CN106114771A - The amphibious cleaning ship of deformable based on parallel institution - Google Patents
The amphibious cleaning ship of deformable based on parallel institution Download PDFInfo
- Publication number
- CN106114771A CN106114771A CN201610681615.4A CN201610681615A CN106114771A CN 106114771 A CN106114771 A CN 106114771A CN 201610681615 A CN201610681615 A CN 201610681615A CN 106114771 A CN106114771 A CN 106114771A
- Authority
- CN
- China
- Prior art keywords
- hull
- buoyancy aid
- deformable
- parallel institution
- amphibious
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/32—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for for collecting pollution from open water
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
-
- 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
- B63H1/34—Propulsive elements directly acting on water of non-rotary type of endless-track type
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/10—Devices for removing the material from the surface
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Environmental & Geological Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Public Health (AREA)
- Robotics (AREA)
- Health & Medical Sciences (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Transportation (AREA)
- Bridges Or Land Bridges (AREA)
- Cleaning Or Clearing Of The Surface Of Open Water (AREA)
Abstract
The present invention relates to waters environment-friendly engineering field of mechanical technique, disclose a kind of amphibious cleaning ship of deformable based on parallel institution, including hull, the both sides of hull are provided with buoyancy aid, realize sealing by outsourcing flexible covering between buoyancy aid and hull, flexible covering is internally provided with multiple flexible expandable bar, flexible expandable bar is for supporting the overall structure form of described flexible covering, parallel institution is arranged on inside flexible covering, relative to the position of hull and the work space of attitude, buoyancy aid requires that mechanism realizes in parallel.Flexible covering uses based on the support of cross honeycomb texture, the flexible deformable structure of silicone rubber panel cladding, and it deforms with the relative attitude between hull and buoyancy aid.The present invention improves amphibious craft waters and passes through property, to adapt to different river width and different depth waters work requirements, especially improves single loading capacity when working in amphibious craft water.
Description
Technical field
The present invention relates to waters environment-friendly engineering field of mechanical technique, specifically, be a kind of based on parallel institution variable
Shape amphibious cleaning ship.
Background technology
At present, small-sized river course has the several functions such as water drainage, irrigation, water-retention mostly, but current many small-sized river courses exist
The most in bad repair, deposit the series of problems such as serious, substrate pollution and various house refuse fillings, and small-sized river regulation work is compeled
The eyebrows and eyelashes.Small-sized amphibious cleaning ship be current maximally effective can in small-sized river course one of equipment of open shop scheduling, it is adaptable to city
Use in small-sized river course and in wetland integrates the collection of water body floating refuse, the harvesting of pasture and water Herba Eichhorniae, desilting, data mining duty
Equipment.
Existing amphibious kind equipment, its type of drive is not quite similar, but this kind equipment of major part is owing to being limited to
The fixed dimension of self so that the versatility adaptability of its working range and different operating environment reduces, for some river course rubbish
The cleaning work of rubbish, the work efficiency of amphibious craft has much room for improvement.
Summary of the invention
The present invention provides a kind of amphibious cleaning ship of deformable based on parallel institution, solves existing amphibious cleaning ship
Hull size fix, waters is the highest by property, it is impossible to adapt to different river width and the skill of different depth waters work requirements
Art problem, also solves existing amphibious cleaning ship and is limited to the size of self, and single loading capacity when working in water is the lowest
Defect.
The present invention can be achieved through the following technical solutions:
A kind of amphibious cleaning ship of deformable based on parallel institution, including hull, is arranged in the both sides of described hull
Having buoyancy aid, realize sealing by outsourcing flexible covering between described buoyancy aid and hull, described flexible covering is internally provided with multiple
Flexible expandable bar, described flexible expandable bar is for supporting the overall structure form of described flexible covering, and parallel institution is arranged
Inside described flexible covering, described buoyancy aid and hull are connected by described parallel institution, and described parallel institution is used for realizing institute
State the change of the buoyancy aid position relative to hull and attitude.
Further, described parallel institution includes multiple driving hydraulic arm, is used for making described hull and buoyancy aid respectively have three
One-movement-freedom-degree and two rotational freedoms.
Further, described parallel institution includes that five drive hydraulic arm, is respectively four SPS in parallel and drives side chain and set
Putting at a middle UPU middle pole, each described two ends driving hydraulic arm connect described hull and buoyancy aid respectively.
Further, described SPS drives side chain to include a mobile P pair and two Spherical Surface S pairs, props up in the middle of described UPU
Chain includes that a mobile P is secondary and two universal coupling U are secondary.
Further, described flexible covering uses based on the support of cross honeycomb texture, the flexible variable of silicone rubber panel cladding
Shape structure.
Further, described flexible covering has inflatable interface.
Further, described buoyancy aid uses the amphibious running gear of crawler type, and described track surface is covered with beformable body filled type and draws plate.
Useful the having the technical effect that of the present invention
In view of multiformity and the complexity of amphibious equipment working environment of small-sized river course kind, the present invention uses crawler belt
Formula beformable body filled type draws the plate propulsion plant as amphibious craft, utilizes 4SPS/UPU parallel institution to realize the variable of amphibious craft hull
Shape, improves amphibious craft waters and passes through property, to adapt to different river width and different depth waters work requirements, especially improves
Single loading capacity when working in amphibious craft water, thus improve work efficiency.
Accompanying drawing explanation
Fig. 1 is the structural representation (removing flexible covering) of the present invention；
Fig. 2 is the schematic top plan view of the present invention；
Fig. 3 is the principle schematic of parallel institution of the present invention；
Fig. 4 is cross structure cellular unit network connection figure of the present invention；
Fig. 5 is buoyancy aid of the present invention and hull spacing bigger operating attitude schematic diagram；
Fig. 6 is buoyancy aid of the present invention and hull spacing less operating attitude schematic diagram；
Fig. 7 is relative movement operating attitude schematic diagram before and after buoyancy aid of the present invention and hull；
Fig. 8 is that buoyancy aid of the present invention keeps certain angle operating attitude schematic diagram with hull.
Detailed description of the invention
With specific embodiment, the present invention is described in further detail below in conjunction with the accompanying drawings.
See accompanying drawing 1-2, a kind of amphibious cleaning ship of deformable based on parallel institution, mainly by hull 1, be arranged on
The buoyancy aid 2 of hull 1 both sides, the flexible covering 3 sealed, the parallel institution 4 playing metamorphosis and a stroke plate 5 form.
In amphibious craft real work, for different operating occasion hull, the buoyancy aid 2 of both sides relative to hull 1 position with
The action of five driving hydraulic arms of attitude mechanism 4 in parallel is adjusted.The present invention devises 4SPS/UPU parallel institution 4
As the connection between hull 1 and buoyancy aid 2, actuator, the two ends of each driving hydraulic arm connect hull 1 and buoyancy aid 2 respectively,
Both sides buoyancy aid 2 can be realized easily relative to the displacement in three directions, hull 1 space and the rotation requirement of both direction, meet
The real work demand of deformed ship.4SPS/UPU parallel institution 4 is driven by four SPS in parallel and props up in the middle of side chain and a UPU
Chain forms, and UPU side chain can improve the parallel institution 4 support stiffness for buoyancy aid 2.
Sealing between buoyancy aid 2 and hull 1 is real by the outer cladding flexible covering 3 being installed between hull 1 and buoyancy aid 2
Existing, this flexible covering 3 deforms with the relative attitude between hull 1 and buoyancy aid 2, and flexible covering 3 is internal except being provided with five
There also is provided eight flexible expandable rod members outside individual driving hydraulic arm to support as flexible covering 3, be used for supporting flexible covering 3
Overall structure form, it is ensured that it remains to when stress is bigger keep grown form, and flexible expansion link follows the deformation of flexible covering 3
And it is servo-actuated.The flexible covering 3 of the present invention uses based on the support of cross honeycomb texture, the flexible deformable knot of silicone rubber panel cladding
Structure, it deforms with the relative attitude between hull 1 and buoyancy aid 2.Cross honeycomb texture has in good face and vertical
Mechanical characteristic and deformability in face, in conjunction with the good deformability of silicone rubber, comply fully with the job requirement of deformed ship.
Flexible covering 3, in addition to possessing deformability, also has inflatable interface, and it can be utilized to be inflated increasing amphibious
The buoyancy worked in ship water, improves the single cargo dead-weight of amphibious equipment.
Buoyancy aid 2 uses the amphibious running gear of crawler type, and its track surface is covered with beformable body filled type and draws plate 5 (patent of invention
CN104442247A states).
Seeing accompanying drawing 3, for the principle schematic of parallel institution of the present invention, this parallel institution 4 includes that five drive hydraulic arm,
I.e. five side chains, have been respectively four driving side chain P1 of driving effect, P2, P3, P4 and middle pole P5.Article four, identical drive
The dynamic each self-contained moving sets of side chain (P is secondary) and two spherical pairs (S is secondary)；Middle pole comprise a moving sets (P secondary) and
Two universal couplings (U is secondary), mechanism's entirety degree of freedom is five so that hull both sides buoyancy aid respectively has three one-movement-freedom-degrees and two
Individual rotational freedom (3T2R), can obtain the expected pose of buoyancy aid 2 (moving platform) by controlling the control strategy of five side chains
To meet the multi-environment work requirements of amphibious craft.
Seeing accompanying drawing 4, connect figure for cross structure cellular unit network of the present invention, cross structure cellular unit passes through
In figure, the place of flexibly connecting of dash area is attached, and constitutes flexible covering 3 structure with large deformation, and this structure can basis
Real-time the carrying out that adjust of parallel institution attitude deforms, and it directly transmits in deformation process and bears between buoyancy aid 2 and hull 1
Active force, it is desirable to flexible covering 3 used by parallel institution 4 to have sufficiently large carrying and a deformability, therefore uses and has ten
The flexible supporting unit of word honeycomb texture.
See Fig. 5-8, for several deformation operation attitude schematic diagrams of the present invention.For different work requirements, by control
The driving hydraulic arm in parallel institution 4 between hull 1 processed and buoyancy aid 2, when giving different control strategies, whole amphibious craft meeting
Show different operating attitudes to adapt to different working environments.
Present invention deformable based on parallel institution amphibious cleaning ship compact conformation, parallel institution deformable supports ability
Good, the design of deformed ship can improve amphibious craft waters and pass through property, to adapt to different river width and the work of different depth waters
Demand, especially improves single loading capacity when working in amphibious craft water, thus improves work efficiency.
Although the foregoing describing the detailed description of the invention of the present invention, it will be appreciated by those of skill in the art that these
It is merely illustrative of, on the premise of without departing substantially from the principle of the present invention and essence, these embodiments can be made multiple change
More or amendment, therefore, protection scope of the present invention is defined by the appended claims.
Claims (7)
1. the amphibious cleaning ship of deformable based on parallel institution, it is characterised in that: include hull (1), at described ship
The both sides of body (1) are provided with buoyancy aid (2), realize sealing by outsourcing flexible covering (3) between described buoyancy aid (2) and hull (1),
Described flexible covering (3) is internally provided with multiple flexible expandable bar, and described flexible expandable bar is used for supporting described flexible illiteracy
The overall structure form of skin, it is internal that parallel institution (4) is arranged on described flexible covering (3), and described buoyancy aid (2) and hull (1) lead to
Cross described parallel institution (4) to connect, described parallel institution (4) be used for realizing described buoyancy aid (2) relative to hull (1) position with
The change of attitude.
Deformable the most according to claim 1 amphibious cleaning ship, it is characterised in that: described parallel institution (4) includes
Multiple driving hydraulic arms, are used for making described hull and buoyancy aid respectively have three one-movement-freedom-degrees and two rotational freedoms.
Deformable the most according to claim 2 amphibious cleaning ship, it is characterised in that: described parallel institution (4) includes
Five drive hydraulic arm, are respectively four SPS in parallel and drive side chain and be arranged on a UPU middle pole of centre, each
The described two ends driving hydraulic arm connect described hull and buoyancy aid respectively.
Deformable the most according to claim 3 amphibious cleaning ship, it is characterised in that: described SPS drives side chain bag
Including a mobile P pair and two Spherical Surface S pairs, described UPU middle pole includes that a mobile P is secondary and two universal coupling U are secondary.
Deformable the most according to claim 1 amphibious cleaning ship, it is characterised in that: described flexible covering (3) uses
Based on the support of cross honeycomb texture, the flexible deformable structure of silicone rubber panel cladding.
Deformable the most according to claim 5 amphibious cleaning ship, it is characterised in that: described flexible covering (3) has
Inflatable interface.
Deformable the most according to claim 1 amphibious cleaning ship, it is characterised in that: described buoyancy aid (2) uses crawler belt
The amphibious running gear of formula, described track surface is covered with beformable body filled type and draws plate (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610681615.4A CN106114771B (en) | 2016-08-18 | 2016-08-18 | Deformable amphibious cleaning ship based on parallel institution |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610681615.4A CN106114771B (en) | 2016-08-18 | 2016-08-18 | Deformable amphibious cleaning ship based on parallel institution |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106114771A true CN106114771A (en) | 2016-11-16 |
| CN106114771B CN106114771B (en) | 2018-10-30 |
Family
ID=57279971
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610681615.4A Active CN106114771B (en) | 2016-08-18 | 2016-08-18 | Deformable amphibious cleaning ship based on parallel institution |
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| Country | Link |
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| CN (1) | CN106114771B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3976025A (en) * | 1974-06-24 | 1976-08-24 | Raymond Sidney Russell | Amphibious vehicle |
| AU6070796A (en) * | 1995-07-25 | 1997-01-30 | Matthew Firth | Variable geometry tri-hulled amphibious vessel |
| CN102592684A (en) * | 2011-12-12 | 2012-07-18 | 江西理工大学 | Spatial three-dimensionally translatory and two-dimensionally rotary full-compliant parallel mechanism |
| CN104442247A (en) * | 2014-10-28 | 2015-03-25 | 上海工程技术大学 | Deformable body filling type paddle for crawler-type amphibious walking device |
| CN105314062A (en) * | 2014-07-28 | 2016-02-10 | 鲁一南 | Foldable trimaran side sheet |
| CN105730643A (en) * | 2014-12-11 | 2016-07-06 | 财团法人船舶暨海洋产业研发中心 | Multi-body carrier with rotatable cantilevers |
| CN205931177U (en) * | 2016-08-18 | 2017-02-08 | 上海工程技术大学 | Flexible amphibious clearing boat based on parallel mechanism |
-
2016
- 2016-08-18 CN CN201610681615.4A patent/CN106114771B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3976025A (en) * | 1974-06-24 | 1976-08-24 | Raymond Sidney Russell | Amphibious vehicle |
| AU6070796A (en) * | 1995-07-25 | 1997-01-30 | Matthew Firth | Variable geometry tri-hulled amphibious vessel |
| CN102592684A (en) * | 2011-12-12 | 2012-07-18 | 江西理工大学 | Spatial three-dimensionally translatory and two-dimensionally rotary full-compliant parallel mechanism |
| CN105314062A (en) * | 2014-07-28 | 2016-02-10 | 鲁一南 | Foldable trimaran side sheet |
| CN104442247A (en) * | 2014-10-28 | 2015-03-25 | 上海工程技术大学 | Deformable body filling type paddle for crawler-type amphibious walking device |
| CN105730643A (en) * | 2014-12-11 | 2016-07-06 | 财团法人船舶暨海洋产业研发中心 | Multi-body carrier with rotatable cantilevers |
| CN205931177U (en) * | 2016-08-18 | 2017-02-08 | 上海工程技术大学 | Flexible amphibious clearing boat based on parallel mechanism |
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| Publication number | Publication date |
|---|---|
| CN106114771B (en) | 2018-10-30 |
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