CN106114771B - Deformable amphibious cleaning ship based on parallel institution - Google Patents
Deformable amphibious cleaning ship based on parallel institution Download PDFInfo
- Publication number
- CN106114771B CN106114771B CN201610681615.4A CN201610681615A CN106114771B CN 106114771 B CN106114771 B CN 106114771B CN 201610681615 A CN201610681615 A CN 201610681615A CN 106114771 B CN106114771 B CN 106114771B
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- China
- Prior art keywords
- hull
- floating body
- deformable
- flexible
- parallel institution
- 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.)
- Expired - Fee Related
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- 238000004140 cleaning Methods 0.000 title claims abstract description 19
- 238000007667 floating Methods 0.000 claims abstract description 38
- 238000005253 cladding Methods 0.000 claims abstract description 5
- 229920002379 silicone rubber Polymers 0.000 claims abstract description 5
- 238000012946 outsourcing Methods 0.000 claims abstract description 3
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 239000003643 water by type Substances 0.000 abstract description 10
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 9
- 238000000034 method Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 6
- 230000001413 cellular effect Effects 0.000 description 3
- 238000011217 control strategy Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 240000003826 Eichhornia crassipes Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007418 data mining Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000004709 eyebrow Anatomy 0.000 description 1
- 210000000720 eyelash Anatomy 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 238000003973 irrigation Methods 0.000 description 1
- 230000002262 irrigation Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000029052 metamorphosis Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
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
Landscapes
- 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 deformable amphibious cleaning ship based on parallel institution, including hull, the both sides of hull are provided with floating body, it is realized and is sealed by outsourcing flexible covering between floating body and hull, flexible covering is internally provided with multiple flexible expandable bars, flexible expandable bar is used to support the overall structure form of the flexible covering, parallel institution is arranged inside flexible covering, and floating body requires to realize by parallel institution relative to the position of hull and the working space of posture.Flexible covering uses the flexible deformable structure based on the support of cross honeycomb, silicon rubber panel cladding, deforms with the relative attitude between hull and floating body.The present invention improves amphibious craft waters passability, to adapt to different river widths 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, are a kind of variable based on parallel institution specifically
The amphibious cleaning ship of shape.
Background technology
Currently, small-sized river has the multiple functions such as water drainage, irrigation, water storage mostly, but many small-sized rivers exist at present
A series of problems, such as in bad repair all the year round, siltation is serious, and substrate pollution and various house refuses are clogged, small-sized river regulation work are compeled
The eyebrows and eyelashes.Small-sized amphibious cleaning ship be at present it is most effective can in small-sized river open shop scheduling one of equipment, be suitable for city
What is used in small-sized river and in wetland integrates the collection of water body floating refuse, the harvesting of water plant water hyacinth, dredging, data mining duty
Equipment.
Existing amphibious class equipment, type of drive are not quite similar, however such most of equipment is due to being limited to
The fixed dimension of itself so that its working range and the versatility adaptability of different operating environment reduce, for certain river rubbish
The working efficiency of the cleaning work of rubbish, amphibious craft is to be improved.
Invention content
The present invention provides a kind of deformable amphibious cleaning ship based on parallel institution, solves existing amphibious cleaning ship
Hull size fix, waters passability is not high, can not adapt to the skill of different river widths and different depth waters work requirements
Art problem also solves existing amphibious cleaning ship and is limited to the size of itself, and single loading capacity when working in water is very low
Defect.
The present invention can be achieved through the following technical solutions：
A kind of deformable amphibious cleaning ship based on parallel institution, including hull are arranged in the both sides of the hull
There is floating body, is realized and sealed by outsourcing flexible covering between the floating body and hull, the flexible covering is internally provided with multiple
Flexible expandable bar, the flexible expandable bar are used to support the overall structure form of the flexible covering, parallel institution setting
Inside the flexible covering, the floating body is connected with hull by the parallel institution, and the parallel institution is for realizing institute
Floating body is stated relative to the position of hull and the variation of posture.
Further, the parallel institution includes multiple driving hydraulic arms, for making the hull and floating body respectively there are three tools
One-movement-freedom-degree and two rotational freedoms.
Further, the parallel institution includes five driving hydraulic arms, and respectively four SPS in parallel drive branch and set
It sets in an intermediate UPU middle pole, the both ends of each driving hydraulic arm are separately connected the hull and floating body.
Further, SPS drivings branch includes a mobile P pair and two Spherical Surface S pairs, is propped up among the UPU
Chain includes a mobile P pair and two universal coupling U pairs.
Further, the flexible covering uses the flexible variable based on the support of cross honeycomb, silicon rubber panel cladding
Shape structure.
Further, the flexible covering has inflatable interface.
Further, the floating body uses the amphibious running gear of crawler type, the track surface to be covered with beformable body filled type and draw plate.
The present invention is beneficial to be had technical effect that：
In view of the diversity of small-sized river type and the complexity of amphibious equipment working environment, the present invention uses crawler belt
Formula beformable body filled type draws propulsion device of the plate as amphibious craft, and the variable of amphibious craft hull is realized using 4SPS/UPU parallel institutions
Shape improves amphibious craft waters passability and is especially improved with adapting to different river widths and different depth waters work requirements
Single loading capacity when working in amphibious craft water, to improve working efficiency.
Description of the drawings
Fig. 1 is the structural schematic diagram (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 the larger operating attitude schematic diagram of distance between floating body and hull of the present invention；
Fig. 6 is the smaller operating attitude schematic diagram of distance between floating body and hull of the present invention；
Fig. 7 is floating body of the present invention and the front and back relative movement operating attitude schematic diagram of hull；
Fig. 8 is that floating body of the present invention keeps certain angle operating attitude schematic diagram with hull.
Specific implementation mode
Invention is further described in detail in the following with reference to the drawings and specific embodiments.
Referring to attached drawing 1-2, a kind of deformable amphibious cleaning ship based on parallel institution is mainly existed by hull 1, setting
The floating body 2 of 1 both sides of hull, the flexible covering 3 to seal, the parallel institution 4 for playing metamorphosis and stroke plate 5 form.
In amphibious craft real work, for different operating occasion hull, the floating bodies 2 of both sides relative to hull 1 position with
Posture is adjusted by the action of five driving hydraulic arms of parallel institution 4.The present invention devises 4SPS/UPU parallel institutions 4
As the connection between hull 1 and floating body 2, executing agency, each both ends for driving hydraulic arm are separately connected hull 1 and floating body 2,
It can easily realize the rotating requires of displacement and both direction of the both sides floating body 2 relative to three, 1 space of hull direction, meet
The real work demand of deformed ship.4SPS/UPU parallel institutions 4 are by branch among four SPS driving branches in parallel and a UPU
Chain forms, and support stiffness of the parallel institution 4 for floating body 2 can be improved in UPU branches.
Sealing between floating body 2 and hull 1 is real by the outer cladding flexible covering 3 being installed between hull 1 and floating body 2
Existing, which deforms with the relative attitude between hull 1 and floating body 2, and 3 inside of flexible covering, which is removed, is equipped with five
It there also is provided eight flexible expandable rod pieces outside a driving hydraulic arm to support as flexible covering 3, for supporting flexible covering 3
Overall structure form, it is ensured that it remains to that grown form, flexible expansion link is kept to follow the deformation of flexible covering 3 when stress is larger
And it is servo-actuated.The flexible covering 3 of the present invention is using the flexible deformable knot based on the support of cross honeycomb, silicon rubber panel cladding
Structure deforms with the relative attitude between hull 1 and floating body 2.Cross honeycomb has in good face and vertical
Mechanical characteristic and deformability in face comply fully with the job requirement of deformed ship in conjunction with the good deformability of silicon rubber.
Flexible covering 3 is also had inflatable interface, can be inflated using it amphibious to increase in addition to having deformability
The buoyancy to work in ship water improves the single cargo dead-weight of amphibious equipment.
Floating body 2 uses the amphibious running gear of crawler type, track surface to be covered with beformable body filled type and draw 5 (patent of invention of plate
CN104442247A has been stated).
It is the principle schematic of parallel institution of the present invention referring to attached drawing 3, which includes five driving hydraulic arms,
That is five branches respectively play four driving branch P1, P2, P3, P4 and middle pole P5 of driving effect.Four identical drives
Dynamic branch respectively contains a prismatic pair (P pairs) and two spherical pairs (S pairs)；Middle pole include a prismatic pair (P pairs) and
Two universal couplings (U pairs), mechanism entirety degree of freedom are five so that respectively there are three one-movement-freedom-degree and two for tool for hull both sides floating body
A rotational freedom (3T2R), the control strategy by controlling five branches can obtain the expected pose of floating body 2 (moving platform)
To meet the multi-environment work requirements of amphibious craft.
It is cross structure cellular unit network connection figure of the present invention referring to attached drawing 4, cross structure cellular unit passes through
It is attached at the flexible connection of dash area in figure, constitutes 3 structure of flexible covering with large deformation, which can basis
The adjustment of parallel institution posture is deformed in real time, is directly transmitted and is born between floating body 2 and hull 1 in deformation process
Active force, it is desirable that flexible covering 3 used in parallel institution 4 will have sufficiently large carrying and a deformability, therefore using having ten
The flexible supporting unit of word honeycomb.
Referring to Fig. 5-8, for several deformation operation posture schematic diagrames of the present invention.For different work requirements, pass through control
The driving hydraulic arm in parallel institution 4 between hull 1 and floating body 2 processed, when giving different control strategies, entire amphibious craft meeting
Different operating attitudes is shown to adapt to different working environments.
The present invention is based on the deformable amphibious cleaning ship of parallel institution is compact-sized, parallel institution deformable supports ability
Good, the design of deformed ship can improve amphibious craft waters passability, be worked with adapting to different river widths and different depth waters
Demand especially improves single loading capacity when working in amphibious craft water, to improve working efficiency.
Although specific embodiments of the present invention have been described above, it will be appreciated by those of skill in the art that these
It is merely illustrative of, without departing from the principle and essence of the present invention, a variety of changes can be made to these embodiments
It more or changes, therefore, protection scope of the present invention is defined by the appended claims.
Claims (7)
1. a kind of deformable amphibious cleaning ship based on parallel institution, it is characterised in that：Including hull (1), in the ship
The both sides of body (1) are provided with floating body (2), are realized and are sealed by outsourcing flexible covering (3) between the floating body (2) and hull (1),
The flexible covering (3) is internally provided with multiple flexible expandable bars, and the flexible expandable bar is used to support the flexible illiteracy
The overall structure form of skin, parallel institution (4) setting is internal in the flexible covering (3), and the floating body (2) and hull (1) are logical
Cross the parallel institution (4) connection, the parallel institution (4) for realizing the floating body (2) relative to hull (1) position with
The variation of posture.
2. deformable amphibious cleaning ship according to claim 1, it is characterised in that：The parallel institution (4) includes
Multiple driving hydraulic arms, for making the hull and floating body, respectively there are three one-movement-freedom-degree and two rotational freedoms for tool.
3. deformable amphibious cleaning ship according to claim 2, it is characterised in that：The parallel institution (4) includes
Five driving hydraulic arms, respectively four SPS in parallel drive branch and are arranged in an intermediate UPU middle pole, each
The both ends of the driving hydraulic arm are separately connected the hull and floating body.
4. deformable amphibious cleaning ship according to claim 3, it is characterised in that：The SPS drives branch packet
A mobile P pair and two Spherical Surface S pairs are included, the UPU middle poles include a mobile P pair and two universal coupling U pairs.
5. deformable amphibious cleaning ship according to claim 1, it is characterised in that：The flexible covering (3) uses
Flexible deformable structure based on the support of cross honeycomb, silicon rubber panel cladding.
6. deformable amphibious cleaning ship according to claim 5, it is characterised in that：The flexible covering (3) has
Inflatable interface.
7. deformable amphibious cleaning ship according to claim 1, it is characterised in that：The floating body (2) uses crawler belt
The amphibious running gear of formula, the track surface are covered with beformable body filled type and draw 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 CN106114771A (en) | 2016-11-16 |
| CN106114771B true CN106114771B (en) | 2018-10-30 |
Family
ID=57279971
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610681615.4A Expired - Fee Related CN106114771B (en) | 2016-08-18 | 2016-08-18 | Deformable amphibious cleaning ship based on parallel institution |
Country Status (1)
| Country | Link |
|---|---|
| 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 not_active Expired - Fee Related
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 |
|---|---|
| CN106114771A (en) | 2016-11-16 |
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