CN105366019A - Unmanned ship operated by robot - Google Patents
Unmanned ship operated by robot Download PDFInfo
- Publication number
- CN105366019A CN105366019A CN201510978921.XA CN201510978921A CN105366019A CN 105366019 A CN105366019 A CN 105366019A CN 201510978921 A CN201510978921 A CN 201510978921A CN 105366019 A CN105366019 A CN 105366019A
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- CN
- China
- Prior art keywords
- robot
- shell
- ring plate
- plate blade
- propelling unit
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides an unmanned ship operated by a robot and belongs to the technical field of ships. The unmanned ship comprises a ship body, a left propeller, a right propeller, the operation robot and multiple sets of sensors, wherein the sensors are distributed around the ship body, collect information and transmit the information to the operation robot; the operation robot can perform information communication and man-machine interaction with a ground station; the left propeller and the right propeller have the same structure and are symmetrically mounted on the left side and the right side of the ship body; the right propeller comprises a rail, a trolley, an annular flat plate blade, a traction rod, a locating rod and a casing, the locating rod is vertically arranged on a bottom plate, the annular flat plate blade is vertically arranged on the locating rod in a sleeving manner, the rail is in a closed semi-circular shape and is horizontally mounted below a top plate, the trolley is mounted on the rail, the upper end of the traction rod is mounted on the trolley, and the lower section of the traction rod is vertically inserted into the annular flat plate blade; the operation robot operates the left propeller and the right propeller to work and can have the effects like abrupt spreading and fluttering motions of insects. The ship has high efficiency and is flexible, and the blades are easy to manufacture.
Description
Technical field
A kind of robot manipulation unmanned boat, belongs to technical field of ships, especially relates to a kind of unmanned boat.
Background technology
The propelling unit of tradition boats and ships adopts screw propeller mostly, although drive conveniently, efficiency is lower, and blade manufacturing process is complicated, can produce tail during use; Traditional paddlewheel propulsion device, exists during use and claps water phenomenon, and spray is comparatively large, and water resistance is comparatively large and thrust that is that produce is very little after blade is just intake and before water outlet, and degradation of energy is large, and efficiency is lower, and noise is large.Authorization Notice No. is the patent of CN100360378C, discloses a kind of biotic plate propoller ship, though efficiency is higher, structure is more complicated.Traditional drone ship adopts remote controller to control, and the distance of remote control is limited.
Summary of the invention
The object of the invention is the deficiency overcoming traditional marine technology, invent the robot manipulation unmanned boat that a kind of efficiency is higher.
A kind of robot manipulation unmanned boat, comprises hull, left propelling unit, right propelling unit, manipulation robot and organizes sensor more.Manipulation robot is arranged on hull, and sensor location is around hull.Sensor collection information passes to manipulation robot by wire.Manipulation robot can carry out information interchange and man machine communication with ground station.Left propelling unit is identical with right propeller structure, and their symmetries are installed on the left and right sides of hull.Manipulation robot and sensor battery-powered.
Right angle of rake concrete structure is: right propelling unit comprises track, dolly, ring plate blade, draw bar, radius stay and shell.Ring plate blade comprises the identical arc body at the two ends flat board identical with two pieces of stage casing.Shell comprises left side board, base plate, right side board and top board, and left side board and right side board are all longitudinally vertically arranged, base plate and top board horizontal arrangement.Radius stay is in the middle part of the fore-and-aft direction of shell and near left side board place on the base plate being fixedly installed in shell, radius stay is vertically arranged, the gap between radius stay and left side board can guarantee that ring plate blade makes half circular motion in the enclosure neatly.Ring plate blade suit on the securing lever, and is positioned at enclosure, and ring plate blade is vertical with the base plate of shell.Track is closed semicircle, and track cross level is installed on below top board, and dolly is installed in orbit, dolly energy orbital motion under the driving of power.The upper end of draw bar is arranged on dolly, and draw bar is vertically arranged, the hypomere of draw bar inserts in ring plate blade.
Dolly has combustion engine dolly and motor-driven carrier two kinds of forms.When adopting combustion engine, manipulation robot controls the angle of rake thrust size of left propelling unit and the right side by the fuel feeding size of controlling combustion engine.When adopting motor-driven carrier, the motor of motor-driven carrier is powered by battery or large bulk capacitance, and manipulation robot controls right angle of rake thrust size and Orientation by the rotating speed size and Orientation of the motor controlling motor-driven carrier.
Described unmanned boat is installed automatic foodstuff delivering equipment, facilitates culture fishery to throw something and feed feed.
Described unmanned boat installs automatic navigation system, conveniently presses set path automatic cruising.
Described unmanned boat is installed shooting and signal transmitting and receiving system, facilitates beat surface.
Described unmanned boat installs life saving appliance, facilitates water survival movable.
It is produce beneficial effect like this that a kind of robot of the present invention manipulates unmanned boat: manipulation robot manipulates left propelling unit by the path set in advance and job procedure and right propelling unit runs, or manipulates left propelling unit and the operation of right propelling unit by the instruction of ground station.Left propelling unit is identical with the angle of rake principle of work in the right side.Right propelling unit is work like this, originally, ring plate blade is in longitudinal front position, namely the rear end inwall of ring plate blade is close to the trailing edge of radius stay, the front end of ring plate blade is in foremost, the left surface of ring plate blade is close to the right flank of the left side board of shell, manipulation robot manipulation dolly setting in motion, overlook right propelling unit from top to bottom, dolly drives draw bar motion, because draw bar is inserted in ring plate blade, by the restriction of track and ring plate blade, dolly drives draw bar to make half circular motion, drive ring plate blade to make half circular motion in the enclosure simultaneously, namely ring plate blade arrives longitudinal rearmost position in longitudinal front position after radius stay rotates clockwise half cycle, then going straight ahead is to longitudinal front position, following ring plate blade rotates clockwise half cycle around radius stay again, then again going straight ahead to longitudinal front position, namely original position has been got back to.Next periodically said process is repeated.Like this, the water in front continuously can be introduced in shell and then push rear to by ring plate blade, produces thrust forward.In motion process, ring plate blade is opened fast above and between the left side board of shell and later and close fast between left side board, create class insectival " anxious " and " sumo " movement effects, and due to the constraint of shell, ring plate blade moves in the enclosure and also creates mirror effect, can produce very large thrust.Left angle of rake blade makes conter clockwise half circular motion, also can produce very large thrust forward.Due to left propelling unit and right propelling unit independent operation, described robot manipulation unmanned boat need not join yaw rudder, turns and steps back and can conveniently realize.Left propelling unit and right propelling unit one fast slowly motion can realize turning driving.The sense of motion changing blade can make described robot manipulate unmanned boat and step back traveling.If left propelling unit is identical with the blade movement direction of right propelling unit, original place can be realized and turn-take.Robot manipulation unmanned boat of the present invention includes but not limited to following advantage: degradation of energy is little, and efficiency is high, maneuverability, operate steadily, and blade easily makes, obvious tail can not be produced as propeller vessel, also can not there is serious bat water phenomenon as traditional paddle steamer.
A kind of robot of the present invention manipulation unmanned boat is used for feeding to be thrown water and supports the food of animal and to spray fishery liquid medicine very convenient, can also be used as the multiple-tasks such as beat surface, transporting cargo and water survival.
Accompanying drawing explanation
Fig. 1 is the schematic top plan view of a kind of robot manipulation of the present invention unmanned boat; Fig. 2 is the angle of rake schematic rear view in the right side be exaggerated; Fig. 3 is the schematic top plan view of Fig. 2; Fig. 4 is the motion simplified schematic diagram of right angle of rake ring plate blade.
In figure, A-hull, A1-fore, A2-stern; The working direction instruction of B-ship; The left propelling unit of C-; The right propelling unit of D-; E-manipulates robot; F-sensor.1-track; 2-dolly; 3-ring plate blade, 31-represents that annular plate blade is in longitudinal front position, and 32-represents that annular plate blade is in horizontal position, and 33-represents that annular plate blade is in longitudinal rearmost position, the rotation direction instruction of 34-ring plate blade; The direction that moves ahead of 35-ring plate blade; 4-draw bar; 5-radius stay, the wear-resisting flat shim of 51-; 6-shell, 61-left side board, 62-base plate, 63-right side board, 64-top board; 7-filter screen.
Detailed description of the invention
Now by reference to the accompanying drawings the present invention is illustrated: a kind of robot manipulation unmanned boat, comprises hull A, left propelling unit C, right propelling unit D, manipulation robot E and many group sensor F.Manipulation robot E is arranged on hull A, and sensor F is distributed in around hull A.Sensor F collects information and passes to manipulation robot E by wire.Manipulation robot E can carry out information interchange and man machine communication with ground station.Left propelling unit C is identical with right propelling unit D structure, and their symmetries are installed on the left and right sides of hull A.Robot E and sensor F is battery-powered in manipulation.
The concrete structure of right propelling unit D is: right propelling unit D comprises track 1, dolly 2, ring plate blade 3, draw bar 4, radius stay 5 and shell 6.Ring plate blade 3 comprises the identical arc body at the two ends flat board identical with two pieces of stage casing.Shell 6 comprises left side board 61, base plate 62, right side board 63 and top board 64, and left side board 61 and right side board 63 are all longitudinally vertically arranged, base plate 62 and top board 64 horizontal arrangement.Radius stay 5 be in the fore-and-aft direction of shell 6 middle part and near left side board 61 place on the base plate 62 being fixedly installed in shell 6; radius stay 5 is vertically arranged, the gap between radius stay 5 and left side board 61 can guarantee that ring plate blade 3 makes half circular motion neatly in shell 6.Ring plate blade 3 is sleeved on radius stay 5, and it is inner to be positioned at shell 6, and ring plate blade 3 is vertical with the base plate 62 of shell 6.Track 1 is closed semicircle, and track 1 level is installed on below top board 64, and dolly 2 is installed on path 1, and under the driving of power, dolly 2 can move along track 1.The upper end of draw bar 4 is arranged on dolly 2, and draw bar 4 is vertically arranged, the hypomere of draw bar 4 inserts in ring plate blade 3.Dolly 2 adopts motor-driven carrier, and the motor of motor-driven carrier is powered by battery or large bulk capacitance, and manipulation robot E controls the thrust size and Orientation of right propelling unit D by the rotating speed size and Orientation of the motor controlling motor-driven carrier.For preventing the foreign material such as fish, pasture and water from entering in shell 6, in the front of shell 6 and rear, filter screen 7 is all installed.For reduce the bottom of ring plate blade 3 and the base plate 62 of shell 6 when ring plate blade 3 moves in shell 6 upper surface between friction, the bottom of ring plate blade 3 studs with antifriction ball, or on radius stay 5, overlap a wear-resisting flat shim 51, the upper surface that wear-resisting flat shim 51 is positioned at the base plate 62 of shell 6 is padded on the bottom of ring plate blade 3; The density of ring plate blade 3 is less than 1500kg/m
3.For reducing the friction between draw bar 4 and the inside face of radius stay 5 and ring plate blade 3, the surrounding of draw bar 4 and radius stay 5 all studs with antifriction ball or needle roller, or the surrounding of draw bar 4 and radius stay 5 is all set with cylinder or bearing.For the friction between the outside face of reduction ring plate blade 3 and the right flank of the left side board 61 of shell 6, the right flank of left side board 61 studs with antifriction ball or needle roller.
Described robot manipulation unmanned boat is work like this: manipulation robot E by setting in advance path and job procedure manipulates left propelling unit C and right propelling unit D runs, or manipulate left propelling unit C by the instruction of ground station and right propelling unit D runs.Left propelling unit C is identical with the principle of work of right propelling unit D.Right propelling unit D is work like this, originally, ring plate blade 3 is in longitudinal front position, namely the rear end inwall of ring plate blade 3 is close to the trailing edge of radius stay 5, the front end of ring plate blade 3 is in foremost, the left surface of ring plate blade 3 is close to the right flank of the left side board 61 of shell 6, manipulation robot E manipulates dolly 2 setting in motion, overlook right propelling unit D from top to bottom, dolly 2 drives draw bar 4 to move, because draw bar 4 is inserted in ring plate blade 3, by the restriction of track 1 and ring plate blade 3, dolly 2 drives draw bar 4 to make half circular motion, drive ring plate blade 3 to make half circular motion in shell 6 simultaneously, namely ring plate blade 3 arrives longitudinal rearmost position in longitudinal front position after radius stay 5 rotates clockwise half cycle, then going straight ahead is to longitudinal front position, following ring plate blade 3 rotates clockwise half cycle around radius stay 5 again, then again going straight ahead to longitudinal front position, namely original position has been got back to.Next periodically said process is repeated.Like this, the water in front continuously can be introduced in shell 6 and then push rear to by ring plate blade 3, produces thrust forward.In motion process, ring plate blade 3 is opened fast above and between the left side board 61 of shell 6 and later and close fast between left side board 61, create class insectival " anxious " and " sumo " movement effects, and due to the constraint of shell 6, ring plate blade 61 moves and also creates mirror effect in shell 6, can produce very large thrust.Under the manipulation of manipulation robot E, the blade of left propelling unit C makes conter clockwise half circular motion, also can produce very large thrust forward.Due to left propelling unit C and right propelling unit D independent operation, described robot manipulation unmanned boat need not join yaw rudder, turns and steps back and can conveniently realize.Left propelling unit C and right propelling unit D mono-fast slowly motion can realize turning driving.The sense of motion changing blade can make described robot manipulate unmanned boat and step back traveling.If left propelling unit C is identical with the blade movement direction of right propelling unit D, original place can be realized and turn-take.Robot manipulation unmanned boat of the present invention includes but not limited to following advantage: degradation of energy is little, and efficiency is high, and noise is low, maneuverability, operates steadily, and blade easily makes, obvious tail can not be produced as propeller vessel, also can not there is serious bat water phenomenon as traditional paddle steamer.
Claims (7)
1. a robot manipulation unmanned boat, is characterized in that: comprise hull (A), left propelling unit (C), right propelling unit (D), manipulation robot (E) and organize sensor (F) more; Manipulation robot (E) is arranged on hull (A), and sensor (F) is distributed in hull (A) around; Sensor (F) collection information passes to manipulation robot (E) by wire; Manipulation robot (E) can carry out information interchange and man machine communication with ground station; Left propelling unit (C) is identical with right propelling unit (D) structure, and their symmetries are installed on the left and right sides of hull (A); Manipulation robot (E) and sensor (F) battery-powered; The concrete structure of right propelling unit (F) is: right propelling unit (F) comprises track (1), dolly (2), ring plate blade (3), draw bar (4), radius stay (5) and shell (6); Ring plate blade (3) comprises the identical arc body at the two ends flat board identical with two pieces of stage casing; Shell (6) comprises left side board (61), base plate (62), right side board (63) and top board (64), and left side board (61) and right side board (63) are all longitudinally vertically arranged, base plate (62) and top board (64) horizontal arrangement; Radius stay (5) is in the middle part of the fore-and-aft direction of shell (6) and to be fixedly installed in the base plate (62) of shell (6) upper near left side board (61) place, radius stay (5) is vertically arranged, the gap between radius stay (5) and left side board (61) can guarantee that ring plate blade (3) makes half circular motion neatly in shell (6); Ring plate blade (3) is sleeved on radius stay (5), and it is inner to be positioned at shell (6), and ring plate blade (3) is vertical with the base plate (62) of shell (6); Track (1) is closed semicircle, and track (1) level is installed on below top board (64), and dolly (2) is arranged on track (1), and under the driving of power, dolly (2) can move along track (1); The upper end of draw bar (4) is arranged on dolly (2), and draw bar (4) is vertically arranged, the hypomere of draw bar (4) inserts in ring plate blade (3).
2. a kind of robot manipulation unmanned boat according to claim 1, is characterized in that: dolly (2) has combustion engine dolly and motor-driven carrier two kinds of forms; When adopting combustion engine, manipulation robot (E) controls the thrust size of left propelling unit (C) and right propelling unit (E) by the fuel feeding size of controlling combustion engine; When adopting motor-driven carrier, the motor of motor-driven carrier is powered by battery or large bulk capacitance, and manipulation robot (E) controls the thrust size and Orientation of right propelling unit (D) by the rotating speed size and Orientation of the motor controlling motor-driven carrier.
3. a kind of robot manipulation unmanned boat according to claim 1, is characterized in that: be furnished with automatic foodstuff delivering equipment, facilitates culture fishery to throw something and feed feed.
4. a kind of robot manipulation unmanned boat according to claim 1, is characterized in that: be furnished with automatic navigation system, conveniently presses set path automatic cruising.
5. a kind of robot manipulation unmanned boat according to claim 1, is characterized in that: installed shooting and signal transmitting and receiving system, facilitated beat surface.
6. a kind of robot manipulation unmanned boat according to claim 1, is characterized in that: be furnished with life saving appliance, facilitates water survival movable.
7. a kind of robot manipulation unmanned boat according to claim 1 or 2 or 3 or 4 or 5 or 6, is characterized in that: for preventing foreign material from entering in shell (6), all installed filter screen (7) in the front of shell (6) and rear; For reduce ring plate blade (3) in the shell (6) during motion the bottom of ring plate blade (3) and the base plate (62) of shell (6) upper surface between friction, the bottom of ring plate blade (3) studs with antifriction ball, or the upper cover wear-resisting flat shim (51) of radius stay (5), the upper surface that wear-resisting flat shim (51) is positioned at the base plate (62) of shell (6) is padded on the bottom of ring plate blade (3); The density of ring plate blade (3) is less than 1500kg/m
3; For reducing the friction between draw bar (4) and the inside face of radius stay (5) and ring plate blade (3), the surrounding of draw bar (4) and radius stay (5) all studs with antifriction ball or needle roller, or the surrounding of draw bar (4) and radius stay (5) is all set with cylinder or bearing; For the friction between the outside face of reduction ring plate blade (3) and the right flank of the left side board (61) of shell (6), the right flank of left side board (61) studs with antifriction ball or needle roller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510978921.XA CN105366019A (en) | 2015-12-24 | 2015-12-24 | Unmanned ship operated by robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510978921.XA CN105366019A (en) | 2015-12-24 | 2015-12-24 | Unmanned ship operated by robot |
Publications (1)
| Publication Number | Publication Date |
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| CN105366019A true CN105366019A (en) | 2016-03-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201510978921.XA Pending CN105366019A (en) | 2015-12-24 | 2015-12-24 | Unmanned ship operated by robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106970628A (en) * | 2017-05-19 | 2017-07-21 | 苏州寅初信息科技有限公司 | The control method and its unmanned boat of a kind of Intelligent unattended ship automated transaction |
| CN107433234A (en) * | 2016-12-14 | 2017-12-05 | 安徽科微智能科技有限公司 | Move the unmanned boat system of the accurate operation of plant protection in a kind of high-effect paddy field |
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| US20090137164A1 (en) * | 2007-11-27 | 2009-05-28 | Rong-Jyh Song | Manually operated boat |
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| CN102180246A (en) * | 2011-04-02 | 2011-09-14 | 王志成 | External gear engaged flat paddle ship propulsion unit |
| CN202923846U (en) * | 2012-11-30 | 2013-05-08 | 安徽工业大学 | Water surface garbage automatic cleaning boat |
| CN103121501A (en) * | 2013-01-21 | 2013-05-29 | 王志成 | Annular flat plate paddle ship propulsion device |
| CN205221067U (en) * | 2015-12-24 | 2016-05-11 | 佛山市神风航空科技有限公司 | Robot controls unmanned ship |
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2015
- 2015-12-24 CN CN201510978921.XA patent/CN105366019A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08258790A (en) * | 1995-03-24 | 1996-10-08 | Shigeo Suzuki | Propulsion unit using paddle plate performing reciprocating movement |
| US20090137164A1 (en) * | 2007-11-27 | 2009-05-28 | Rong-Jyh Song | Manually operated boat |
| CN101249881A (en) * | 2008-03-29 | 2008-08-27 | 王志成 | Flat paddle square tube propeller for ship crafts |
| CN102001429A (en) * | 2010-11-30 | 2011-04-06 | 河海大学 | Bionic shrimp underwater detecting robot |
| CN102180246A (en) * | 2011-04-02 | 2011-09-14 | 王志成 | External gear engaged flat paddle ship propulsion unit |
| CN202923846U (en) * | 2012-11-30 | 2013-05-08 | 安徽工业大学 | Water surface garbage automatic cleaning boat |
| CN103121501A (en) * | 2013-01-21 | 2013-05-29 | 王志成 | Annular flat plate paddle ship propulsion device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107433234A (en) * | 2016-12-14 | 2017-12-05 | 安徽科微智能科技有限公司 | Move the unmanned boat system of the accurate operation of plant protection in a kind of high-effect paddy field |
| CN106970628A (en) * | 2017-05-19 | 2017-07-21 | 苏州寅初信息科技有限公司 | The control method and its unmanned boat of a kind of Intelligent unattended ship automated transaction |
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Application publication date: 20160302 |
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