CN111120815A

CN111120815A - Attitude self-stabilizing underwater platform

Info

Publication number: CN111120815A
Application number: CN201911308854.5A
Authority: CN
Inventors: 秦亚军; 孙畅; 提文猛; 孙海威; 易媛媛; 仝志永
Original assignee: 710th Research Institute of CSIC
Current assignee: 710th Research Institute of CSIC
Priority date: 2019-12-18
Filing date: 2019-12-18
Publication date: 2020-05-08
Anticipated expiration: 2039-12-18
Also published as: CN111120815B

Abstract

The invention discloses an underwater platform with a self-stabilized posture, and belongs to the technical field of ocean engineering. The platform comprises a base, a universal bracket and an instrument cabin; the base and the instrument cabin are movably connected together through the universal support, the platform is integrally hoisted into water and then falls to the bottom through the base, and the universal support adjusts the self angle according to the falling angle of the chassis and the positive buoyancy direction of the instrument cabin, so that the instrument cabin self buoyancy attitude direction is adapted. The underwater platform can automatically adapt to underwater terrains and keep postures under the unpowered condition, and can also adapt to platform recovery of two underwater environments of silt and rock.

Description

Attitude self-stabilizing underwater platform

Technical Field

The invention relates to a posture self-holding platform for underwater information monitoring, acquisition and other work, in particular to a platform structure capable of automatically keeping a posture of an instrument cabin of the platform stable in a certain direction under water through self buoyancy, and belongs to the technical field of ocean engineering.

Background

The underwater platform in ocean engineering needs to keep stable posture at the water bottom to ensure that the detection buoy, the underwater sound beacon, the indication floating body and the like in the underwater platform can be normally released through the micro winch, or the internal sensors and the like meet the requirements on the measuring direction. However, the seabed geology is complex, the actual posture of the underwater platform laid from a ship on the seabed is difficult to control, for sediment bottom, the platform with the correct posture at the beginning can sink to cause the platform to be inclined with the passage of time, and the rock bottom is difficult to control the bottom touching posture of the platform. The active attitude adjusting platform driven by the attitude sensor feedback and the servo motor is high in cost, occupies limited space and electric power of an underwater instrument cabin, and is not ideal.

Disclosure of Invention

In view of the above, the invention provides an underwater platform with self-stabilized posture, which can automatically adapt to underwater topography and keep the posture under the unpowered condition.

An underwater platform with self-stabilized posture comprises a base, a universal bracket and an instrument cabin; the base and the instrument cabin are movably connected together through the universal support, the platform is integrally hoisted into water and then falls to the bottom through the base, and the universal support adjusts the self angle according to the falling angle of the chassis and the positive buoyancy direction of the instrument cabin, so that the instrument cabin self buoyancy attitude direction is adapted.

Furthermore, the instrument cabin and the universal support are generally in positive buoyancy when located underwater, the negative buoyancy of the base is larger than the total positive buoyancy of the instrument cabin and the universal support, and the size of the negative buoyancy of the platform in water is adjusted by the balancing weight.

Further, the universal bracket comprises an upper connecting frame, a lower connecting frame and a cross-shaped hinge ring;

the upper connecting frame and the lower connecting frame are respectively provided with two connecting holes, four connecting holes are uniformly distributed in the circumferential direction on the cross-shaped hinge ring, and the upper connecting frame and the lower connecting frame are movably connected together through the corresponding connecting holes in a cross orthogonal mode and the cross-shaped hinge ring.

Further, the base comprises a chassis, claws, a torsion spring and a turnover plate; the turnover plates capable of downwards turning 90 degrees are evenly arranged on the chassis in the circumferential direction, torsion springs are arranged on the turnover plate rotating shafts, the torsion springs enable the turnover plates to keep a state of being horizontally attached to the chassis under elasticity, the claws are detachably connected to the lower surface of the chassis, and when the platform is laid on the rock seabed, the lengths of the claws can be shortened or the claws can be completely detached.

Has the advantages that:

1. the structure of the invention can adapt to the complex seabed condition, the angle of the universal bracket can be adjusted at any time without power and detection feedback means, and the attitude of the instrument chamber is kept stable and unchanged.

2. The turnover plate is arranged on the chassis and connected with the chassis through the torsion spring, and the structure can effectively reduce sinking and burying of the platform on the sediment seabed and reduce the adsorption effect of the sediment on the platform chassis when the platform is recovered.

3. The base plate is provided with the claws, the length of the claws is adjustable, and the claws are matched with the universal support, so that the risk that the base is possibly clamped in a rock gap when the smaller platform is recovered after being used on the rock bottom can be effectively avoided.

Drawings

FIG. 1 is a schematic view of the overall structure of the self-stabilizing attitude underwater platform of the present invention;

FIG. 2 is a schematic structural view of the chassis of the present invention;

FIG. 3 is a schematic structural diagram of the gimbal according to the present invention.

Wherein, 1-instrument cabin, 2-universal bracket, 3-base, 4-counterweight block, 5-chassis, 6-paw, 7-torsion spring, 8-turning plate, 9-upper connecting frame, 10-lower connecting frame, 11-cross hinged ring.

Detailed Description

The invention is described in detail below by way of example with reference to the accompanying drawings.

As shown in the attached drawing 1, the invention provides an attitude self-stabilizing underwater platform, which integrally comprises an instrument cabin 1, a universal support 2 and a base 3, wherein as shown in the attached drawing 2, the base 3 comprises a balancing weight 4, a chassis 5, a paw 6, a torsion spring 7 and a turning plate 8; there is the mounting hole of three installation board 8 on the chassis 5, turns over board 8 and installs on the chassis through torsional spring 7 and pivot, turns over the board and overcomes torsional spring power and can overturn 90 downwards, and the torsional spring makes to turn over the board and keeps the state on level laminating chassis 5 under elasticity, and three paws 6 can dismantle the lower surface of connection on the chassis, and detachable balancing weight 4 evenly arranges on chassis 5 for adjust the platform weight under water.

As shown in fig. 3, the gimbal 2 includes an upper connecting frame 9, a lower connecting frame 10 and a cross hinge ring 11. The upper connecting frame and the lower connecting frame are respectively provided with two connecting holes, four connecting holes are uniformly distributed in the cross-shaped hinged ring 11 in the circumferential direction, and the upper connecting frame 9 and the lower connecting frame 10 are movably connected with the cross-shaped hinged ring through the corresponding connecting holes in a cross orthogonal mode.

The upper side of the universal bracket 2 is connected with a flange of the instrument cabin 1 through a flange of an upper connecting frame 9, and the lower side of the universal bracket is connected with the base 3 through a lower connecting frame 10; the upper connecting frame 9 is connected with the lower connecting frame 10 through a cross-shaped hinge ring 11, and can adapt to any included angle formed by the instrument cabin 1 and the chassis 3 under the action of gravity and buoyancy.

When the independent instrument cabin 1 and the universal bracket 2 are positioned underwater, the total body is positive buoyancy, otherwise, a buoyancy material is fixed on the upper side of the instrument cabin 1 to ensure the underwater positive buoyancy; 2 the negative buoyancy of the base 3 is larger than the positive buoyancy of the instrument cabin 1, so that the platform can stably sink to the water bottom under normal conditions, and the size of the negative buoyancy of the platform in water can be adjusted by the number of the balancing weights 4.

When in use, the platform is integrally lifted into water until the platform falls to the bottom. For sediment bottom, the feet of the base can be adjusted to be 6 so that the feet can extend out longer, and the location in sediment is convenient. When the platform falls to the bottom, the three claws 6 are firstly inserted into silt, then the chassis 5 contacts the silt, and the sinking of the platform base 3 can be effectively reduced because the chassis 5 has larger area and smaller pressure to the silt. During recovery, under the upward pulling force of the recovery rope, the base 3 moves upwards, and the turning plate 8 is opened downwards under the action of silt adsorption force, so that the action area of the chassis 5 can be effectively reduced, and the adsorption action of silt on the chassis 5 is reduced.

To the rock bottom, should adjust 6 length of paws or accomplish before the platform goes into water and pull down, the chassis with the structure according to specific rock mass size and distribution, the card is fixed a position between the rock mass, because the chassis is the disc, can effectively reduce the chassis by the risk that the rock mass blocked when consequently retrieving.

After the chassis 5 falls to the bottom stably, the universal support automatically adjusts the angles of the upper connecting frame 9 and the lower connecting frame 10 to enable the instrument cabin 1 to keep the posture unchanged all the time under the action of buoyancy.

In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An underwater platform with self-stabilized posture is characterized by comprising a base, a universal bracket and an instrument cabin; the base and the instrument cabin are movably connected together through the universal support, the platform is integrally hoisted into water and then falls to the bottom through the base, and the universal support adjusts the self angle according to the falling angle of the chassis and the positive buoyancy direction of the instrument cabin, so that the instrument cabin self buoyancy attitude direction is adapted.

2. The attitude self-stabilizing underwater platform of claim 1 in which the instrument pod and gimbal are generally positively buoyant when submerged, the base is negatively buoyant greater than the overall positively buoyant force of the instrument pod and gimbal, and the magnitude of the platform's negative buoyant force in the water is regulated by the counterweight.

3. The attitude self-stabilizing underwater platform of claim 1 or 2, wherein the gimbal includes an upper link, a lower link and a cross-shaped articulated ring;

4. The attitude self-stabilizing underwater platform of claim 3 wherein the base includes a chassis, feet, torsion springs and a flap; the chassis is characterized in that turnover plates capable of downwards turning for 90 degrees are uniformly arranged on the chassis in the circumferential direction, torsion springs are arranged on the turnover plate rotating shafts, the torsion springs enable the turnover plates to keep a state of being horizontally attached to the chassis under elasticity, and the claws are detachably connected to the lower surface of the chassis.