Unmanned ship mass center rapid measurement lifting appliance based on compound pendulum

Abstract

The utility model relates to an unmanned ship mass center rapid measurement lifting appliance based on a compound pendulum. The technical problems that an existing measurement process is tedious and time-consuming, human errors are easily caused by posture conversion, and the requirement for the technical level of operators is high are solved. Comprising a suspension frame, the upper end of the suspension frame is connected with a central driving shaft coaxially connected with the suspension frame, the lower end of the suspension frame is provided with a suspension storage chassis used for placing an unmanned ship to be tested, and the central driving shaft is connected with a power device which can drive the suspension frame to perform compound pendulum motion and is arranged in a suspension mode. And the central driving shaft and / or the power device are / is connected with a sensor measuring assembly. The device has the advantages that a suspension method and a compound pendulum method are ingeniously fused, a compound pendulum motion principle is utilized, a mathematical model is constructed to calculate the center-of-mass coordinate by accurately measuring the swing period of the unmanned ship in the compound pendulum motion and combining the gravity action line direction determined by natural droop when a measured piece is static, meanwhile, the structural design is simple, the dependence on complex equipment is reduced, and the reliability of the device is improved. And the hardware cost is reduced.

Description

Technical Field

[0001] This utility model belongs to the technical field of center of mass measurement equipment, specifically relating to a rapid center of mass measurement device for unmanned vessels based on a compound pendulum. Background Technology

[0002] Currently, methods for measuring the center of mass mainly include computer simulation analysis and experimental measurement. While computer simulation analysis can predict the position of the center of mass, the actual situation is complex. Factors such as differences in material properties, component assembly errors, and dynamic changes during use are difficult to accurately simulate in a simulation. Therefore, the results can only serve as a reference and cannot replace actual measurement. Experimental measurement methods are diverse, such as the suspension method, multi-point weighing method, and unbalanced torque method. However, these traditional methods have significant drawbacks. They are mostly for measuring in a specific direction or a single dimension. To obtain the three-dimensional coordinates of the center of mass of the measured part, it is often necessary to change the posture of the measured part multiple times for repeated measurements. This makes the measurement process cumbersome and time-consuming, and posture changes are prone to introducing human error, affecting the accuracy of the measurement. Moreover, traditional measurement methods rely on complex specialized equipment and specific measurement environments, requiring high levels of technical expertise from operators, which increases measurement costs and operational difficulty. Summary of the Invention

[0003] The purpose of this invention is to address the above-mentioned problems by providing a rapid measurement device for the center of mass of an unmanned vessel based on a compound pendulum.

[0004] To achieve the above objectives, this utility model adopts the following technical solution: a rapid measurement fixture for the center of mass of an unmanned surface vessel (USV) based on a compound pendulum, comprising a suspension frame, a central drive shaft coaxially connected to the upper end of the suspension frame, and a suspended mounting base for placing the USV under test at the lower end of the suspension frame. A power device capable of driving the compound pendulum motion of the suspension frame and suspended thereon is connected to the central drive shaft, and a sensor measurement assembly is connected to the central drive shaft and / or the power device. The overall structure is simple and stable, the layout of each component is scientific and reasonable, facilitating installation, debugging, and operation, and effectively ensuring the stability and accuracy of the measurement process.

[0005] In the aforementioned rapid measurement device for the center of mass of an unmanned surface vessel based on a compound pendulum, the suspension frame is a triangular three-dimensional frame structure, and the suspended loading platform is located on the inner circumferential side of the lower end of the suspension frame. The triangular three-dimensional frame structure can provide high strength and rigidity.

[0006] In the aforementioned rapid centroid measurement lifting device for an unmanned surface vessel based on a compound pendulum, the suspension frame includes a disc-shaped frame base. The upper end of the frame base has several upper frame rods arranged inwards at an incline, and the lower end of the frame base has several lower frame rods arranged outwards at an incline. Both the upper and lower frame rods are made of aluminum alloy. The upper ends of the upper frame rods are connected to the lower ends of the central drive shaft, and the outer circumference of the suspended platform is connected to the lower ends of the lower frame rods. The upper and lower frame rods are lightweight, high-strength, and corrosion-resistant, reducing the overall weight of the lifting device while ensuring structural stability. The connections between the upper and lower frame rods and the frame base are secured using high-strength welding or bolt fastening.

[0007] In the aforementioned rapid centroid measurement lifting device for an unmanned surface vessel (USV) based on a compound pendulum motion, the suspension frame further includes upper and lower fixed rings. The upper fixed rings are fixedly connected to each upper frame rod, and the lower fixed rings are fixedly connected to each lower frame rod. As the main supporting component of the lifting device, the suspension frame provides a stable structure for the entire device and enhances the suspension support for the suspended platform, ensuring the USV can stably perform compound pendulum motion on the lifting device and guaranteeing a safe and reliable measurement process.

[0008] In the aforementioned rapid centroid measurement lifting device for an unmanned surface vessel based on a compound pendulum, the suspended platform is an inverted conical disc. The upper circumferential outer edge of the suspended platform has a flexible limiting layer, and the bottom has an anti-slip layer. Furthermore, the suspended platform has several suspension lugs on its outer circumferential outer edge that connect to the lower end of the lower frame rod. The suspended platform is used to place the items to be lifted or measured. Its stable surface and anti-slip design ensure that the items will not slip or fall during lifting and measurement, guaranteeing the stability of the measurement process.

[0009] In the aforementioned rapid measurement device for the center of mass of an unmanned surface vessel based on a compound pendulum, the central drive shaft comprises a pendulum shaft and a connecting shaft that are coaxial and integrated. The pendulum shaft is flat and rod-shaped, and the lower end of the connecting shaft is coaxially connected to a connecting seat that is fixedly connected to the upper frame rod. As the core component for power transmission, the central drive shaft transmits power from the power unit to the suspended platform, enabling it to move in a predetermined manner while ensuring the stability and accuracy of the movement.

[0010] In the aforementioned rapid measurement device for the center of mass of an unmanned vessel based on a compound pendulum, the power unit includes a power box with a power cavity, a suspension chain at the upper end of the power box, an open lower end of the power box, and the pendulum shaft passing through the open end of the power box into the power cavity and connected to the power components inside the power box.

[0011] In the aforementioned rapid measurement device for the center of mass of an unmanned vessel based on a compound pendulum, the power assembly includes a drive motor housed in a power box. The drive motor is connected to a motor gear via a reducer, and the motor gear is connected to a compound pendulum gear via a transmission gear. The upper end of the pendulum shaft is connected to the center of the compound pendulum gear, and a pin is provided on one side of the compound pendulum gear. The upper end of the pendulum shaft is provided with a pin hole for inserting the pin.

[0012] In the aforementioned rapid centroid measurement device for an unmanned surface vessel (USV) based on a compound pendulum, the power unit contains a vertically arranged partition. The drive motor is mounted on the upper end of the partition. The motor gear, transmission gear, and compound pendulum gear are arranged vertically in sequence, with the center of the transmission gear connected to a first gear shaft passing through the partition. The center of the compound pendulum gear is connected to a second gear shaft passing through the partition, and the second gear shaft passes through one end of the pendulum shaft. The drive motor provides initial power, which, after speed and torque adjustments by a reducer, is transmitted to the central drive shaft via gears. The power unit's control unit can precisely adjust the motor speed and output power according to measurement requirements, achieving precise driving of the USV's compound pendulum motion.

[0013] In the aforementioned rapid center-of-gravity measurement fixture for an unmanned surface vessel (USV) based on a compound pendulum, the sensor measurement component is connected to an external data acquisition device. This component includes an angle sensor, a speed sensor, and a torque sensor. The angle sensor is mounted on the pendulum shaft, the torque sensor is mounted on the motor shaft of the drive motor, and the speed sensor is located on one side of the motor gear, transmission gear, and compound pendulum gear. The angle sensor measures the pendulum angle, the torque sensor measures the motor output torque, and the speed sensor measures the gear speed. This sensor measurement component is the core component for precise measurement, monitoring the USV's compound pendulum motion in real time, acquiring data, and transmitting it to the external data acquisition device. This provides crucial data support for subsequent center-of-gravity position calculation and analysis, ensuring accurate and reliable measurement results.

[0014] Compared with existing technologies, the advantages of this utility model are:

[0015] 1. This device ingeniously integrates the suspension method and the compound pendulum method. Utilizing the principle of compound pendulum motion, it accurately measures the oscillation period of the unmanned vessel during the compound pendulum motion. Combined with the direction of the line of action of gravity determined by the natural drooping of the measured object when it is at rest, a mathematical model is constructed to calculate the coordinates of the center of mass. At the same time, the structural design is simple, reducing the dependence on complex equipment, reducing hardware costs, and shortening the research and development cycle, providing an efficient and economical solution for the measurement of the center of mass of unmanned vessels.

[0016] 2. This device accurately measures the oscillation period of the unmanned vessel during its compound pendulum motion using sensor measurement components. It also combines dynamic and static measurement methods to fully consider various dynamic factors during the actual navigation of the unmanned vessel. The device performs comprehensive analysis and processing of the measurement data, effectively reducing measurement errors and significantly improving the accuracy and reliability of the center of mass measurement. This provides more accurate data support for the design and optimization of the unmanned vessel.

[0017] 3. The device adopts a simple and clear structural design, and the connection between the components is simple and reliable. The entire lifting device is easy to install and operate. Operators do not need to have professional and complex skills. They can master the measurement method after only simple training. This greatly reduces the professional skill requirements of operators in the measurement process, realizes rapid on-site measurement of the center of gravity of unmanned vessels, improves measurement efficiency, and reduces measurement costs. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of this utility model.

[0019] Figure 2 This is a cross-sectional view of the power box in this utility model.

[0020] Figure 3 This is a schematic diagram of the internal structure of the power box in this utility model.

[0021] Figure 4 This is a schematic diagram of the central drive shaft in this utility model.

[0022] Figure 5 This is a schematic diagram of the structure of this utility model in operation.

[0023] In the diagram: Suspension frame 1, frame seat 11, upper frame rod 12, lower frame rod 13, upper fixing ring 14, lower fixing ring 15, central drive shaft 2, swing shaft 21, connecting shaft 22, connecting seat 23, suspended storage chassis 3, flexible limiting layer 31, anti-slip layer 32, suspension lug 33, power unit 4, power box 41, power chamber 42, suspension chain 43, vertical partition 44, first gear shaft 45, second gear shaft 46, unmanned boat 5, power component 6, drive motor 61, reducer 62, motor gear 63, transmission gear 64, compound pendulum gear 65, pin shaft 66, pin hole 67. Detailed Implementation

[0024] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0025] like Figure 1-5As shown, a rapid measurement device for the center of mass of an unmanned surface vessel (USV) based on a compound pendulum configuration includes a suspension frame 1. A central drive shaft 2, coaxially connected to the upper end of the suspension frame 1, and a suspended mounting base 3 for placing the USV 5 under test, are located at the lower end of the suspension frame 1. A power unit 4, capable of driving the compound pendulum motion of the suspension frame 1 and suspended in place, is connected to the central drive shaft 2. Sensor measurement components are connected to the central drive shaft 2 and / or the power unit 4. The overall structure is simple and robust, with a scientifically and rationally arranged layout of components, facilitating installation, debugging, and operation, and effectively ensuring the stability and accuracy of the measurement process.

[0026] like Figure 1 As shown, the suspension frame 1 has a triangular three-dimensional frame structure, and the suspension base 3 is located on the inner side of the lower end of the suspension frame 1. The triangular three-dimensional frame structure can provide high strength and rigidity.

[0027] The suspension frame 1 includes a disc-shaped frame base 11. The upper end of the frame base 11 has several inwardly inclined upper frame rods 12, and the lower end of the frame base 11 has several outwardly inclined lower frame rods 13. Both the upper frame rods 12 and the lower frame rods 13 are made of aluminum alloy. The upper ends of the upper frame rods 12 are connected to the lower ends of the central drive shaft 2, and the outer circumference of the suspended base 3 is connected to the lower ends of the lower frame rods 13. The upper frame rods 12 and the lower frame rods 13 are lightweight, high-strength, and corrosion-resistant, reducing the overall weight of the lifting device while ensuring structural stability. The connections between the upper frame rods 12 and the frame base 11, as well as the connections between the lower frame rods 13 and the frame base 11, are secured using high-strength welding or bolt fastening.

[0028] Specifically, the suspension frame 1 also includes an upper fixing ring 14 and a lower fixing ring 15. The upper fixing ring 14 is fixedly connected to each of the upper frame rods 12, and the lower fixing ring 15 is fixedly connected to each of the lower frame rods 13. As the main supporting part of the lifting device, the suspension frame 1 provides a stable structure for the entire device and enhances the suspension support for the suspended platform 3, ensuring that the unmanned vessel 5 can stably perform compound pendulum motion on the lifting device and guaranteeing the safety and reliability of the measurement process.

[0029] Furthermore, the hanging base 3 is an inverted conical disc. A flexible limiting layer 31 is provided on the outer circumference of the upper end of the hanging base 3, and an anti-slip layer 32 is provided on the bottom. Several hanging lugs 33, connected to the lower end of the lower frame rod 13, are also provided on the outer circumference of the hanging base 3. The hanging base 3 is used to place items to be hoisted or measured. Its stable surface and anti-slip design ensure that the items will not slip or fall during hoisting and measurement, guaranteeing the stability of the measurement process.

[0030] Combination Figure 1 and Figure 3As shown, the central drive shaft 2 has a swing shaft 21 and a connecting shaft 22 that are coaxial and connected as one unit. The swing shaft 21 is in the shape of a flat rod, and the lower end of the connecting shaft 22 is coaxially connected to a connecting seat 23 that is fixedly connected to the upper frame rod 12. As the core component for power transmission, the central drive shaft 2 transmits the power of the power unit 4 to the suspended storage chassis 3, enabling it to move in a predetermined manner while ensuring the stability and accuracy of the movement.

[0031] like Figure 1 As shown, the power unit 4 includes a power box 41 with a power cavity 42. The upper end of the power box 41 is provided with a suspension chain 43, and the lower end of the power box 41 is open. The swing shaft 21 passes through the opening of the power box 41 into the power cavity 42 and is connected to the power component 6 inside the power box 41.

[0032] Combination Figures 2-3 As shown, the power assembly 6 includes a drive motor 61 installed in the power box 41. The drive motor 61 is connected to the motor gear 63 through the reducer 62, and the motor gear 63 is connected to the pendulum gear 65 through the transmission gear 64. The upper end of the pendulum shaft 21 is connected to the center of the pendulum gear 65, and a pin 66 is provided on one side of the pendulum gear 65. The upper end of the pendulum shaft 21 is provided with a pin hole 67 for the pin 66 to be inserted.

[0033] The power box 41 contains a vertically arranged vertical partition 44. A drive motor 61 is mounted on the upper end of the vertical partition 44. A motor gear 63, a transmission gear 64, and a pendulum gear 65 are arranged vertically in sequence. The center of the transmission gear 64 is connected to a first gear shaft 45 passing through the vertical partition 44. The center of the pendulum gear 65 is connected to a second gear shaft 46 passing through the vertical partition 44, and the second gear shaft 46 passes through one end of the pendulum shaft 21. The drive motor 61 provides initial power, which, after the speed and torque are adjusted by the reducer 62, is transmitted to the central drive shaft 2 via gears. The control unit of the power unit 4 can precisely adjust the motor speed and output power according to measurement requirements, achieving precise driving of the pendulum motion of the unmanned vessel 5.

[0034] Specifically, the sensor measurement component is connected to an external data acquisition device and includes an angle sensor, a speed sensor, and a torque sensor. The angle sensor is mounted on the pendulum shaft 21, the torque sensor is mounted on the motor shaft of the drive motor 61, and the speed sensor is located on one side of the motor gear 63, the transmission gear 64, and the compound pendulum gear 65. The angle sensor is used to measure the swing angle, the torque sensor is used to measure the motor output torque, and the speed sensor is used to measure the gear speed. The sensor measurement component is the core component for accurate measurement, monitoring the compound pendulum motion state of the unmanned vessel 5 in real time, acquiring data, and transmitting it to the external data acquisition device. This provides crucial data support for subsequent calculation and analysis of the center of mass position, ensuring accurate and reliable measurement results.

[0035] The principle of this embodiment is as follows:

[0036] A combined dynamic and static measurement method is adopted. The unmanned vessel 5 is placed on the suspended chassis 3 as the test object. The drive motor 61 drives the motor gear 63, transmission gear 64 and pendulum gear 65 in sequence. The central drive shaft 2 realizes the swinging action through the pendulum gear 65. The oscillation period of the unmanned vessel 5 during the pendulum motion is measured by the sensor measurement component and the external data acquisition equipment to calculate the pendulum length. The direction of the gravity line acting on the unmanned vessel 5 when it is stationary is measured, and then the coordinates of the center of mass of the unmanned vessel 5 are calculated.

[0037] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

[0038] Although this document frequently uses terms such as suspension frame 1, frame seat 11, upper frame rod 12, lower frame rod 13, upper fixing ring 14, lower fixing ring 15, central drive shaft 2, swing shaft 21, connecting shaft 22, connecting seat 23, suspended storage chassis 3, flexible limiting layer 31, anti-slip layer 32, suspension lug 33, power unit 4, power box 41, power chamber 42, suspension chain 43, vertical partition 44, first gear shaft 45, second gear shaft 46, unmanned boat 5, power assembly 6, drive motor 61, reducer 62, motor gear 63, transmission gear 64, compound pendulum gear 65, pin shaft 66, and pin hole 67, the possibility of using other terms is not excluded. The use of these terms is merely for the convenience of describing and explaining the essence of this utility model; interpreting them as any additional limitation would contradict the spirit of this utility model.

Claims

1. A rapid measurement device for the center of mass of an unmanned surface vessel based on a compound pendulum, comprising a suspension frame (1), characterized in that, The upper end of the suspension frame (1) is connected to a central drive shaft (2) coaxially connected to the suspension frame (1). The lower end of the suspension frame (1) is provided with a suspended placement chassis (3) for placing the unmanned vessel (5) to be tested. A power device (4) that can drive the suspension frame (1) to repeat the pendulum motion and is suspended is connected to the central drive shaft (2). A sensor measurement component is connected to the central drive shaft (2) and / or the power device (4).

2. The rapid measurement lifting device for the center of mass of an unmanned surface vessel based on a compound pendulum as described in claim 1, characterized in that, The suspension frame (1) has a triangular three-dimensional frame structure, and the suspension base (3) is located on the inner side of the lower end of the suspension frame (1).

3. The rapid measurement lifting device for the center of mass of an unmanned surface vessel based on a compound pendulum as described in claim 2, characterized in that, The suspension frame (1) includes a disc-shaped frame base (11). The upper end of the frame base (11) is provided with several upper frame rods (12) that are inclined inward. The lower end of the frame base (11) is provided with several lower frame rods (13) that are inclined outward. The upper frame rods (12) and the lower frame rods (13) are both made of aluminum alloy. The upper ends of the upper frame rods (12) are respectively connected to the lower ends of the central drive shaft (2), and the outer circumference of the suspension base (3) is respectively connected to the lower ends of the lower frame rods (13).

4. The rapid measurement lifting device for the center of mass of an unmanned surface vessel based on a compound pendulum as described in claim 3, characterized in that, The suspension frame (1) further includes an upper fixing ring (14) and a lower fixing ring (15), wherein the upper fixing ring (14) is fixedly connected to each of the upper frame rods (12), and the lower fixing ring (15) is fixedly connected to each of the lower frame rods (13).

5. A rapid measurement lifting device for the center of mass of an unmanned surface vessel based on a compound pendulum, as described in claim 3 or 4, characterized in that, The suspended storage base (3) is an inverted conical disc. The upper end of the suspended storage base (3) is provided with a flexible limiting layer (31) and the bottom is provided with an anti-slip layer (32). The suspended storage base (3) is provided with several suspension ears (33) connected to the lower end of the lower frame rod (13) on the outer side of the circumference.

6. A rapid measurement lifting device for the center of mass of an unmanned surface vessel based on a compound pendulum, as described in claim 3 or 4, characterized in that, The central active shaft (2) has a swing shaft (21) and a connecting shaft (22) that are coaxial and connected together. The swing shaft (21) is in the shape of a flat rod and the lower end of the connecting shaft (22) is coaxially connected to a connecting seat (23) that is fixedly connected to the upper frame rod (12).

7. A rapid measurement lifting device for the center of mass of an unmanned surface vessel based on a compound pendulum, as described in claim 6, is characterized in that, The power unit (4) includes a power box (41) with a power chamber (42), a suspension chain (43) is provided at the upper end of the power box (41), the lower end of the power box (41) is open, and the swing shaft (21) passes through the opening of the power box (41) into the power chamber (42) and is connected to the power component (6) inside the power box (41).

8. The rapid measurement lifting device for the center of mass of an unmanned surface vessel based on a compound pendulum as described in claim 7, characterized in that, The power assembly (6) includes a drive motor (61) installed in the power box (41). The drive motor (61) is connected to the motor gear (63) through a reducer (62), and the motor gear (63) is connected to the pendulum gear (65) through a transmission gear (64). The upper end of the pendulum shaft (21) is connected to the center of the pendulum gear (65), and a pin (66) is provided on one side of the pendulum gear (65). The upper end of the pendulum shaft (21) is provided with a pin hole (67) for the pin (66) to be inserted.

9. A rapid measurement lifting device for the center of mass of an unmanned surface vessel based on a compound pendulum, as described in claim 8, is characterized in that, The power box (41) is provided with a vertically arranged vertical partition (44). The drive motor (61) is arranged on the upper end of the vertical partition (44). The motor gear (63), transmission gear (64) and compound pendulum gear (65) are arranged in sequence along the vertical direction. The center of the transmission gear (64) is connected to the first gear shaft (45) passing through the vertical partition (44). The center of the compound pendulum gear (65) is connected to the second gear shaft (46) passing through the vertical partition (44). The second gear shaft (46) passes through one end of the pendulum shaft (21).

10. A rapid measurement lifting device for the center of mass of an unmanned surface vessel based on a compound pendulum, as described in claim 8, is characterized in that... The sensor measurement component is connected to an external data acquisition device, and the sensor measurement component includes an angle sensor, a speed sensor and a torque sensor. The angle sensor is installed on the pendulum shaft (21), the torque sensor is installed on the motor shaft of the drive motor (61), and the speed sensor is located on one side of the motor gear (63), the transmission gear (64) and the compound pendulum gear (65).

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