CN214648911U

CN214648911U - System for stabilizing, damping and adjusting battery position of unmanned surface vehicle

Info

Publication number: CN214648911U
Application number: CN202120446766.8U
Authority: CN
Inventors: 张胜; 朱寒冰; 刘永飞; 姜俊涛
Original assignee: Zhenjiang Yuanli Innovation Technology Co ltd
Current assignee: Zhenjiang Yuanli Innovation Technology Co ltd
Priority date: 2021-03-02
Filing date: 2021-03-02
Publication date: 2021-11-09
Anticipated expiration: 2031-03-02

Abstract

The utility model discloses a surface of water unmanned ship anti-rolling damping and battery position control system, including backup pad, information processing module and gyroscope, the intermediate junction of backup pad has the lead screw, and the outer end of lead screw installs step motor, the outside of lead screw is connected with the slider, and the downside of slider is connected with first slide rail and second slide rail, damping suspension structure is installed to the upside of slider, and installs spring and damping module between damping suspension structure and the slider, the fixed second grade low rigidity bumper shock absorber that is provided with of upside of battery support frame, and the upper electronic component fixed plate of the upper strata of the fixed mounting of second grade low rigidity bumper shock absorber. The invention fully utilizes the advantages of heavy weight of the unmanned ship battery and the self-contained core control module, and solves the problem that the floating state of the unmanned ship on the water surface is difficult to adjust; and a two-stage vibration reduction mode is adopted, so that the problem of poor working environment caused by large shaking vibration of a precise electronic device and a battery is solved.

Description

System for stabilizing, damping and adjusting battery position of unmanned surface vehicle

Technical Field

The utility model relates to a marine facilities technical field specifically is an unmanned ship of surface of water anti-rolling damping and battery position control system.

Background

An unmanned surface vessel, or a surface robot, is an unmanned surface naval vessel. The general unmanned water surface boat has small volume and shallow draft, usually has no ballast water tank, and the floating state is difficult to adjust. When the common unmanned surface vehicle is designed, the gravity center position can be estimated according to the installed equipment; and the center of gravity is adjusted by changing the position of a part of heavy equipment in the direction of the length of the ship (longitudinal direction), and the buoyancy is changed accordingly. But this method cannot feedback on the external environment and its own changes. Therefore, the method only has good effect under the conditions of small weight of the external equipment and stable sailing working condition. When the weight of external installation equipment changes and the navigation working condition of the unmanned ship is complex, the positions of the gravity center and the floating center are uncontrollably changed, so that the navigation state is deteriorated, and the rapidity, the stability and the maneuverability of the unmanned ship are further influenced. Furthermore, unmanned boats often carry complex sensors and control systems, which contain high precision electronics, some of which are critical to the working environment. The large amplitude of the vibration and vibration can cause the equipment to have reduced performance, fail to work properly and even be damaged. Therefore, the roll reduction and the shock absorption of important parts are very important in the unmanned boat.

At present, the floating state of the unmanned ship has been researched in China, the research is mainly focused on the stability research of the unmanned ship, and the application of the floating state automatic adjustment is less. There has been a utility model "unmanned ship is from righting device" can be used to the attitude of floating to adjust, but the device mainly is to big inclination, the problem of turning on one's side, and the device structure is big, is difficult for the installation. The research on the automatic floating state adjustment in foreign countries mainly focuses on the field of underwater robots, and the research on the automatic floating state adjustment of unmanned water surface boats is not much. Few studies are conducted at home and abroad on the vibration reduction of the unmanned ship, and the Shanghai traffic university has published a study on the nonlinear negative stiffness active control vibration reduction of the unmanned ship.

The battery is a main energy source of the unmanned ship, and the higher the requirement of the unmanned ship on endurance is, the larger the battery weight is; typically it may weigh up to 30% of the total weight of the unmanned boat. Therefore, adjusting the position of the battery is an important method for adjusting the floating state of the unmanned boat. In addition, the battery is stabilized, so that the working environment of the battery can be improved, and the stability and the overall structural strength of the unmanned ship are improved.

The invention aims to develop a system integrating a mechanical structure and automatic control, and aims to stabilize a battery, stabilize and absorb shock of a control element and a sensor, and adjust the position of the battery in real time to control the floating state of an unmanned ship.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a surface of water unmanned ship subtracts vibration damping and battery position control system to when solving the present unmanned ship navigation operating mode that above-mentioned background art provided complicated, the focus all takes place uncontrollable change with the floating center position, leads to the state variation, and then influences the problem of rapidity, stability and the maneuverability of unmanned ship.

In order to achieve the above object, the utility model provides a following technical scheme: a system for stabilizing and damping vibration of an unmanned surface vehicle and adjusting the position of a battery comprises a support plate, an information processing module and a gyroscope, wherein a first slide rail and a second slide rail are fixed on the lower side of the support plate, a lead screw is connected in the middle of the support plate, a stepping motor is arranged at the outer end of the lead screw, the stepping motor is connected with the lead screw through a transmission gear set, a slide block is connected on the outer side of the lead screw, the first slide rail and the second slide rail are connected on the lower side of the slide block, a vibration-damping suspension structure is arranged on the upper side of the slide block, a spring and a damping module are arranged between the vibration-damping suspension structure and the slide block, a connecting rod is connected at the upper end of the vibration-damping suspension structure, the two ends of the connecting rod are fixedly connected on the inner side of a battery support frame, batteries are fixedly arranged at the two ends of the upper side of the battery support frame, and a second-level low-stiffness vibration absorber is fixedly arranged on the upper side of the battery support frame, and the upper end of the second-level low-rigidity shock absorber is fixedly provided with an upper-layer electronic element fixing plate, and the upper side of the upper-layer electronic element fixing plate is fixedly provided with an information processing module and a gyroscope.

Preferably, the first slide rail and the second slide rail are symmetrically arranged below two sides of the screw rod, the screw rod penetrates through the slide block and is in threaded connection with the slide block, and the slide block is in sliding clamping connection with the first slide rail and the second slide rail.

Preferably, the damping suspension structure, the spring and the damping module form a triangular bracket on the slider, and the damping suspension structure, the spring and the damping module are provided with 4 groups on the slider.

Preferably, the vibration reduction suspension structure is movably connected with the spring, the damping module and the sliding block, and the spring, the damping module, the sliding block and the connecting rod are also movably connected.

Preferably, the shape of the battery support frame is omega, and 2 batteries on the battery support frame are symmetrically arranged.

Compared with the prior art, the beneficial effects of the utility model are that:

the invention takes an unmanned ship as an object, takes a mechanical structure as a carrier, consists of a displacement mechanism, a damping mechanism and a control module, and belongs to the application of combining an intelligent unmanned ship with a traditional mechanical structure. The invention fully utilizes the advantages of heavy weight of the unmanned ship battery and the self-contained core control module, and solves the problem that the floating state of the unmanned ship on the water surface is difficult to adjust; and a two-stage vibration reduction mode is adopted, the first stage reduces pitching and low-frequency vibration with large amplitude, and the second stage reduces vibration with small amplitude and high frequency, so that the problem of poor working environment caused by large shaking vibration of a precise electronic device and a battery is solved. The invention not only inherits the advantages of reliability and stability of the traditional machine, but also conforms to the trend of development of intellectualization of the times.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

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

FIG. 3 is a schematic view of the inner side structure of the battery support frame of the present invention;

FIG. 4 is a schematic view of the slider shape structure of the present invention;

FIG. 5 is a schematic view of the connection structure of the lead screw of the present invention;

fig. 6 is a flow chart of the system control of the present invention.

In the figure: 1. a support plate; 2. a first slide rail; 3. a second slide rail; 4. a screw rod; 5. a stepping motor; 6. a drive gear set; 7. a slider; 8. a vibration damping suspension structure; 9. a spring and a damping module; 10. a connecting rod; 11. a battery support frame; 12. a battery; 13. a secondary low stiffness damper; 14. an upper electronic component fixing plate; 15. an information processing module; 16. a gyroscope.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-6, the present invention provides a technical solution: a system for stabilizing, damping and adjusting the position of a battery of an unmanned surface vehicle comprises a support plate 1, a first slide rail 2, a second slide rail 3, a screw rod 4, a stepping motor 5, a transmission gear set 6, a slide block 7, a vibration-damping suspension structure 8, a spring and damping module 9, a connecting rod 10, a battery support frame 11, a battery 12, a two-stage low-rigidity damper 13, an upper-layer electronic element fixing plate 14, an information processing module 15 and a gyroscope 16, wherein the first slide rail 2 and the second slide rail 3 are fixed on the lower side of the support plate 1, the screw rod 4 is connected in the middle of the support plate 1, the stepping motor 5 is installed at the outer end of the screw rod 4, the stepping motor 5 is connected with the screw rod 4 through the transmission gear set 6, the slide block 7 is connected on the outer side of the screw rod 4, the first slide rail 2 and the second slide rail 3 are connected on the lower side of the slide block 7, the vibration-damping suspension structure 8 is installed on the upper side of the slide block 7, and the spring and damping module 9 is installed between the vibration-damping suspension structure 8 and the slide block 7, the upper end of damping suspension structure 8 is connected with connecting rod 10, and the both ends fixed connection of connecting rod 10 is in the inboard of battery support frame 11, and the upside both ends fixed mounting of battery support frame 11 has battery 12, and the upside of battery support frame 11 is fixed and is provided with second grade low rigidity bumper shock absorber 13, and the upper end fixed mounting of second grade low rigidity bumper shock absorber 13 has upper electronic component fixed plate 14, and the upside fixed mounting of upper electronic component fixed plate 14 has information processing module 15 and gyroscope 16.

The first slide rail 2 and the second slide rail 3 are symmetrically arranged below two sides of the screw rod 4, the screw rod 4 penetrates through the slide block 7 and is in threaded connection with the slide block, and the slide block 7 is connected with the first slide rail 2 and the second slide rail 3 in a sliding clamping mode. The vibration reduction suspension structure 8 and the spring and damping module 9 form a triangular bracket on the sliding

block

7, and 4 groups of the vibration reduction suspension structure 8 and the spring and damping module 9 are arranged on the sliding block 7. The vibration reduction suspension structure 8 is movably connected with the spring and damping module 9 and the sliding block 7, and the spring and damping module 9 is also movably connected with the sliding block 7 and the connecting rod 10. The shape of the battery support frame 11 is "omega", and 2 batteries 12 on the battery support frame 11 are symmetrically arranged.

The first slide rail 2, the second slide rail 3 and the screw rod 4 are fixed above the sliding channel along the ship length direction, and the screw rod 4 can rotate along the axial direction. The slide block 7 is arranged above the guide rail and the screw rod, two displacement freedom degrees and 3 rotation freedom degrees are limited by the guide rail, and the position of the slide block along the ship length direction is controlled by the screw rod 4. The stepping motor 5 is mounted at one end of the screw rod 4 (taking the approach to the stern as an example), and transmits rotation by a bevel gear to control the rotation of the screw rod 4 and further control the position of the slide block 7. The damping suspension structures 8 (four groups) are respectively arranged on four corners above the sliding block 7, the damping vibration amplitude can be enlarged, and the battery supporting frame 11 can rotate in the longitudinal section of the ship body, so that the vibration of the battery compartment during the pitching of the ship body is further reduced; the spring and damping module 9(4 groups) is connected with the slide block 7 and the vibration damping suspension frame structure 8, is a core component of a primary vibration damping module, has a spring elasticity coefficient K1, and can determine vibration damping characteristics through damping element damping C1, and different springs and damping elements can be used under different design working conditions to obtain the maximum vibration damping benefit; the secondary low-rigidity dampers 13(4 dampers) are mounted above the battery support frame 11 and are used for damping the upper-layer electronic component fixing plate 14 and parts thereon, the elasticity coefficient K2 of the dampers is far smaller than the elasticity coefficient K1 of the primary dampers, and the secondary low-rigidity dampers are mainly used for vibration excitation with small amplitude and high frequency. The battery support frame 11 adopts a structure with two sunken ends, so that the vertical position of the battery 12 can be reduced, the gravity center of the unmanned boat is further reduced, and better stability is obtained; the gyroscope 16 and the information processing module 15 are arranged on the upper-layer electronic component fixing plate 14, and the acquired data is a result after vibration reduction, so that interference can be filtered more effectively, noise is eliminated, and the result is more reliable; the information processing module 15 can also determine the installation position according to the actual condition of the unmanned ship, and can also be incorporated into the control system of the unmanned ship, thereby saving space and reducing the complexity of the system. The information processing module 15 includes a control hardware such as a single chip microcomputer, a PAC, and a PLC, and a control program.

When the battery compartment vibration damping and adjusting unmanned ship floating state system is designed, vibration damping frequency is preset to determine spring elastic coefficient K and damping element damping C; presetting the longitudinal inclination angle alpha of the floating state of the unmanned ship under each working condition₀And a regulatory acceptable range a. When the unmanned ship sails, the information processing module 15 reads the working condition at the moment; then, acquiring a real-time longitudinal inclination angle alpha of the unmanned ship by a gyroscope 16; then calculating the front alpha and alpha under the preset working condition₀And if the absolute value is greater than the acceptable range A, judging that the ship body is forward or stern leaning through positive and negative. When the situation is heading, the stepping motor 5 drives the screw rod 4 to enable the slide block 7 to move towards the bow, so that the gravity center moves towards the bow, heading is restrained, and the ship body floats and returns to a preset state. Similarly, when the stern inclines, the stepping motor 5 drives the screw rod 4 to move the slide block 7 to the stern, so that the gravity center moves to the stern, and the stern inclination is restrained. The control system can adopt PID control, and the variable quantity is the difference value of the current inclination angle and the inclination angle of the set working condition; the control parameter is the rotational speed (positive and negative representing directions) of the motor. The control system can be in an infinite loop mode, and repeatedly calculates when the unmanned ship sails, and controls and trims the floating state of the unmanned ship in real time.

Meanwhile, when the ship body pitches, the vibration damping suspension structure 8(4 groups), the spring and the damping module 9(4 groups) play a vibration damping role. The vibration damping suspension structure 8 is connected with the sliding block 7 and the battery supporting frame 11 in a hinged mode and is distributed at four corner points of the sliding block 7 and the supporting seat. The structure can fix two horizontal degrees of freedom and two rotational degrees of freedom in the horizontal plane of the battery support frame 11; at the same time, the supporting seat can move in the vertical direction and rotate in the longitudinal section. And the structure is small at the bottom and large at the top, so that a small sliding block 7 can be used for bearing a large battery compartment seat, the longitudinal length of the sliding block 7 is saved, and more displacement space is reserved for the sliding block 7 along the longitudinal direction. The spring and damping module 9 is connected with the slide block 7 and the vibration reduction suspension structure 8 to form a triangle. This allows the displacement (or velocity) of the battery support bracket 11 relative to the hull to be reduced as it acts on the spring and damping element; meanwhile, the elastic force (or damping force) acting on the battery support frame 11, which is generated by the deformation (or speed) of the spring and the damping element caused by the pitching of the ship body, is reduced, so that the aim of improving the anti-rolling and vibration-damping effects is fulfilled. The secondary low-rigidity damper 13 is fixed to the battery support frame 11 and supports only the control module. Because the weight of the control module is lighter, the shock absorber can adopt smaller rigidity, and has good filtering effect on small-amplitude high-frequency vibration. And the upper electronic component fixing plate 14 after vibration reduction is more stable and less vibrated compared with the ship body, so that the interference on the gyroscope 16 arranged on the upper electronic component fixing plate can be effectively reduced, and the function of physical filtering is achieved.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.

Claims

1. The utility model provides an unmanned ship of surface of water anti-rolling damping and battery position control system, includes backup pad (1), information processing module (15) and gyroscope (16), its characterized in that: the vibration reduction device is characterized in that a first slide rail (2) and a second slide rail (3) are fixed on the lower side of the supporting plate (1), a lead screw (4) is connected to the middle of the supporting plate (1), a stepping motor (5) is installed at the outer end of the lead screw (4), the stepping motor (5) is connected with the lead screw (4) through a transmission gear set (6), a sliding block (7) is connected to the outer side of the lead screw (4), the first slide rail (2) and the second slide rail (3) are connected to the lower side of the sliding block (7), a vibration reduction suspension structure (8) is installed on the upper side of the sliding block (7), a spring and a damping module (9) are installed between the vibration reduction suspension structure (8) and the sliding block (7), a connecting rod (10) is connected to the upper end of the vibration reduction suspension structure (8), the two ends of the connecting rod (10) are fixedly connected to the inner side of the battery supporting frame (11), and batteries (12) are fixedly installed at the two ends of the upper side of the battery supporting frame (11), the battery support frame is characterized in that a secondary low-rigidity shock absorber (13) is fixedly arranged on the upper side of the battery support frame (11), an upper-layer electronic element fixing plate (14) is fixedly mounted at the upper end of the secondary low-rigidity shock absorber (13), and an information processing module (15) and a gyroscope (16) are fixedly mounted on the upper side of the upper-layer electronic element fixing plate (14).

2. The system of claim 1, wherein the system comprises: the first sliding rail (2) and the second sliding rail (3) are symmetrically arranged below two sides of the screw rod (4), the screw rod (4) penetrates through the sliding block (7) and is in threaded connection with the sliding block, and the sliding block (7) is connected with the first sliding rail (2) and the second sliding rail (3) in a sliding clamping mode.

3. The system of claim 1, wherein the system comprises: the damping suspension structure (8) and the spring and damping module (9) form a triangular support on the sliding block (7), and the damping suspension structure (8) and the spring and damping module (9) are provided with 4 groups on the sliding block (7).

4. The system of claim 1, wherein the system comprises: the vibration reduction suspension structure (8) is movably connected with the spring and damping module (9) and the sliding block (7), and the spring and damping module (9) is also movably connected with the sliding block (7) and the connecting rod (10).

5. The system of claim 1, wherein the system comprises: the appearance of battery support frame (11) is "omega", and battery (12) on battery support frame (11) are provided with 2 symmetrically.