sleeve 8, driving the rotating shaft body 10 and universal joint 11 to rotate together. This causes the gear 14 to rotate. The rotation of the gear 14 drives the rack 13 to move left and right. The movement of the rack 13 drives the Y-axis platform 23 to move. The Y-axis platform 23 translates left and right along the Y-axis guide rail 19 in the Y direction. The travel distance (rotation angle of the gear 14) is fed back in real time through a photoelectric encoder (not shown in the figure) to control the rotation angle, rotational angular velocity, and accuracy of the rotary servo motor 4. The rotational motion of the gear 14 is achieved through the rotary servo motor 4, featuring smooth rotation and high control and repeatability accuracy.

[0054] The gimbal receives rotation and pitch command signals from an external control terminal, which drives the diaphragm frame 18 to pitch and rotate. The angle and accuracy are controlled by a photoelectric encoder, and the gimbal receives signals from the sound source transmitter probe of the electric servo cylinder 1 from multiple angles.

[0055] This embodiment utilizes a telescopic rotation mechanism 300 externally positioned outside the pressure cylinder 100, driving a telescopic rotary rod extending into the pressure cylinder 100 to move the worktable 20 and the pitch rotation gimbal 17. This achieves the requirement for high-precision adjustment of the relative attitude and position between acoustic test pieces in deep-water environments. This embodiment can be used for the forward, backward, left, right translational and pitch rotation movements of load-bearing components within a sealed pressure cylinder 100 in high-pressure environments or with toxic media, achieving the requirement for relative spatial positioning of internal instruments.

[0056] The above description is an explanation of the present invention and not a limitation thereof. The scope of the present invention is defined by the claims. Within the scope of protection of the present invention, any form of modification may be made.

Claims

1. A high-precision positioning mechanism with four-degree-of-freedom adjustment function under high pressure environment, characterized in that: It includes a pressure cylinder (100), a pitch rotation mechanism (200) is installed inside the pressure cylinder (100), and a telescopic rotation mechanism (300) is installed outside the pressure cylinder (100). The output end of the telescopic rotation mechanism (300) is connected to the pitch rotation mechanism (200). The structure of the telescopic rotation mechanism (300) is as follows: it includes an electric servo cylinder fixing plate (2), an electric servo cylinder (1) is fixed on the outside of the electric servo cylinder fixing plate (2), telescopic electric cylinder fixing brackets (3) are arranged at intervals on both ends of the inner side of the electric servo cylinder fixing plate (2), a telescopic sliding frame plate (6) is fitted on the two telescopic electric cylinder fixing brackets (3), a rotary servo motor frame (5) is installed in the space between the telescopic sliding frame plate (6) and the electric servo cylinder fixing plate (2), and the output end of the electric servo cylinder (1) passes through the electric servo cylinder fixing plate (2) and is connected to the rotary servo motor frame (5). A rotary servo motor (4) is fixedly installed in the rotary servo motor frame (5), and a telescopic rotation shaft (7) is installed after the output end of the rotary servo motor (4) passes through the telescopic sliding frame plate (6). A through-chamber sealing bushing (8) is installed on the telescopic rotation shaft (7), and the telescopic rotation shaft (7) is connected to the pitch rotation mechanism (200). The pitch and rotation mechanism (200) has the following structure: a base plate (22) fixed inside a pressure cylinder (100), X-axis guide rails (21) are installed at intervals on the top surface of the base plate (22), a worktable (20) that slides along the X-axis guide rails (21) is installed above the X-axis guide rails (21), a Y-axis guide rail (19) is fixed on the top surface of the worktable (20), and a Y-axis platform (23) that slides along the Y-axis guide rail (19) is installed above the Y-axis guide rail (19). A rack (13) is installed on the platform (23); a door frame (12) is fixed on both sides of the workbench (20). A gear (14) that meshes with the rack (13) is installed inside the door frame (12). The door frame (12) is connected to the central shaft of the gear (14) through a universal joint (11) facing the telescopic rotating mechanism (300). The universal joint (11) is connected to the rotating shaft body (10). The rotating shaft body (10) is coaxially installed with the telescopic rotating shaft (7).

2. The high-precision positioning mechanism with four-degree-of-freedom adjustment function under high pressure environment as described in claim 1, characterized in that: The telescopic electric cylinder fixing bracket (3) adopts a cylindrical structure.

3. The high-precision positioning mechanism with four-degree-of-freedom adjustment function under high pressure environment as described in claim 1, characterized in that: The rotary servo motor frame (5) adopts a gate-shaped structure.

4. A high-precision positioning mechanism with four-degree-of-freedom adjustment function under high pressure environment as described in claim 1, characterized in that: The end face of the rotary servo motor frame (5) is fixed to the outside of the telescopic sliding frame plate (6).

5. A high-precision positioning mechanism with four-degree-of-freedom adjustment function under high pressure environment as described in claim 1, characterized in that: The pressure cylinder (100) has a circular hole on its side wall. The telescopic rotating shaft (7) passes through the circular hole and is connected and sealed at the circular hole by the through-chamber sealing bushing (8). The telescopic electric cylinder fixing bracket (3) abuts against the side wall of the pressure cylinder (100) on both sides of the circular hole.

6. A high-precision positioning mechanism with four-degree-of-freedom adjustment function under high pressure environment as described in claim 1, characterized in that: A pivot bracket (9) is also installed on the side of the door frame (12), and the pivot body (10) is supported on the pivot bracket (9).

7. A high-precision positioning mechanism with four-degree-of-freedom adjustment function under high pressure environment as described in claim 1, characterized in that: The two ends of the rack (13) are fixed by right-angle brackets, which are fastened or welded to the Y-axis platform (23).

8. A high-precision positioning mechanism with four-degree-of-freedom adjustment function under high pressure environment as described in claim 1, characterized in that: The front end of the Y-axis platform (23) is also fixed with a gimbal bracket (16), and a diaphragm frame (18) is installed on the gimbal bracket (16) by a pitch and rotate gimbal (17).

9. A high-precision positioning mechanism with four-degree-of-freedom adjustment function under high pressure environment as described in claim 1, characterized in that: Gear bearings (15) are also installed on both sides of the door frame (12) for support.

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