CN207173905U - The anti-corona equipment of active peculiar to vessel - Google Patents
The anti-corona equipment of active peculiar to vessel Download PDFInfo
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- CN207173905U CN207173905U CN201721009057.3U CN201721009057U CN207173905U CN 207173905 U CN207173905 U CN 207173905U CN 201721009057 U CN201721009057 U CN 201721009057U CN 207173905 U CN207173905 U CN 207173905U
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Abstract
The utility model discloses a kind of anti-corona equipment of active peculiar to vessel, including：Base, upper mounting plate；Upper mounting plate is connected by first driving means and the second drive device with base；For controlling the first driver of first driving means, the first driver and first driving means communication connection；For controlling the second driver of the second drive device, the second driver and the communication connection of the second drive device；For obtaining the Ship Dynamic Positioning Systems Based of ship information and sea situation information；For obtaining the integrated sensor of cabin information；For controlling the master control system of first driver and the second driver according to ship information, sea situation information and cabin information, master control system communicates to connect with the Ship Dynamic Positioning Systems Based, the integrated sensor, first driver and second driver respectively.The utility model can realize the balance and stability of active control upper mounting plate by ship information, sea situation information and cabin information.
Description
Technical field
Device for ships technical field is the utility model is related to, espespecially a kind of anti-corona equipment of active peculiar to vessel.
Background technology
Ship is in navigation, because of the influence of the extraneous factors such as wave, sea wind, undercurrent, can influence the normal operation of ship, though
So by the distribution to each propeller progress thrust ship can be allowed to be maintained on correct navigation position either along predetermined
Flight path navigated by water, but the situation jolted, rocked can still occur because of the influence of extraneous factor in internal cabin.
The bed in clinic is only common bed on present ship, for uncomfortable passenger at the doctor's rest when make
With, if but there is the situation rocked, jolted in the cabin in clinic, uncomfortable passenger will necessarily be made more difficult
By having a strong impact on passenger's body recovery situation.
The content of the invention
The purpose of this utility model is to provide a kind of anti-corona equipment of active peculiar to vessel, user is lain in the anti-corona equipment of active peculiar to vessel
Upper mounting plate when, reduce it and experience the probability that cabin rocks, jolted, improve the usage experience of user.
The technical scheme that the utility model is provided is as follows：
A kind of anti-corona equipment of active peculiar to vessel, including：Base, upper mounting plate；The upper mounting plate passes through first driving means and
Two drive devices are connected with the base；For controlling the first driver of the first driving means, first driver
Communicated to connect with the first driving means；For controlling the second driver of second drive device, second driving
Device and second drive device communication connection；For obtaining the Ship Dynamic Positioning Systems Based of ship information and sea situation information；With
In the integrated sensor for obtaining cabin information；For according to the ship information, the sea situation information and the cabin information control
Make the master control system of first driver and the second driver, the master control system respectively with the dynamic positioning of vessels system
System, the integrated sensor, first driver and second driver communication connection.
In the above-mentioned technical solutions, the stabilization of upper mounting plate is adjusted in advance according to ship information, sea situation information and cabin information
Property, passenger is reduced it in equipment anti-corona using active peculiar to vessel and is experienced the probability that cabin rocks, jolted, reduce because of cabin
The chance rocked and felt bad, improve the usage experience of user.
Further, the first driving means include：For controlling two first of the upper mounting plate first direction angle
Drive sub-device；The first driving sub-device is connected with the base and the upper mounting plate respectively using Hooke's hinge mode；Two
The individual first driving sub-device is arranged at the same side of the base and the upper mounting plate, two the first driving sub-devices
Wherein one end is adjacent to each other, the other end away from each other, and wealthy mouth direction is towards the base.
In the above-mentioned technical solutions, splay mounting means limits the traffic direction of two first driving sub-devices,
So that upper mounting plate can realize the control of first direction angle.The connected mode of both-end Hooke's hinge, make the first driving sub-device
In addition to it can be axially moved, moreover it is possible to relatively rotate, make the wider of the adjustable scope of upper mounting plate
Further, the first driving sub-device includes：First driving power mechanism and the first driving executing agency；It is described
First driving power mechanism is connected with the described first driving executing agency.
In the above-mentioned technical solutions, the first driving power mechanism provides power for the first driving executing agency and ensured.
Further, the first driving power mechanism includes：First motor body and for anti-to first driver
The first motor body is presented to turn-take the first encoder of quantity, the first motor body and the electrical connection of the first encoder.
In the above-mentioned technical solutions, the quantity of turn-taking of the first motor body can be fed back to the first driving by the first encoder
Device, closed-loop control is realized, ensure the stability and security of platform.
Further, second drive device includes：For controlling two second of the upper mounting plate second direction angle
Drive sub-device；The second driving sub-device is connected with the base and the upper mounting plate respectively using Hooke's hinge mode；Two
The individual second driving sub-device is arranged at the same side of the base and the upper mounting plate, two the second driving sub-devices
Wherein one end is adjacent to each other, the other end away from each other, and wealthy mouth direction is towards the upper mounting plate.
In the above-mentioned technical solutions, the mounting means of herringbone limits the operation side of two second driving sub-devices
To so that upper mounting plate can realize the control of second direction angle.Second driving sub-device employs both-end Hooke's hinge, makes the
Two driving executing agencies are in addition to it can be axially moved, moreover it is possible to relatively rotate, make the adjustable scope of upper mounting plate wider.
Further, the second driving sub-device includes：Second driving power mechanism and the second driving executing agency；It is described
Second driving power mechanism connects with the described second driving executing agency.
In the above-mentioned technical solutions, the second driving power mechanism provides power for the second driving executing agency and ensured.
Further, the second driving power mechanism includes：Second motor body and for anti-to second driver
The second motor body is presented to turn-take the second encoder of quantity, the second motor body and second encoder electrical connection.
In the above-mentioned technical solutions, the quantity of turn-taking of the second motor body can be fed back to the second driving by second encoder
Device, closed-loop control is realized, ensure the stability and security of platform.
Further, the integrated sensor is arranged on the central area in the first face of the base；The integrated sensing
Device includes：For measuring the gyro sensor of cabin direction of motion information and inertia measurement for measuring cabin Inertia information
Unit.
In the above-mentioned technical solutions, integrated sensor is arranged on central area, is to ensure to measure obtained ship
Cabin information is more accurate, and gyro sensor and Inertial Measurement Unit are integrated, and ensure that the measurement of much information.
Further, the Ship Dynamic Positioning Systems Based includes：For obtaining the measuring system of sea situation information and for obtaining
The sensing system of ship information.
In the above-mentioned technical solutions, measuring system and sensing system are to obtain the sea situation information of complexity and ship in advance
Oceangoing ship information, complicated sea situation information and ship information are obtained according to advance, corresponding balanced measure is made in advance, ensures upper mounting plate
The actively realization of anti-corona function.
Further, the master control system includes：Main control computer；The main control computer is provided with TCIP communication interfaces and wirelessly
Communication interface.
In the above-mentioned technical solutions, the setting of multiple communication interface makes the control mode of main control computer more in main control computer
Sample, improve the convenience used.
Compared with prior art, the anti-corona equipment beneficial effect of active peculiar to vessel of the present utility model is：
The balance and stably of active control upper mounting plate can be realized by ship information, sea situation information and cabin information
Property, actively improve because cabin swing cause the anti-corona platform of active peculiar to vessel unstable the problem of, prevention and improve user use ship
Actively dizzy symptom during anti-corona equipment, improve the usage experience of user.
Brief description of the drawings
The utility model is described in further detail with reference to the accompanying drawings and detailed description：
Fig. 1 is the part-structure schematic diagram of the anti-corona equipment one embodiment of the utility model active peculiar to vessel；
Fig. 2 is the top view of the utility model base one embodiment；
Fig. 3 is the structural representation of the anti-corona equipment one embodiment of the utility model active peculiar to vessel.
Drawing reference numeral explanation：
10. base, 20. upper mounting plates, 30. first drivers, 40. second drivers, 50. Ship Dynamic Positioning Systems Baseds, 51.
Measuring system, 52. sensing systems, 60. integrated sensors, 61. gyro sensors, 62. Inertial Measurement Units, 70. master controls
System, 80. first driving sub-devices, 81. first driving power mechanisms, 811. first motor bodies, 812. first encoders,
82. the first driving executing agency, 83. Hooke's hinges, 91. second driving power mechanisms, 911. second motor bodies, 912. second compile
Code device, 92. second driving executing agencies, 1. integrated sensor mounting seats, 2. first driving sub-device mounting seats, 3. second drivings
Sub-device mounting seat.
Embodiment
In order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art, accompanying drawing will be compareed below
Illustrate specific embodiment of the present utility model.It should be evident that drawings in the following description are only of the present utility model one
A little embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to these
Accompanying drawing obtains other accompanying drawings, and obtains other embodiments.
To make simplified form, the part related to the utility model is only schematically show in each figure, they are not
Represent its practical structures as product.In addition, so that simplified form readily appreciates, there is identical structure or work(in some figures
The part of energy, only symbolically depicts one of those, or only marked one of those.Herein, "one" is not only
Represent " only this ", the situation of " more than one " can also be represented.
In one embodiment of the present utility model, as shown in Figure 1, Figure 3, a kind of anti-corona equipment of active peculiar to vessel, including：Bottom
Seat 10, upper mounting plate 20；Upper mounting plate 20 is connected by first driving means and the second drive device with base 10；It is described for controlling
First driver 30 of first driving means, the first driver 30 and first driving means communication connection (can pass through Ethernet
Communication connection)；For controlling the second driver 40 of second drive device, the second driver 40 and the second drive device are led to
Letter connection (can be connected by ethernet communication)；For obtaining ship information and sea situation information, (ship information includes：Ship
Positional information, movable information etc., such as：Surging speed, swaying speed, yawing angular speed；Sea situation information includes：Wind direction, wind-force,
Water (flow) direction, sea direction, classification of seas etc.) Ship Dynamic Positioning Systems Based 50；For obtain cabin information (such as：Cabin
The information such as the angular speed that inside rocks, acceleration) integrated sensor 60；For according to the ship information, the sea situation information
The master control system 70 of the driver 40 of the first driver 30 and second is controlled with the cabin information, the master control system 70 is divided
Not with the Ship Dynamic Positioning Systems Based 50, the integrated sensor 60, first driver 30 and second driver
40 communication connections.
Specifically, the master control system in the present embodiment adds communication interface, so as to Ship Dynamic Positioning Systems Based and collection
Communicated to connect into sensor, receive the corresponding information that Ship Dynamic Positioning Systems Based and integrated sensor are sent.Master control system, first
Drive device, the second drive device, the first driver and the second driver can form AC servo.
Ship information and sea situation information can be adopted by Ship Dynamic Positioning Systems Based (in sensing system and measuring system)
Collection.Ship information refers to the current positional information of ship itself, movable information etc., and sea situation information refers to the environmental information in the external world,
Ship can by Ship Dynamic Positioning Systems Based resist external interference (such as：Wind, wave, ocean current etc.), the hovering of dynamic control ship
A certain determination position or along certain preset flight path (circulation) to carry out special operation.
Integrated sensor is to gather cabin information, and integrated sensor can be installed on the floor in cabin, to protect
Demonstrate,prove the accuracy of the cabin information of collection.
, can be according to ship information and sea situation when master control system receives ship information, sea situation information and cabin information
Information knows the information such as the current power direction of stormy waves dynamics, direction and ship that ship can be potentially encountered；Believed according to cabin
Breath knows the information such as the direction of motion when fore hold, angular speed, acceleration, corresponding so as to obtain corresponding control instruction control
Driver adjusts the roll of upper mounting plate, luffing angle to control drive device.Driver is the necessity for allowing drive device to move
Equipment.The first driver, the second driver in the present embodiment are all servo-drivers.The size of upper mounting plate can use
1800mm*1050mm；The minimum constructive height of whole half space peculiar to vessel is 500mm；The Payload of half space peculiar to vessel is
150KG。
Such as：The anti-corona equipment of active peculiar to vessel of the present embodiment can be installed in clinic's cabin, and passenger can lie in
On platform.The wave and sea direction for running into that wave scale is 1 grade, frequency is 20Hz must be notified according to ship information, it is assumed that on ship
The propeller of left direction can distribute larger power to ensure the balance of ship；And obtained working as fore hold to the right according to cabin information
Direction tilts；The propeller on the left side is under the operation of big power on follow-up ship, and ship can be tilted to the right, and this means that cabin enters
One step can tilt to the right, in order to ensure the stability of upper mounting plate, first driving means and the second drive device can be controlled to move
Upper mounting plate is not tilted to the right with ship, with realize actively anti-corona function (i.e. cabin do not produce further to
During right bank, upper mounting plate is actively adjusted, when tilting cabin, the adjusted stabilization for finishing, ensure that upper mounting plate of upper mounting plate
Property).
In the present embodiment, adjust the stability of upper mounting plate in advance according to ship information, sea situation information and cabin information, make to multiply
Visitor reduces it and experiences the probability that cabin rocks, jolted, reduce because of cabin when using the upper mounting plate of the anti-corona equipment of active peculiar to vessel
The chance rocked and felt bad, improve the usage experience of user.The anti-corona equipment of active peculiar to vessel of the present embodiment can apply to
Wave scale scope is 0-3 levels, and frequency range is in 0Hz-50Hz wave environment.
In another embodiment of the present utility model, in addition to same as described above, first driving means include：For
Two first of upper mounting plate first direction (roll) angle are controlled to drive sub-device 80；Each first driving sub-device
80 are connected with the base 10 and the upper mounting plate 20 respectively using the mode of Hooke's hinge 83；Two the first driving sub-devices 80
The same side of the base 10 and the upper mounting plate 20 is arranged at, two described first driving sub-device wherein one end are leaned on mutually
Closely, away from each other, and the wealthy mouth direction that two the first driving sub-devices are formed is towards the base 10 for the other end.
Preferably, the first driving sub-device 80 includes：First driving power mechanism 81 and the first driving executing agency 82；Institute
The first driving power mechanism 81 is stated to be connected with the described first driving executing agency 82 (passing through timing belt).
Preferably, the first driving power mechanism 81 includes：First motor body 811 and for anti-to first driver
Present the first motor body 811 to turn-take the first encoder 812 of quantity, the first motor body 811 and the first encoder 812 are electric (magnetic)
Connect (not shown).
Specifically, first direction could be arranged to the roll direction of upper mounting plate, the scope of roll angle is ± 20 degree.First
Drive device includes two first driving sub-devices (i.e. secondary cylinder).Two first driving sub-devices into splayed be arranged at base and
The same side of upper mounting plate, and wealthy mouth direction is defined, splay mounting means limits the fortune of two first driving sub-devices
Line direction, so that upper mounting plate can realize roll.Two first driving sub-devices are all that (i.e. first drives by same driver
Dynamic device) control.And first driving sub-device employ Hooke's hinge mode and be connected respectively with base and upper mounting plate, i.e., the first driving is sub
Device employs both-end Hooke's hinge, makes the first driving sub-device in addition to it can be axially moved, moreover it is possible to relatively rotate, make upper mounting plate
Adjustable scope is more extensive.
Each first driving sub-device includes the first driving power mechanism (i.e. AC servo motor) and the first driving performs
Mechanism (i.e. cylinder), the first driving power mechanism are connected by timing belt with the first driving executing agency, the first driving power mechanism
The traffic direction (elongation or retraction) of the first driving executing agency can be controlled.
Both included the first motor body in first driving power mechanism (i.e. AC servo motor) to perform for the first driving
Mechanism provides power, includes the first encoder again, the first encoder can feed back to the quantity of turn-taking of the first motor body
First driver, realizes closed-loop control, ensures the stability and security of platform.
In another embodiment of the present utility model, in addition to same as described above, the second drive device includes：For
Two second of upper mounting plate second direction (pitching) angle are controlled to drive sub-device；Second driving sub-device uses Hooke's hinge
83 modes are connected with the base and the upper mounting plate respectively；Two the second driving sub-devices are arranged at the He of base 10
The same side of the upper mounting plate 20, wherein one end is adjacent to each other for two the second driving sub-devices, the other end away from each other, and
Two described second drive the wealthy mouth direction that sub-devices are formed towards the upper mounting plate 20.
Preferably, the second driving sub-device includes：Second driving power mechanism 91 and the second driving executing agency 92；It is described
Second driving power mechanism 91 and the second driving executing agency 92 connect.
Preferably, the second driving power mechanism 91 includes：Second motor body 911 and for second driver 40
Feed back the second motor body to turn-take the second encoder 912 of quantity, the second motor body 911 and second encoder 912 are electric (magnetic)
Connect (not shown).
Specifically, second direction could be arranged to the pitch orientation of upper mounting plate, the scope of luffing angle is ± 20 degree.Second
Drive device includes two second driving sub-devices (i.e. master cylinder).Two second driving sub-devices are arranged at base into herringbone
With the same side of upper mounting plate, and wealthy mouth direction is defined, the mounting means of herringbone limits two second driving sub-devices
Traffic direction so that upper mounting plate can realize pitching.Two second driving sub-devices are all by same driver (i.e. the
Two drivers) control.One end of two first on bottom plate driving sub-devices and two second on bottom plate
One end of driving sub-device is located at relative both sides, and similarly, two first installed in upper mounting plate drive the other end of sub-device
Relative both sides also are located at the other end of the two second driving sub-devices installed in upper mounting plate.As shown in Fig. 2 two first
Sub-device mounting seat 2 is driven to be located at the same side of base, two second driving sub-device mounting seats 3 are located at the same side of base,
But two first driving sub-device mounting seats 2 and two second driving sub-device mounting seats 3 are positioned at the relative both sides of base.Second
Driving sub-device employs Hooke's hinge mode and is connected respectively with base and upper mounting plate, i.e., the second driving sub-device employs both-end tiger
Gram hinge, make the second driving sub-device in addition to it can be axially moved, moreover it is possible to relatively rotate, make the adjustable scope of upper mounting plate wider
It is general.
Each second driving sub-device include the second driving power mechanism (i.e. cylinder, because of viewing angles problem, in Fig. 1 simultaneously
It is not shown) and the second driving executing agency (i.e. cylinder), the second driving power mechanism can control the fortune of the second driving executing agency
Line direction (elongation or retraction).
(i.e. AC servo motor) had both included the second motor body and performed for the second driving in second driving power mechanism
Mechanism provides power, includes second encoder again, second encoder can feed back to the quantity of turn-taking of the second motor body
Second driver, realizes closed-loop control, ensures the stability and security of platform.
In another embodiment of the present utility model, in addition to same as described above, integrated sensor is arranged at described
(the integrated sensor mounting seat 1 on base as shown in Figure 2 is located at the center of base on the central area in the first face of base
On domain)；The integrated sensor includes：For measuring the gyro sensor 61 of cabin direction of motion information and for surveying vessel
The Inertial Measurement Unit 62 of cabin Inertia information.
Specifically, the setting of integrated sensor is primarily to measure cabin information, and most important purpose is to adjust
Upper mounting plate is saved, therefore, integrated sensor is arranged to the central area in the first face of base, the ship in cabin can be obtained
Its actual information with half space, ensure the stability of upper mounting plate regulation.Why integrated sensor is arranged at center
It is to ensure that the cabin information that measurement obtains is more accurate on domain.
When (numeral) gyro sensor is with objects at high speed rotation, angular momentum is very big, and rotary shaft can always be stablized and refer to
To the property in a direction, manufactured orientation device out, therefore, it is possible to use (numeral) gyro sensor carrys out surveying vessel
Cabin direction of motion information.(IMU) Inertial Measurement Unit is the dress for measuring object three-axis attitude angle (or angular speed) and acceleration
Put, therefore, cabin Inertia information is measured using it.
In another embodiment of the present utility model, in addition to same as described above, master control system includes：Master control electricity
Brain, main control computer are provided with TCIP communication interfaces and wireless communication interface.
Specifically, TCIP communication interfaces can ensure compatible most of terminal devices (such as：Computer), user can be at certain
Control instruction is sent to main control computer on one computer (this computer communicates to connect with main control computer), such as：It is actively anti-to send control
Dizzy open command makes main control computer according to ship information, sea situation information and cabin information to control upper mounting plate to main control computer
It is stable, realize actively anti-corona function.
Wireless communication interface in main control computer allows user to connect by mobile phone, the wireless terminal such as tablet personal computer of oneself
Main control computer is connected to, transmission is instructed to main control computer accordingly.Such as：User is sent actively anti-corona by mobile phone to main control computer
Out code makes main control computer stop the control of upper mounting plate, closes actively anti-corona function to main control computer.
The setting of multiple communication interface makes the control mode of main control computer more diversified in main control computer, improves what is used
Convenience.
In another embodiment of the present utility model, in addition to same as described above, Ship Dynamic Positioning Systems Based includes：
For obtaining the sensing system 52 of ship information and measuring system 51 for obtaining sea situation information.Certainly, ship power is fixed
Position system also includes other systems, such as：Dynamical system.
Specifically, Ship Dynamic Positioning Systems Based detects sea situation information and ship letter by measuring system, sensing system
Cease (the ship physical location measured in real time), the ship physical location that measures further according to the sea situation information that detects and in real time and
The deviation of target location calculates the size for making ship return to thrust needed for target location, and each thruster on ship is carried out
Thrust is distributed, and then each thruster is produced corresponding thrust, ship is maintained at the position required on sea level as far as possible.
Measuring system, sensing system in Ship Dynamic Positioning Systems Based gather ship information and sea situation information in advance, and
Connected by TCIP agreements with master control system, ahead of time the ship information and sea situation information transfer collected to master control system.
Measuring system, sensing system in Ship Dynamic Positioning Systems Based believe the ship information collected in advance and sea situation
Breath, issues master control system by TCIP communications protocol ahead of time, can make the stability and balance of master control system active accommodation upper mounting plate
State.
As shown in figure 3, the specifically used process of the anti-corona equipment of active peculiar to vessel of the present utility model is with reference to as follows：
Sensing system 52 in Ship Dynamic Positioning Systems Based 50 has collected ship information, Ship Dynamic Positioning Systems Based 50
In measuring system 51 collected sea situation information, ship information and sea situation information are passed through TCIP by Ship Dynamic Positioning Systems Based 50
Communication interface is sent to master control system 70, and integrated sensor 60 gathers cabin information, and cabin information is connect by TCIP communications
Mouth is sent to master control system 70；For master control system 70 according to sea situation information, ship information and cabin information, the platform by inside is steady
Algorithm is determined to obtain the instruction of first/second driver control, is sent to the corresponding driver of first driver 30 and/or second
40, allow the corresponding driving power mechanism (AC servo motor) of driver control to move, drive corresponding driving executing agency
(cylinder) moves, and so as to drive upper mounting plate to adjust the angle of upper mounting plate, realizes the purpose of regulation upper mounting plate stability.It is dynamic in driving
In force mechanisms (AC servo motor) rotation process, the quantity of turn-taking of motor body can be fed back to corresponding driving by encoder
Device, motor body can the current feedback of oneself to driver, so as to driver judge motor body whether normal operation；Driving
The Displacement Feedback that executing agency can be run is to master control system, and so as to master control system, to judge whether the regulation of upper mounting plate meets pre-
Phase.
It should be noted that above-described embodiment can independent assortment as needed.Described above is only of the present utility model
Preferred embodiment, it is noted that for those skilled in the art, do not departing from the utility model principle
On the premise of, some improvements and modifications can also be made, these improvements and modifications also should be regarded as the scope of protection of the utility model.
Claims (10)
- A kind of 1. anti-corona equipment of active peculiar to vessel, it is characterised in that including：Base, upper mounting plate；The upper mounting plate is connected by first driving means and the second drive device with the base；For controlling the first driver of the first driving means, first driver and first driving means communication Connection；For controlling the second driver of second drive device, second driver and second drive device communication Connection；For obtaining the Ship Dynamic Positioning Systems Based of ship information and sea situation information；For obtaining the integrated sensor of cabin information；For controlling first driver and second to drive according to the ship information, the sea situation information and the cabin information The master control system of dynamic device, the master control system respectively with the Ship Dynamic Positioning Systems Based, the integrated sensor, described first Driver and second driver communication connection.
- 2. the anti-corona equipment of active peculiar to vessel as claimed in claim 1, it is characterised in that the first driving means include：For controlling two first of the upper mounting plate first direction angle to drive sub-device；The first driving sub-device uses Hooke's hinge mode is connected with the base and the upper mounting plate respectively；Two the first driving sub-devices are arranged at the same side of the base and the upper mounting plate, two first drivings Sub-device wherein one end is adjacent to each other, the other end away from each other, and wealthy mouth direction is towards the base.
- 3. the anti-corona equipment of active peculiar to vessel as claimed in claim 2, it is characterised in that the first driving sub-device includes：First driving power mechanism and the first driving executing agency；The first driving power mechanism is connected with the described first driving executing agency.
- 4. the anti-corona equipment of active peculiar to vessel as claimed in claim 3, it is characterised in that the first driving power mechanism includes：First motor body and the first encoder for quantity of being turn-taked to first driver the first motor body of feedback, the One motor body and the electrical connection of the first encoder.
- 5. the anti-corona equipment of active peculiar to vessel as claimed in claim 1, it is characterised in that second drive device includes：For controlling two second of the upper mounting plate second direction angle to drive sub-device；The second driving sub-device uses Hooke's hinge mode is connected with the base and the upper mounting plate respectively；Two the second driving sub-devices are arranged at the same side of the base and the upper mounting plate, two second drivings Sub-device wherein one end is adjacent to each other, the other end away from each other, and wealthy mouth direction is towards the upper mounting plate.
- 6. the anti-corona equipment of active peculiar to vessel as claimed in claim 5, it is characterised in that the second driving sub-device includes：Second driving power mechanism and the second driving executing agency；The second driving power mechanism connects with the described second driving executing agency.
- 7. the anti-corona equipment of active peculiar to vessel as claimed in claim 6, it is characterised in that the second driving power mechanism includes：Second motor body and the second encoder for quantity of being turn-taked to second driver the second motor body of feedback, the Two motor bodies and second encoder electrical connection.
- 8. the anti-corona equipment of active peculiar to vessel as claimed in claim 1, it is characterised in that：The integrated sensor is arranged on the central area in the first face of the base；The integrated sensor includes：For measuring the gyro sensor of cabin direction of motion information and inertia measurement list for measuring cabin Inertia information Member.
- 9. the anti-corona equipment of active peculiar to vessel as claimed in claim 1, it is characterised in that the Ship Dynamic Positioning Systems Based includes：For obtaining the measuring system of sea situation information and sensing system for obtaining ship information.
- 10. the anti-corona equipment of active peculiar to vessel as claimed in claim 1, it is characterised in that：The master control system includes：Master control electricity Brain；The main control computer is provided with TCIP communication interfaces and wireless communication interface.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721009057.3U CN207173905U (en) | 2017-08-14 | 2017-08-14 | The anti-corona equipment of active peculiar to vessel |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721009057.3U CN207173905U (en) | 2017-08-14 | 2017-08-14 | The anti-corona equipment of active peculiar to vessel |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113955032A (en) * | 2021-11-15 | 2022-01-21 | 上海新纪元机器人有限公司 | Force control method and system for actively reducing shaking and self-balancing device |
| CN114084295A (en) * | 2021-11-12 | 2022-02-25 | 上海新纪元机器人有限公司 | Method, system and seat for actively reducing shaking |
| CN114735130A (en) * | 2022-04-20 | 2022-07-12 | 江南造船(集团)有限责任公司 | Ship medical treatment operating table, ship medical treatment cabin and ship |
-
2017
- 2017-08-14 CN CN201721009057.3U patent/CN207173905U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114084295A (en) * | 2021-11-12 | 2022-02-25 | 上海新纪元机器人有限公司 | Method, system and seat for actively reducing shaking |
| CN113955032A (en) * | 2021-11-15 | 2022-01-21 | 上海新纪元机器人有限公司 | Force control method and system for actively reducing shaking and self-balancing device |
| CN113955032B (en) * | 2021-11-15 | 2024-02-02 | 上海新纪元机器人有限公司 | Force control method and system for actively reducing shaking and self-balancing device |
| CN114735130A (en) * | 2022-04-20 | 2022-07-12 | 江南造船(集团)有限责任公司 | Ship medical treatment operating table, ship medical treatment cabin and ship |
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