CN110816865A - Compensated four-DOF carrier-based take-off and landing platform - Google Patents

Abstract

The invention relates to a compensation type four-degree-of-freedom shipborne take-off and landing platform, which comprises a base plate, a support column, a connecting beam, a front guide body, a rear guide body, a protruding body, a sliding bracket, a first latching device, a first sliding block, external take-off and landing combined platform, linkage mechanism and internal take-off and landing platform. The invention provides a compensating four-degree-of-freedom ship-borne take-off and landing platform, which can compensate the four degrees of freedom of the ship's roll, sway, pitch and heave during the helicopter landing process, and greatly improves the landing efficiency of the helicopter. Security and stability. At the same time, the carrier-based take-off and landing platform can be integrated with the hangar of the ship. When there is no helicopter landing, the take-off and landing platform can be directly used as the top of the hangar, and the space below can be used as an aisle or used to temporarily park helicopters. It will not waste the space on the ship, nor will it affect the overall beauty of the ship.

Description

Compensated four-DOF carrier-based take-off and landing platform

technical field

The invention belongs to the technical field of carrier-borne take-off and landing platforms, in particular to a compensated four-degree-of-freedom carrier-borne take-off and landing platform.

Background technique

The shipborne take-off and landing platform is mainly used in the field of navigation. Due to the effect of wind and surge and the influence of the ship's own motion, the helicopter cannot keep the same movement state as the ship during the process of taking off and landing on the ship. There is a high probability of accidents during the ship, which is a great hidden danger for the personal safety of the pilots and the safety of the equipment. Therefore, the safety of helicopter landings needs to be solved urgently. Through analysis, the motion of the ship has six degrees of freedom, including roll, pitch, yaw, sway, surge, and heave. Negligible, and the yaw of the ship is very small, and the impact on the helicopter landing can also be ignored. Therefore, with years of experience and practice in related industries, the inventor proposes a compensating four-degree-of-freedom shipborne take-off and landing platform to overcome the defects of the prior art, which can compensate for four freedoms during the helicopter landing process. It can greatly improve the safety and stability of helicopter landing.

The patent document with the application number of 201610114472.9 discloses a composite shipborne anti-shock stabilization platform and method based on a six-degree-of-freedom parallel platform. Active stabilization, although it can well isolate the ship's six-dimensional swaying action and resist shock, it compensates for two more degrees of freedom, and the control is complicated; and its uppermost take-off and landing platform cannot descend to the height of the ship's deck, Therefore, the helicopter cannot be easily moved into the hangar from the stable platform; secondly, it cannot be integrated into the hangar, which occupies a large space of the ship, has no other function when it is idle, and affects the ship's safety to a certain extent. beautiful.

SUMMARY OF THE INVENTION

In view of the above situation, the present invention provides a compensated four-degree-of-freedom shipborne take-off and landing platform, which can compensate for four degrees of freedom during the helicopter landing process, and greatly improves the safety and stability of the helicopter landing. At the same time, the compensating four-degree-of-freedom shipborne take-off and landing platform can be integrated with the hangar of the ship. When there is no helicopter landing, the take-off and landing platform can be directly used as the top of the hangar, and the space below can be used as an aisle. To park the helicopter temporarily will neither waste the space on the ship nor affect the overall beauty of the ship.

The technical solution adopted by the present invention is a compensation type four-degree-of-freedom shipborne take-off and landing platform, which includes a base plate, a support column, a connecting beam, a front guide body, a rear guide body, a protruding body, a sliding bracket, and a first mortise lock The device, the first slider, the external take-off and landing combined platform, the linkage mechanism and the internal take-off and landing platform, the support columns are all arranged at the corners of the bottom plate, and the first two adjacent support columns are the first The end is provided with the connecting beam, the first end of the front guide body is rotatably connected with the front end of the bottom plate through a rotating pair, the first end of the rear guide body is fixedly connected with the rear end of the bottom plate, and the The second end of the rear guide body is fixedly connected with the connecting beam; the protruding bodies are respectively arranged in the front guide body and the rear guide body, and the protruding bodies are respectively connected with the The front guide body and the rear guide body are connected, the first end of the protruding body is connected with the first sliding block ball pair through a ball socket, the sliding brackets are respectively arranged on the inner side surface of the supporting column, and pass through the first sliding block. The two moving pairs are connected to the supporting column, the first latching device is arranged on the first end face of the sliding bracket, and the inner lift platform and the sliding bracket can be connected to each other through the first latching device. and the outer take-off and landing combined platform includes a middle flat plate, six sets of guide modules, a first folding board, a second folding board and six sets of second latching devices, and the middle position of the middle flat plate is provided with the inner The take-off and landing platforms have the same through holes with the same dimensions, the six sets of guide modules are symmetrically arranged on the first end face of the middle plate, and the four sets of guide modules at the corners of the middle plate pass through the third moving pair Connected with the first sliding block, the six sets of second latching devices are symmetrically arranged on the first end face of the middle plate, and the inner lifting and landing platform can be locked by the six sets of second latching devices. Locked with the middle plate, the first folding plate is symmetrically arranged on the first side and the second side of the middle plate, and is connected with the rotation pair of the middle plate, and the second folding plate is symmetrically arranged in the front and rear. The third side surface and the fourth side surface of the intermediate plate are connected with the rotating pair of the intermediate plate. The second end surface of the intermediate plate is also provided with a radar speed measuring and ranging sensor and a binocular imaging distance finder. The take-off and landing combination platform is symmetrically provided with the connecting rod mechanism, the long connecting rod of the connecting rod mechanism is connected with the first sliding block through a rotating pair, and the second sliding block of the connecting rod mechanism passes through a fourth moving pair Connect with the guide module in the middle of the middle plate.

Further, the link mechanism includes two long links, two short links and a second slider, the length of the long links is twice the length of the short links, and the two long links are The first ends of the two long links are connected by a rotating pair, the second ends of the two long links are respectively connected with the first slider on the same side through a rotating pair, and the first ends of the two short links are connected by a rotating pair. are respectively connected with the middle positions of the two long connecting rods, and the second ends of the two short connecting rods are connected with the second sliding block through a rotating pair.

Preferably, the support column includes four support columns, the four support columns are all arranged at the corners of the bottom plate, and the installation points of the four support columns are connected in sequence to enclose a rectangle or a square.

Preferably, the three sets of guide modules at the front end of the first end face of the intermediate plate are equidistantly arranged and located on the same straight line, and the three sets of guide modules at the rear end of the first end face of the intermediate plate are arranged equidistantly and on the same straight line.

Preferably, the second end of the front guide body is connected to the connecting beams on the left and right sides of the bottom plate respectively through a plane pair or a circular arc guide rail pair.

Further, the inner take-off and landing platform is provided with a hollow grid, and four mooring devices are arranged on the first end face of the inner take-off and landing platform, and are evenly arranged in a circle.

Preferably, the linkage mechanism can adopt a linear drive unit, and the linear drive unit includes four sets of linear drive units, and the four sets of linear drive units are symmetrically arranged on the middle plate in two by two. The fixed ends of the linear drive units are respectively connected with the first sliding block through a rotating pair, and the protruding ends of the four sets of linear drive units are respectively connected with the middle flat plate through a rotating pair.

Preferably, the third moving pair is a follow-up moving pair, the first moving pair, the second moving pair, the fourth moving pair and the linear drive unit are all active moving pairs, and the first moving pair, the first moving pair The second moving pair, the fourth moving pair and the linear drive unit can be driven by hydraulic or electric cylinder, or can be driven by rack and pinion or by screw.

Further, the four mooring devices can adopt a two-degree-of-freedom intelligent tracking mooring platform, and the two-degree-of-freedom smart tracking mooring platform includes a guide rail, a moving platform and a gripper, and the guide rail is respectively connected with the said guide rail through a moving pair. The outer take-off and landing combined platform is connected with the inner take-off and landing platform, the mobile platform is installed on the guide rail, and is connected with the guide rail moving pair, and the grippers are arranged at the corners of the moving platform through the rotating pair. .

Preferably, when the first end of the front guide body is fixedly connected with the front end of the bottom plate, and the first end of the protruding body is connected with the first slider through a rotating pair, the shipborne take-off and landing platform With three degrees of freedom, it constitutes a three-degree-of-freedom carrier-based take-off and landing platform.

The characteristics and beneficial effects of the present invention are:

1. A compensation type four-degree-of-freedom shipborne take-off and landing platform provided by the present invention can compensate the three degrees of freedom of the ship's roll, pitch and heave by controlling the movement of the extension body during the helicopter landing process. At the same time, the swaying degree of freedom of the ship is compensated by driving the second slider to coordinate movement, which greatly improves the safety and stability of the helicopter landing.

2. A compensated four-degree-of-freedom shipborne take-off and landing platform provided by the present invention can be integrated with the hangar of the ship. When there is no helicopter landing, the internal take-off and landing platform can be directly used as the top of the hangar, and the lower one can be directly used as the top of the hangar. The space can then be used as an aisle or for temporary parking of helicopters.

3. The compensation type four-degree-of-freedom shipborne take-off and landing platform provided by the present invention utilizes the space rationally and neither wastes the space on the ship nor affects the overall appearance of the ship.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present invention;

Fig. 2 is the structural schematic diagram under the first state of the present invention;

3 is a schematic structural diagram of the present invention in a second state;

4 is a schematic structural diagram of the external take-off and landing combined platform of the present invention in a flat state;

5 is a schematic structural diagram of the external take-off and landing combined platform of the present invention in a folded state;

6 is a schematic structural diagram of a linkage mechanism of the present invention;

7 is a schematic structural diagram of the present invention replacing the link mechanism with a linear drive unit;

8 is a schematic structural diagram of a two-degree-of-freedom intelligent tracking mooring platform of the present invention;

FIG. 9 is a schematic structural diagram of the present invention when the four-degree-of-freedom shipborne take-off and landing platform is changed to three-degree-of-freedom; and

FIG. 10 is an overall effect diagram of the shipborne take-off and landing platform of the present invention installed on a ship.

Main reference signs:

Bottom plate 1; supporting column 2; connecting beam 3; front guide body 4; rear guide body 4'; ; Middle flat plate 901; Guide module 902; First folding plate 903; Second folding plate 904; Second latching device 905; Take-off and landing platform 11; Helicopter 12; Mooring device 13; Binocular imaging rangefinder 14; Radar speed and distance measuring sensor 15; Linear drive unit 16; Gripper 1703; Ship 18.

Detailed ways

In order to detail the technical content, structural features, achieved objects and effects of the present invention, the following will be described in detail with reference to the accompanying drawings.

The present invention provides a compensated four-degree-of-freedom shipborne take-off and landing platform, as shown in Figures 1 to 3, which includes a base plate 1, a support column 2, a connecting beam 3, a front guide body 4, a rear guide body 4', an extension Out body 5 , sliding bracket 6 , first latching device 7 , first sliding block 8 , outer lift platform 9 , link mechanism 10 , inner lift platform 11 , supporting columns 2 are all arranged at the corners of bottom plate 1 and the first ends of each two adjacent support columns 2 are provided with connecting beams 3, the first end of the front guide body 4 is rotatably connected to the front end of the bottom plate 1 through the rotating pair, and the first end of the rear guide body 4' is connected to the front end of the base plate 1. The rear end of the bottom plate 1 is fixedly connected, and the second end of the rear guide body 4' is fixedly connected with the connecting beam 3. The extension body 5 is respectively arranged in the front guide body 4 and the rear guide body 4', and the extension body 5 passes through The first moving pair is respectively connected with the front guide body 4 and the rear guide body 4', the first end of the protruding body 5 is connected with the first sliding block 8 through the ball socket, and the sliding brackets 6 are respectively arranged inside the support column 2. The side surface is connected to the support column 2 through the second moving pair. The first mortise lock device 7 is arranged on the first end face of the sliding bracket 6, and the inner lift platform 11 and the sliding bracket 6 can be locked by the first mortise lock device 7. .

Specifically, the supporting uprights 2 include four supporting uprights 2 , all of which are arranged at the corners of the bottom plate 1 , and the installation points of the four supporting uprights 2 are connected in sequence to enclose a rectangle or a square.

The second end of the front guide body 4 is connected to the connecting beams 3 on the left and right sides of the bottom plate 1 respectively through a plane pair or a circular arc guide rail pair.

As shown in FIGS. 4 and 5 , the outer take-off and landing platform 9 includes a middle flat plate 901 , six sets of guide modules 902 , a first folding board 903 , a second folding board 904 and six sets of second latching devices 905 . The middle flat plate 901 There is a through hole with exactly the same dimensions as the inner take-off and landing platform 11 in the middle position of the inner lift-off and landing platform. They are all connected to the first slider 8 through the third moving pair, and six sets of second latching devices 905 are symmetrically arranged on the first end face of the middle plate 901, and the six sets of second latching devices 905 can connect the inner lift-off and landing platform. 11 is locked with the middle plate 901, the first folding plate 903 is symmetrically arranged on the first side and the second side of the middle plate 901, and is connected with the middle plate 901 in rotation, and the second folding plate 904 is symmetrically arranged on the front and rear of the middle plate 901. The third side and the fourth side are connected with the middle flat plate 901 in rotation; when the outer take-off and landing combination platform 9 is in a flat state, the two first folding plates 903, the two second folding plates 904 and the middle flat plate 901 are kept flush , On this basis, after the two first folding plates 903 are folded upward by 90 degrees, and the two second folding plates 904 are also folded upward by 90 degrees, the external take-off and landing combined platform 9 is in a folded state.

Specifically, the three sets of guide modules 902 at the front end of the first end face of the intermediate plate 901 are arranged equidistantly and located on the same straight line, and the three sets of guide modules 902 at the rear end of the first end face of the intermediate plate 901 are arranged at equal distances and located on the same straight line. The second end surface of the flat plate 901 is further provided with a radar speed measuring and ranging sensor 15 and a binocular imaging ranging device 14 .

In the first state, the inner take-off and landing platform 11 is locked and connected to the outer take-off and landing combination platform 9 through six sets of second mortise lock devices 905; in the second state, the inner take-off and landing platform 11 is locked and connected through four sets of first mortise lock devices 7 Make a locking connection with the four sliding brackets 6 .

The inner take-off and landing platform 11 is provided with a hollow grid, and four mooring devices 13 are arranged on the first end surface of the inner take-off and landing platform 11 and are evenly arranged around the circumference.

As shown in FIG. 6, the link mechanism 10 includes two long links 1001, two short links 1002 and a second slider 1003. The length of the long link 1001 is twice the length of the short link 1002, and the two long links The first ends of the rods 1001 are connected by a rotating pair, the second ends of the two long links 1001 are respectively connected with the first slider 8 on the same side through a rotating pair, and the first ends of the two short links 1002 are respectively connected by a rotating pair. It is connected with the middle position of the two long links 1001, the second ends of the two short links 1002 are connected with the second slider 1003 through the rotating pair, and the second slider 1003 is guided by the middle of the middle plate 901 through the fourth moving pair Module 902 is connected.

As shown in FIG. 7 , the link mechanism 10 can adopt a linear drive unit 16 . The linear drive unit 16 includes four sets of linear drive units 16 . The fixed ends of the driving units 16 are respectively connected with the first sliding block 8 through a rotating pair, and the protruding ends of the four sets of linear drive units 16 are respectively connected with the middle plate 901 through a rotating pair.

Specifically, the third moving pair is a follow-up moving pair, the first moving pair, the second moving pair, the fourth moving pair and the linear drive unit 16 are all active moving pairs, and the first moving pair, the second moving pair, the The four moving pairs and the linear drive unit 16 can be driven by hydraulic pressure, electric cylinder drive, or driven by rack and pinion and lead screw.

As shown in FIG. 8 , the four mooring devices 13 can adopt a two-degree-of-freedom intelligent tracking mooring platform 17. The two-degree-of-freedom smart tracking mooring platform 17 includes a guide rail 1701, a moving platform 1702 and a gripper 1703. The guide rail 1701 passes through the moving pair It is respectively connected with the outer take-off and landing platform 9 and the inner take-off and landing platform 11. The mobile platform 1702 is installed on the guide rail 1701 and is connected with the moving pair of the guide rail 1701. The gripper 1703 is arranged at the corners of the moving platform 1702 through the rotating pair.

The specific working process of the two-degree-of-freedom intelligent tracking tethered platform 17: when the helicopter 12 approaches the entire take-off and landing platform, the two-degree-of-freedom intelligent tracking tethered platform 17 adjusts the position of the mobile platform 1702 through two moving pairs and tracks the helicopter in real time 12. After the helicopter 12 falls on the moving platform 1702, the four grippers 1703 grab the skid of the helicopter 12 to realize mooring, and then adjust the position of the moving platform 1702 through the two moving pairs so that the helicopter 12 is in the inner take-off and landing platform 11 Center location.

As shown in FIG. 9 , the first end of the current guide body 4 is fixedly connected to the front end of the base plate 1 , and the first end of the protruding body is connected to the first slider through a rotating pair, and the two protruding bodies on the left side of the base plate 1 are The body 5 moves synchronously, and the two protruding bodies 5 on the right side of the bottom plate 1 also move synchronously, and when the first end of the protruding body 5 is connected with the first sliding block 8 through the moving pair, the shipborne take-off and landing platform has Three degrees of freedom constitute a three-degree-of-freedom shipborne take-off and landing platform, which can compensate for ship roll, sway and heave motion.

The concrete operation steps of the present invention are as follows:

As shown in Figures 9 and 10, when the helicopter 12 is landing on the ship, the outer take-off and landing platform 9 is in a flat state and overlaps with the hangar roof of the ship 18, and the inner take-off and landing platform 11 passes through six sets of second mortise lock devices 905 is locked and connected with the outer take-off and landing platform 9, so that the inner take-off and landing platform 11 and the outer take-off and landing platform 9 become a whole, and by driving the four protruding bodies 5, the outer take-off and landing platform 9 is higher than the hangar roof. At a certain distance, the movement of the four protruding bodies 5 is controlled so that the external take-off and landing combined platform 9 compensates for the four degrees of freedom of the ship 18, so that the motion state of the external take-off and landing combined platform 9 is basically the same as that of the helicopter 12. Guided by the millimeter wave radar speed and distance sensor 15 for landing guidance and the infrared binocular imaging rangefinder 14 for landing guidance, after the helicopter 12 landed on the inner take-off and landing platform 11, the mooring device 13 on the inner take-off and landing platform 11 will The helicopter 12 is attached to the inner take-off and landing platform 11, and then the outer take-off and landing combination platform 9 is turned to the folded state, and then the outer take-off and landing combination platform 9 is returned to the top of the hangar, and the six sets of the outer take-off and landing combination platform 9 are released. The second mortise lock device 905 separates the inner take-off and landing platform 11 from the outer take-off and landing combination platform 9, and then connects the inner take-off and landing platform 11 and the four sliding brackets 6 into a whole through four sets of first mortise lock devices 7 , and then drive the slide 6 with the inner take-off and landing platform 11 to move down along the four support columns 2 to the base plate 1, and then release the four sets of first latching devices 7 to pull the helicopter 12 into the hangar.

When the present invention is in use, the four degrees of freedom are compensated as follows: by controlling the motion of the four protruding bodies 5 to compensate the three degrees of freedom of the ship 18 for roll, pitch and heave, and then by driving the two second The slider 1003 or the four sets of linear drive units 16 move cooperatively to compensate for the sway freedom of the ship 18 .

The process of the helicopter 12 from the hangar to taking off and disembarking from the ship is opposite to the process of the helicopter 12 landing to entering the hangar. First, the external take-off and landing combination platform 9 is in a folded state. At this time, the external take-off and landing combination platform 9 is on the top of the hangar. The inner take-off and landing platform 11 is connected to the four sliding brackets 6 as a whole through four sets of first mortise lock devices 7. At this time, the inner take-off and landing platform 11 is on the bottom plate 1, and the helicopter 12 is pulled from the hangar to the inner take-off and landing platform 11. and tie on the inner take-off and landing platform 11 through the mooring device 13, and then lift the inner take-off and landing platform 11 to a position equal to the outer take-off and landing platform 9 through the driving slide 6, and then release the four sets of A mortise lock device 7, and then lock and connect the inner take-off and landing platform 11 with the outer take-off and landing combination platform 9 through six sets of second mortise lock devices 905, and then drive the four protruding bodies 5 to make the outer take-off and landing combination platform 9 A certain distance above the hangar roof, then turn the external take-off and landing combination platform 9 to a flat state, and control the movement of the four protruding bodies 5 so that the external take-off and landing combined platform 9 compensates for the four degrees of freedom of the ship 18, so that the The helicopter 12 is kept parallel to the sea level, so that the take-off process of the helicopter 12 will not be affected by the movement of the ship 18. After the helicopter 12 flies away from the ship 18 safely, the movement of the four protruding bodies 5 is controlled to make the external take-off and landing combined platform 9 Go back to the top of the hangar.

When the present invention is in use, it can also be used as a viewing platform for the ship 18. First, the compensation type four-degree-of-freedom shipborne take-off and landing platform is placed in the first state, and the external take-off and landing combined platform 9 is attached to the hangar roof. After the relevant personnel come to the inner take-off and landing platform 11, the outer take-off and landing combination platform 9 is turned to the folded state, so as to play the role of a guardrail, and then the outer take-off and landing combination platform 9 is higher than the hangar by driving the four protruding bodies 5. At a certain distance, the movement of the external take-off and landing combination platform 9 is controlled to compensate the four degrees of freedom of the ship 18, so that the external take-off and landing combined platform 9 is kept parallel to the sea level, so that the relevant personnel can view the seascape.

The invention provides a compensating four-degree-of-freedom shipborne take-off and landing platform, which can compensate four degrees of freedom during the helicopter landing process, and greatly improves the safety and stability of the helicopter landing. At the same time, the compensating four-degree-of-freedom shipborne take-off and landing platform can be integrated with the hangar of the ship. When there is no helicopter landing, the take-off and landing platform can be directly used as the top of the hangar, and the space below can be used as an aisle. To park the helicopter temporarily will neither waste the space on the ship nor affect the overall beauty of the ship.

The above are the preferred embodiments of the present application, which do not limit the protection scope of the present invention. It should be pointed out that for those of ordinary skill in the technical field, several improvements can be made without departing from the technical principles of the present invention. and modifications, these improvements and modifications should also be considered as the scope of protection of the present application.

Claims (10)

1. A compensation type four-degree-of-freedom ship-borne take-off and landing platform, characterized in that it comprises a base plate, a support column, a connecting beam, a front guide body, a rear guide body, an extension body, a sliding bracket, a first mortise lock device, The first sliding block, the external take-off and landing combined platform, the linkage mechanism and the internal take-off and landing platform, The supporting columns are all arranged at the corners of the bottom plate, and the first ends of every two adjacent supporting columns are provided with the connecting beams, and the first end of the front guide body is connected to the supporting column through a rotating pair. The front end of the bottom plate is rotatably connected, the first end of the rear guide body is fixedly connected with the rear end of the bottom plate, and the second end of the rear guide body is fixedly connected with the connecting beam; The protruding bodies are respectively arranged in the front guide body and the rear guide body, and the protruding bodies are respectively connected with the front guide body and the rear guide body through the first moving pair, and the first guide body of the protruding body is One end is connected with the first sliding block ball pair through a ball socket, the sliding brackets are respectively arranged on the inner side of the supporting column, and are connected with the supporting column through a second moving pair. The first mortise lock The device is arranged on the first end face of the sliding bracket, and the inner lift-off and landing platform and the sliding bracket can be locked by the first mortise locking device; The outer take-off and landing combined platform includes a middle flat plate, six sets of guide modules, a first folding plate, a second folding plate and six sets of second latching devices. The middle position of the middle flat plate is provided with the inner landing platform. The six sets of guide modules are symmetrically arranged on the first end face of the middle plate, and the four sets of guide modules located at the corners of the middle plate are connected to the The first sliding block is connected, and the six sets of second latching devices are symmetrically arranged on the first end face of the middle plate, and the six sets of second latching devices can connect the inner lift platform to the The middle plate is locked, the first folding plate is symmetrically arranged on the first side and the second side of the middle plate, and is connected with the rotation pair of the middle plate, and the second folding plate is symmetrically arranged in the middle The third side and the fourth side of the flat plate are connected with the rotating pair of the middle flat plate. The second end surface of the middle flat plate is also provided with a radar speed measuring and ranging sensor and a binocular imaging range finder. The external take-off and landing combination The platform is symmetrically provided with the connecting rod mechanism, the long connecting rod of the connecting rod mechanism is connected with the first sliding block through a rotating pair, and the second sliding block of the connecting rod mechanism is connected with the first sliding block through a fourth moving pair The guide module in the middle of the middle plate is connected. 2. The compensated four-degree-of-freedom shipborne take-off and landing platform according to claim 1, wherein the link mechanism comprises two long links, two short links and a second slider, the long links The length of the connecting rod is twice the length of the short connecting rod, the first ends of the two long connecting rods are connected by a rotating pair, and the second ends of the two long connecting rods are connected with all the connecting rods on the same side through the rotating pair respectively. The first slider is connected, the first ends of the two short links are respectively connected with the middle positions of the two long links through the rotating pair, and the second ends of the two short links are connected to the two short links through the rotating pair. The second slider is connected. 3 . The compensated four-degree-of-freedom shipborne take-off and landing platform according to claim 1 , wherein the support column comprises four support columns, and the four support columns are all arranged at the corners of the bottom plate. 4 . , and the installation points of the four supporting columns are connected in sequence to enclose a rectangle or a square. 4. The compensated four-degree-of-freedom shipborne take-off and landing platform according to claim 1, wherein the three sets of guide modules at the front end of the first end face of the intermediate plate are arranged at equal distances and are located on the same straight line, and the middle The three sets of guide modules at the rear end of the first end face of the flat plate are equally spaced and located on the same straight line. 5. The compensated four-degree-of-freedom shipborne take-off and landing platform according to claim 1, wherein the second end of the front guide body is respectively connected to the left and right sides of the bottom plate through a plane pair or a circular arc guide rail pair. Connect the beam connection. 6 . The compensated four-degree-of-freedom shipborne take-off and landing platform according to claim 1 , wherein a hollow grid is arranged on the inner take-off and landing platform, and four mooring devices are arranged on the inner take-off and landing platform. 7 . The first end face of , and is evenly arranged around the circumference. 7. The compensated four-degree-of-freedom shipborne take-off and landing platform according to claim 1 or 2, wherein the linkage mechanism can adopt a linear drive unit, and the linear drive unit comprises four sets of linear drive units, so The four sets of linear drive units are symmetrically arranged on the middle plate in two by two, and the fixed ends of the four sets of linear drive units are respectively connected with the first slider through the rotating pair. The protruding ends are respectively connected with the middle plate through a rotating pair. 8. The compensated four-degree-of-freedom shipborne take-off and landing platform according to claim 1 or 2, wherein the third moving pair is a follow-up moving pair, the first moving pair, the second moving pair, The fourth moving pair and the linear driving unit are all active moving pairs, and the first moving pair, the second moving pair, the fourth moving pair and the linear driving unit can be driven by hydraulic or electric cylinder, or can be driven by a rack and pinion drive or screw drive. 9 . The compensated four-degree-of-freedom shipborne take-off and landing platform according to claim 1 or 6, wherein the four mooring devices can adopt two-degree-of-freedom intelligent tracking of the mooring platform, and the two-degree-of-freedom intelligent The tracking mooring platform includes a guide rail, a moving platform and a gripper, the guide rail is respectively connected with the outer take-off and landing combined platform and the inner take-off and landing platform through a moving pair, and the moving platform is installed on the guide rail and is connected with the The guide rail moving pairs are connected, and the grippers are evenly arranged at the corners of the moving platform through the rotating pairs. 10. The compensated four-degree-of-freedom shipborne take-off and landing platform according to claim 1 or 2, wherein when the first end of the front guide body is fixedly connected with the front end of the bottom plate, and the protruding When the first end of the body is connected with the first sliding block through the rotating pair, the carrier-borne take-off and landing platform has three degrees of freedom, forming a three-degree-of-freedom carrier-borne take-off and landing platform.

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