CN105223960A - A kind of unmanned boat lays retracting device - Google Patents
A kind of unmanned boat lays retracting device Download PDFInfo
- Publication number
- CN105223960A CN105223960A CN201510659909.2A CN201510659909A CN105223960A CN 105223960 A CN105223960 A CN 105223960A CN 201510659909 A CN201510659909 A CN 201510659909A CN 105223960 A CN105223960 A CN 105223960A
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- servomotor
- axis direction
- unmanned boat
- screw mandrel
- shaft coupling
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Abstract
The present invention relates to a kind of unmanned boat and lay retracting device, comprise single-chip microcomputer, the first motor servo driver, the first servomotor, slew gear, the first shaft coupling, x-axis direction screw mandrel, the second motor servo driver, the second servomotor, the second shaft coupling, y-axis direction screw mandrel, the 3rd motor servo driver, the 3rd shaft coupling, the 3rd servomotor, rigid support, six axle gyroscopes, flexible support.The present invention uses the operation of host computer interface in control system, pass through radio signal, start carrying out motor steering control, laying or reclaim setting and the adjustment of speed, the attitude and the position that lay retracting device is determined by six axle gyroscopes on the radio compass on unmanned boat and rigid structure, when unmanned boat lays recovery, auto-compensation is carried out to environmental interference, prevent accidents such as colliding between unmanned boat and lash ship.
Description
Technical field
The invention belongs to machinery and electronics integrated technology field, be specifically related to a kind of unmanned boat and lay retracting device.
Background technology
In recent years, along with the development of unmanned boat technology, domestic and international scientific research institutions have developed some unmanned boat models, and drop into actual application.But because own wt is large and the circumstance complication such as sea turn surge stream, unmanned boat water and water outlet stage under equipping, lay the damage being easy to cause unmanned boat and lash ship with reclaimer operation.When and severe, even can cause the crushing accident of unmanned boat and lash ship.Therefore, in the face of complicated marine environment, how by unmanned boat steadily, safety, accurately cloth are put on sea and by its safe retrieving is the key factor of unmanned boat.
Summary of the invention
The present invention is directed to the deficiency that existing unmanned boat lays recovering means, provide a kind of unmanned boat and lay retracting device, this device can not only lay recovery to unmanned boat in the marine environment of reality, can also play to optimize to lay the function with reclaimer operation parameter in the environment of simulation ocean.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of unmanned boat lays retracting device, comprises single-chip microcomputer, the first motor servo driver, the first servomotor, slew gear, the first shaft coupling, x-axis direction screw mandrel, the second motor servo driver, the second servomotor, the second shaft coupling, y-axis direction screw mandrel, the 3rd motor servo driver, the 3rd shaft coupling, the 3rd servomotor, rigid support, six axle gyroscopes, flexible support; Described single-chip microcomputer is arranged on slew gear, and the output terminal of single-chip microcomputer is connected by signal wire with three motor servo drivers and the gyrostatic input end of six axles respectively, and three motor servo drivers are connected by signal wire with corresponding servomotor respectively; Described first servomotor is connected with slew gear by the first shaft coupling, and described second servomotor is connected with x-axis direction screw mandrel by the second shaft coupling, and described 3rd servomotor is connected with y-axis direction screw mandrel by the 3rd shaft coupling; Described y-axis direction screw mandrel is fixed on rigid support, and described x-axis direction screw mandrel is vertically fixed on the screw mandrel of y-axis direction, and described slew gear is arranged on the screw mandrel of x-axis direction; Described six axle gyroscopes are arranged on the front end of rigid support, and described flexible support is fixed on rigid support.
Described slew gear inside includes rotary teeth wheel disc and driven wheel, and described rotary teeth wheel disc and driven wheel engage each other, and described driven wheel is connected with the first servomotor, and described rotary teeth wheel disc is fixed on the bottom of slew gear.
Compared with prior art, the invention has the beneficial effects as follows:
Apparatus of the present invention can realize laying of unmanned boat and reclaimer operation, in recovery with when laying unmanned boat, can keep the position between unmanned boat and lash ship and attitude, ensure the safety of unmanned boat and lash ship.Accurately can realize given speed to lay and recovery, have in the environment of simulation ocean and optimize the function that unmanned boat lays reclaimer operation parameter.
Accompanying drawing explanation
Fig. 1 is present system process flow diagram.
Fig. 2 is apparatus of the present invention overall schematic.
Fig. 3 is apparatus of the present invention slew gear schematic diagram.
Fig. 4 is apparatus of the present invention translating sections schematic diagram.
Fig. 5 is apparatus of the present invention slew gear schematic internal view.
Embodiment
Below in conjunction with drawings and Examples, the present invention is further described.
As shown in Figures 1 to 4, a kind of unmanned boat lays retracting device, comprises single-chip microcomputer 1, first motor servo driver 2, first servomotor 3, slew gear 4, first shaft coupling 5, x-axis direction screw mandrel 6, second motor servo driver 7, second servomotor 8, second shaft coupling 9, y-axis direction screw mandrel the 10, the 3rd motor servo driver 11, the 3rd shaft coupling 12, the 3rd servomotor 13, rigid support 14, six axle gyroscope 15, flexible support 16; Described single-chip microcomputer 1 is arranged on slew gear 4, the output terminal of single-chip microcomputer 1 respectively with three motor servo drivers 2,7,11 and six axle gyroscope 15 input end by signal wire be connected, three motor servo drivers 2,7,11 are connected by signal wire with corresponding servomotor 3,8,13 respectively; Described first servomotor 3 is connected with slew gear 4 by the first shaft coupling 5, and described second servomotor 8 is connected with x-axis direction screw mandrel 6 by the second shaft coupling 9, and described 3rd servomotor 13 is connected with y-axis direction screw mandrel 10 by the 3rd shaft coupling 12; Described y-axis direction screw mandrel 10 is fixed on rigid support 14, and described x-axis direction screw mandrel 6 is vertically fixed on y-axis direction screw mandrel 10, and described slew gear 4 is arranged on x-axis direction screw mandrel 6; Described six axle gyroscopes 15 are arranged on the front end of rigid support 14, and described flexible support 16 is fixed on rigid support 14.
As shown in Figure 5, described slew gear 4 inside includes rotary teeth wheel disc 20 and driven wheel 21, described rotary teeth wheel disc 20 engages each other with driven wheel 21, and described driven wheel 21 is connected with the first servomotor 3, and described rotary teeth wheel disc 20 is fixed on the bottom of slew gear 4.
The course of work of the present invention is as follows:
1. lay process:
First by the arm on lash ship, the unmanned boat laid on retracting device and device is placed into top position, sea.PC host computer lays instruction by wireless base station to the transmission of the control system of unmanned boat, and unmanned boat control system is started shooting, and prepares to enter duty.Arm on lash ship is started working, and is transferred by rope.Simultaneously, PC host computer lays instruction by RS485 port to the single-chip microcomputer 1 laid on retracting device transmission, single-chip microcomputer 1 reading is arranged on the six axle gyroscopes 15 laid on retracting device and obtains without laying the skyborne attitude of rigid support 14, simultaneously according to the skyborne position of data acquisition rigid support 14 of radio compass on unmanned boat, single-chip microcomputer 1 send instruction to compensate the rotation that z-axis occurs to the first motor servo driver 2; First servomotor 3 drives slew gear 4 to rotate by the first shaft coupling 5; Single-chip microcomputer 1 sends instruction to the second motor servo driver 7 and compensates the displacement that x-axis occurs, and single-chip microcomputer 1 send instruction to compensate the displacement that y-axis occurs to the 3rd motor servo driver 11; Second servomotor 8 drives x-axis direction screw mandrel 6 to rotate by the second shaft coupling 9, and the 3rd servomotor 13 drives y-axis direction screw mandrel 10 to rotate by the 3rd shaft coupling 12; After unmanned boat descends water completely, opening generator, pouring out from laying retracting device.
2. removal process:
First by the arm on lash ship, the unmanned boat laid on retracting device and device is placed into position, unmanned boat dead ahead.PC host computer sends recovery command by wireless base station to the control system of unmanned boat, prepares to enter duty, keeps as you were.Simultaneously, PC host computer lays instruction by RS485 port to the single-chip microcomputer 1 laid on retracting device transmission, single-chip microcomputer 1 reading is simultaneously arranged on the six axle gyroscopes 15 laid on retracting device and obtains without laying the skyborne attitude of retracting device, simultaneously according to the skyborne position of data acquisition rigid support 14 of radio compass on unmanned boat, single-chip microcomputer 1 send instruction to compensate the rotation that z-axis occurs to the first motor servo driver 2; First servomotor 3 drives slew gear 4 to rotate by the first shaft coupling 5; Single-chip microcomputer 1 sends instruction to the second motor servo driver 7 and compensates the displacement that x-axis occurs, and single-chip microcomputer 1 send instruction to compensate the displacement that y-axis occurs to the 3rd motor servo driver 11; Second servomotor 8 drives x-axis direction screw mandrel 6 to rotate by the second shaft coupling 9, and the 3rd servomotor 13 drives y-axis direction screw mandrel 10 to rotate by the 3rd shaft coupling 12; After keeping steady state (SS), the arm setting in motion on lash ship, lays retracting device parallel motion to unmanned boat front, is loaded in casing.Unmanned boat generator shuts down, and the arm rope on lash ship starts pull-up.Unmanned boat is sling, completes recovery operation.
Claims (2)
1. a unmanned boat lays retracting device, it is characterized in that, comprise single-chip microcomputer (1), the first motor servo driver (2), the first servomotor (3), slew gear (4), the first shaft coupling (5), x-axis direction screw mandrel (6), the second motor servo driver (7), the second servomotor (8), the second shaft coupling (9), y-axis direction screw mandrel (10), the 3rd motor servo driver (11), the 3rd shaft coupling (12), the 3rd servomotor (13), rigid support (14), six axle gyroscopes (15), flexible support (16); Described single-chip microcomputer (1) is arranged on slew gear (4), the output terminal of single-chip microcomputer (1) respectively with three motor servo drivers (2,7,11) and the input end of six axle gyroscopes (15) by signal wire be connected, three motor servo drivers (2,7,11) respectively with corresponding servomotor (3,8,13) be connected by signal wire; Described first servomotor (3) is connected with slew gear (4) by the first shaft coupling (5), described second servomotor (8) is connected with x-axis direction screw mandrel (6) by the second shaft coupling (9), and described 3rd servomotor (13) is connected with y-axis direction screw mandrel (10) by the 3rd shaft coupling (12); Described y-axis direction screw mandrel (10) is fixed on rigid support (14), and described x-axis direction screw mandrel (6) is vertically fixed on y-axis direction screw mandrel (10), and described slew gear (4) is arranged on x-axis direction screw mandrel (6); Described six axle gyroscopes (15) are arranged on the front end of rigid support (14), and described flexible support (16) is fixed on rigid support (14).
2. a kind of unmanned boat according to claim 1 lays retracting device, it is characterized in that, described slew gear (4) inside includes rotary teeth wheel disc (20) and driven wheel (21), described rotary teeth wheel disc (20) and driven wheel (21) engage each other, described driven wheel (21) is connected with the first servomotor (3), and described rotary teeth wheel disc (20) is fixed on the bottom of slew gear (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510659909.2A CN105223960A (en) | 2015-10-14 | 2015-10-14 | A kind of unmanned boat lays retracting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510659909.2A CN105223960A (en) | 2015-10-14 | 2015-10-14 | A kind of unmanned boat lays retracting device |
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| Publication Number | Publication Date |
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| CN105223960A true CN105223960A (en) | 2016-01-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510659909.2A Pending CN105223960A (en) | 2015-10-14 | 2015-10-14 | A kind of unmanned boat lays retracting device |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105806326A (en) * | 2016-03-21 | 2016-07-27 | 中船重工重庆长平机械有限责任公司 | Digital servo control system based on gyrocompass and processing method |
| CN106100463A (en) * | 2016-08-16 | 2016-11-09 | 中山微宇电器科技有限公司 | A kind of six axle Serve Motor Control Circuits System |
| CN106125591A (en) * | 2016-06-18 | 2016-11-16 | 上海大学 | A kind of autonomous extension and retraction system of unmanned boat underwater installation |
| CN106828829A (en) * | 2017-01-20 | 2017-06-13 | 上海大学 | A kind of unmanned boat reclaims the Automatic Link Establishment for laying |
| CN107132838A (en) * | 2017-04-27 | 2017-09-05 | 上海大学 | A kind of unmanned boat fault protection system |
| CN108516055A (en) * | 2018-04-18 | 2018-09-11 | 上海大学 | A kind of unmanned boat lays retracting device |
| CN108516054A (en) * | 2018-04-18 | 2018-09-11 | 上海大学 | A kind of lash ship is that the unmanned boat of depressed place ship lays retracting device |
| CN110120073A (en) * | 2019-03-28 | 2019-08-13 | 上海大学 | A method of based on the guidance unmanned boat recycling of beacon light visual signal |
| CN111824336A (en) * | 2020-07-27 | 2020-10-27 | 上海大学 | Unmanned ship recovery and contraction device with one-way self-locking function |
| CN116039942A (en) * | 2023-03-07 | 2023-05-02 | 长春理工大学 | Ship-borne aircraft flight attitude compliance assessment system and imaging method thereof |
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| US20150239539A1 (en) * | 2013-09-17 | 2015-08-27 | The Government Of The Us, As Represented By The Secretary Of The Navy | Actively Controlled Curvature Robotic Pectoral Fin |
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2015
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| CN2720707Y (en) * | 2004-07-26 | 2005-08-24 | 北京中冶立达伺服技术研究所 | Intelligent servo push-rod |
| CN201366595Y (en) * | 2009-02-09 | 2009-12-23 | 深圳市新沧海机械有限公司 | Multi-axis linkage mechanism |
| CN103171746A (en) * | 2011-12-26 | 2013-06-26 | 中国科学院沈阳自动化研究所 | Launching and recovery device for self-government underwater vehicle |
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| CN103697306A (en) * | 2012-09-27 | 2014-04-02 | 宜昌英汉超声电气有限公司 | Lifting slewer |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105806326B (en) * | 2016-03-21 | 2018-05-22 | 中船重工重庆长平机械有限责任公司 | Digital servo control system and processing method based on gyrocompass |
| CN105806326A (en) * | 2016-03-21 | 2016-07-27 | 中船重工重庆长平机械有限责任公司 | Digital servo control system based on gyrocompass and processing method |
| CN106125591A (en) * | 2016-06-18 | 2016-11-16 | 上海大学 | A kind of autonomous extension and retraction system of unmanned boat underwater installation |
| CN106100463B (en) * | 2016-08-16 | 2019-03-01 | 中山微宇电器科技有限公司 | A kind of six axis Serve Motor Control circuit systems |
| CN106100463A (en) * | 2016-08-16 | 2016-11-09 | 中山微宇电器科技有限公司 | A kind of six axle Serve Motor Control Circuits System |
| CN106828829A (en) * | 2017-01-20 | 2017-06-13 | 上海大学 | A kind of unmanned boat reclaims the Automatic Link Establishment for laying |
| CN107132838A (en) * | 2017-04-27 | 2017-09-05 | 上海大学 | A kind of unmanned boat fault protection system |
| CN108516055A (en) * | 2018-04-18 | 2018-09-11 | 上海大学 | A kind of unmanned boat lays retracting device |
| CN108516054A (en) * | 2018-04-18 | 2018-09-11 | 上海大学 | A kind of lash ship is that the unmanned boat of depressed place ship lays retracting device |
| CN108516054B (en) * | 2018-04-18 | 2019-07-05 | 上海大学 | A kind of lash ship is that the unmanned boat of depressed place ship lays recyclable device |
| CN110120073A (en) * | 2019-03-28 | 2019-08-13 | 上海大学 | A method of based on the guidance unmanned boat recycling of beacon light visual signal |
| CN110120073B (en) * | 2019-03-28 | 2020-12-22 | 上海大学 | Method for guiding recovery of unmanned ship based on lamp beacon visual signal |
| CN111824336A (en) * | 2020-07-27 | 2020-10-27 | 上海大学 | Unmanned ship recovery and contraction device with one-way self-locking function |
| CN116039942A (en) * | 2023-03-07 | 2023-05-02 | 长春理工大学 | Ship-borne aircraft flight attitude compliance assessment system and imaging method thereof |
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Application publication date: 20160106 |