CN106809366A - One kind is used for unmanned surface vehicle auto-manual actuation means - Google Patents
One kind is used for unmanned surface vehicle auto-manual actuation means Download PDFInfo
- Publication number
- CN106809366A CN106809366A CN201510861338.0A CN201510861338A CN106809366A CN 106809366 A CN106809366 A CN 106809366A CN 201510861338 A CN201510861338 A CN 201510861338A CN 106809366 A CN106809366 A CN 106809366A
- Authority
- CN
- China
- Prior art keywords
- main shaft
- base
- pull bar
- surface vehicle
- electromagnetic clutch
- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
Abstract
The present invention relates to the controlling equipment of unmanned surface vehicle, it is specifically a kind of to be used for unmanned surface vehicle auto-manual actuation means, including supporting plate, base, potentiometer, handle, main shaft, electromagnetic clutch, DC speed-reducing, half gear pair drive mechanism, pull bar and brake cable, base is arranged on unmanned surface vehicle, potentiometer, handle and electromagnetic clutch are coaxially assemblied on main shaft, and install on the supporting plate, supporting plate and DC speed-reducing are separately mounted on base, and the output end of DC speed-reducing is connected by electromagnetic clutch with main shaft；Pull bar is connected by half gear pair drive mechanism with main shaft, main shaft passes through the separation of electromagnetic clutch or to be pull-in on driven by DC speed-reducing or changed by between handle drives, drive pull bar to rotate by half gear pair drive mechanism, and then realize the tension of the brake cable being connected with pull bar or loosen.Compact overall structure of the present invention, manipulation switching motion are simple, and accurate positioning, dependable performance is workable.
Description
Technical field
The present invention relates to the controlling equipment of unmanned surface vehicle, it is specifically a kind of for the water surface without
People's ship auto-manual actuation means.
Background technology
In recent years, unmanned surface vehicle is applied to transport, rescues and the field such as aquatic environment monitoring,
Using gradually extensive.In general, unmanned autonomous control can meet unmanned surface vehicle
Use demand；But under certain conditions, there is limitation in the unmanned boat of autonomous control on,
People is needed to be manipulated to unmanned boat in loop；Such as, manual/auto multi-functional ship, multiple
The unmanned boat worked under heterocycle border, and unmanned boat debugging process etc..Therefore, unmanned surface vehicle
, it is necessary to easily be switched to manual control in addition to unmanned manipulation.Therefore need a kind of new
Manipulation device, i.e., manual/auto one manipulation device realizes someone's manipulation with unmanned manipulation
Switching and combination.
The content of the invention
It is used for unmanned surface vehicle auto-manual actuation means it is an object of the invention to provide one kind,
The auto-manual actuation means can realize that someone's manual manipulation is automatic with nobody according to actual condition
Manipulate the conversion of two ways.
The purpose of the present invention is achieved through the following technical solutions：
The present invention include supporting plate, base, potentiometer, handle, main shaft, electromagnetic clutch,
DC speed-reducing, half gear pair drive mechanism, pull bar and brake cable, wherein base are arranged on water
On the unmanned boat of face, the potentiometer, handle and electromagnetic clutch are coaxially assemblied on main shaft, and
In the supporting plate, the supporting plate and DC speed-reducing are separately mounted to base
On, the output shaft of the DC speed-reducing is connected by electromagnetic clutch with main shaft；The drawing
Bar is connected by half gear pair drive mechanism with main shaft, and the main shaft is by the electromagnetic clutch
Separate or be pull-in on and driven by DC speed-reducing or changed by between handle drives, by described
Half gear pair drive mechanism drives pull bar to rotate, and then realizes the brake cable being connected with pull bar
Tense or loosen.
Wherein：The half gear pair drive mechanism includes driving semi-gear and passive half gear, should
Driving semi-gear is set on the main shaft and main shaft is interlocked, the passive half pinion rotation peace
Dress is meshed on the supporting plate and with the driving semi-gear；It is provided with passive half gear
Pull bar, the pull bar is with passive half pinion rotation；The top both sides of the driving semi-gear are symmetrical
The spacing arc groove being respectively mounted on the supporting plate is provided with, spring is equipped with the spacing arc groove
Piece, the upper end of the driving semi-gear is provided with the damping locating dowel compressed by reed；It is described spacing
Arc groove is arc-shaped, and outer end bends inwards, in hook-shaped, and the reed is placed in limit in arcuation
In the arc groove of position, the two ends of the reed are stuck in the spacing arc groove in both sides in hooked outer end；Institute
The upper end for stating driving semi-gear is provided with semi-circular recesses, and the damping locating dowel is stuck in the semicircle
In groove, and between spacing arc groove described in both sides, compressed by the reed；
The potentiometric side be provided with base, make the resistor of potentiometer outer ring with
The relatively-stationary potentiometer spacing ring of base；The side of the electromagnetic clutch is provided with the bottom of installed in
Clutch check plate on seat, the coil of the electromagnetic clutch by the clutch check plate with
Base is connected.
Advantages of the present invention is with good effect：
1. the present invention can realize that someone is manually operated and nobody is automatically brought into operation according to actual condition
Two ways, can apply to unmanned surface vehicle self-control system architecture.
2. highly versatile of the present invention, applied widely, can be applied to diesel oil in unmanned surface vehicle
The many-side power drive dress such as machine rotating speed, rudder angle, hydraulic propeller tipping bucket angle and nozzle angle
Put, be equally applicable to the operating station of the similar manual/auto switching of needs.
3. the present invention using integrated coaxial install, it is simple and compact for structure, occupy little space,
Manipulation switching motion is simple, accurate positioning, dependable performance.
Brief description of the drawings
Fig. 1 is structure sectional view of the invention；
Fig. 2 is one of dimensional structure diagram of the invention；
Fig. 3 is the two of dimensional structure diagram of the invention；
Fig. 4 is the structural representation of half gear pair drive mechanism of the invention；
Wherein：1 is supporting plate, and 2 is base, and 3 is potentiometer, and 4 is handle, and 5 is main shaft,
6 is electromagnetic clutch, and 7 is DC speed-reducing, and 8 is driving semi-gear, and 9 is passive half tooth
Wheel, 10 is damping locating dowel, and 11 is reed, and 12 is pull bar, and 13 is brake cable, 14 be from
Clutch check plate, 15 is potentiometer spacing ring, and 16 are limited an arc groove.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As shown in Figures 1 to 3, the present invention includes supporting plate 1, base 2, potentiometer 3, handle
4th, main shaft 5, electromagnetic clutch 6, DC speed-reducing 7, half gear pair drive mechanism, drawing
Bar 12 and brake cable 13, wherein base 2 are arranged on unmanned surface vehicle, potentiometer 3, handle
4 and electromagnetic clutch 6 be coaxially assemblied on main shaft 5, main shaft 5 be arranged on supporting plate 1 on；
Supporting plate 1 is arranged on base 2, and lower end and the base 2 of DC speed-reducing 7 are contacted over
Holding is relatively fixed, and the output end of DC speed-reducing 7 is by electromagnetic clutch 6 and main shaft 5
It is connected, the output shaft of DC speed-reducing 7 passes through the coaxial assembling of electromagnetic clutch 6 with main shaft.
As shown in figure 4, half gear pair drive mechanism includes driving semi-gear 8 and passive half gear
9, the driving semi-gear 8 is set on main shaft 5 and main shaft 5 is interlocked, passive half gear 9
It is rotatably installed in supporting plate 1 and is meshed with the lower end of driving semi-gear 8；This passive half
Pull bar 12 is installed on gear 9, brake cable 13 is connected on pull bar 12, pull bar 12 is with passive half
Gear 9 is rotated, and then drives brake cable 13 to tense or loosen.The top two of driving semi-gear 8
Side is arranged with the spacing arc groove 16 being separately mounted in supporting plate 1, the spacing arc groove
16 is arc-shaped, and outer end bends inwards, in hook-shaped；Housed in the spacing arc groove 16 of both sides
There is reed 11, reed 11 is placed in spacing arc groove 16 in arcuation, the two of the reed 11
End is stuck in the spacing arc groove 16 in both sides in hooked outer end.The upper end of driving semi-gear 8 sets
There are semi-circular recesses, damping locating dowel 10 is stuck in the semi-circular recesses, and positioned at two lateral spacings
Between the arc groove 16 of position, compressed by reed 11.
Potentiometer 3, handle 4, electromagnetic clutch 6 and driving semi-gear 8 assemble same master
Axle 5, the heart axle insertion main shaft 5 of potentiometer 3, is fixed, handle 4 and main shaft 5 by jackscrew
And driving semi-gear 8 and main shaft 5 are fixed by flat key.
Potentiometer of the invention 3 is commercial products, purchases this special limited public affairs of electronics in Shenzhen hundred
Department, using rotary position sensor pattern, model WH148-2.The side of potentiometer 3
Be provided with the potentiometer spacing ring 15 on base 2, the resistor of the outer ring of potentiometer 3 with
The connection fastening of potentiometer spacing ring 15 is integrally formed, and potentiometer spacing ring 15 passes through with base 2
Bolt connection, the resistor and base 2 for making the outer ring of potentiometer 3 is relatively fixed.It is main during work
Axle 5 drives the central axis of potentiometer 3, and the sliding contact point of potentiometer 3 is under the drive of heart axle
Rotate, the relative position with resistive film changes, and realizes the output end voltage of potentiometer 3 with outer position
Put change；Which accurate positioning, dependable performance.
Electromagnetic clutch of the invention 6 is commercial products, is purchased in the Nanjing work promise limited public affairs of science and technology
The dry single disc clutch of department, using coupling type structure, model VSCU-M types are applied to
Axle-axle is installed, one end of electromagnetic clutch 6 and main shaft 5 by Flat dey joint, the other end with
The heart axle of DC speed-reducing 7 passes through Flat dey joint.The side of electromagnetic clutch 6 is provided with installation
Clutch check plate 14 on base 2, the coil of electromagnetic clutch 6 passes through the clutch
Check plate 14 is fixed on base 2, prevents coil transfer.
Operation principle of the invention is：
The present invention controls power transmission using the separation and adhesive of electromagnetic clutch 6, and then controls
System is freely changed manually, automatically.When someone operates, electromagnetic clutch 6 powers off, in point
From state, manual actuation handle 4 drives main shaft 5, and main shaft 5 drives driving semi-gear 8,
Driving semi-gear 8 drives passive half gear 9 being engaged with, and then drives installed in passive half
Pull bar 12 on gear 9, pull bar 12 pulls brake cable 13, by the retracted position of brake cable 13
To control required action.It is recessed that damping locating dowel 10 is stuck in the upper end semicircle of driving semi-gear 8
In groove, compressed by reed 11, make have damping during manual actuation handle 4, determine brake cable
13 flexible amplitude.When unattended, electromagnetic clutch 6 is powered and is in attracting state, directly
Stream reducing motor 7 works, and the central axis of DC speed-reducing 7 make connected electromagnetism
The synchronous axial system of clutch 6, electromagnetic clutch 6 drives main shaft 5 to rotate, and main shaft 5 drives actively
Half gear 8, driving semi-gear 8 drives passive half gear 9 being engaged with, and then drives peace
Pull bar 12 on passive half gear 9, pull bar 12 pulls brake cable 13.Potentiometer 3 is always
Work, its heart axle realizes the relative position of sliding contact point and resistive film with the synchronous axial system of main shaft 5
Change is put, the telescopic location state of brake cable 13 is fed back by the voltage change of output end,
Realize in the manually operated continuous monitoring with when being automatically brought into operation mutually switching to feedback quantity.By behaviour
The vertical executing agency being connected with brake cable 13, and then adjust required controlled quentity controlled variable.Which is grasped
Control switching motion is simple, workable.
Installation process of the invention is：
First, engagement is kept to be arranged on support driving semi-gear 8 and passive half gear 9
On plate 1, damping locating dowel 10 is stuck in the upper end semi-circular recesses of driving semi-gear 8, by spring
Piece 11 is compressed, and reed 11 is stuck in the spacing arc groove 16 in supporting plate 1.Pull bar 12 is pacified
On passive half gear 9, brake cable 13 is connected on pull bar 12.Main shaft 5 and actively half tooth
Wheel 8 is linked together by flat key, and handle 4 is sleeved on main shaft 5 and is connected to one with straight pin
Rise, with jackscrew locking, the other end of main shaft 5 and electricity in the heart axle insertion main shaft end face of potentiometer 3
The axis hole of the coil sides of magnet clutch 6 is by Flat dey joint, heart axle and the electricity of DC speed-reducing 7
The axis hole of the other side of magnet clutch 6 crosses Flat dey joint.Critical piece is connected into supporting plate 1
It is arranged on base 2 after one entirety, the lower end of DC speed-reducing 7 falling to protected on base 2
Hold and be relatively fixed.Finally, the resistor of potentiometer 3 is passed through into potentiometer spacing ring 15 and bottom
Seat 2 is connected, and prevents resistor transfer；The coil of electromagnetic clutch 6 is stopped by clutch
Dynamic plate 14 is connected with base 2 and prevents coil transfer.
Claims (6)
- It is 1. a kind of to be used for unmanned surface vehicle auto-manual actuation means, it is characterised in that：Including Supporting plate (1), base (2), potentiometer (3), handle (4), main shaft (5), electromagnetism from Clutch (6), DC speed-reducing (7), half gear pair drive mechanism, pull bar (12) and lock Line (13), wherein base (2) are arranged on unmanned surface vehicle, the potentiometer (3), hand Handle (4) and electromagnetic clutch (6) are coaxially assemblied on main shaft (5), and installed in described In supporting plate (1), the supporting plate (1) and DC speed-reducing (7) are separately mounted to On base (2), the output shaft of the DC speed-reducing (7) passes through electromagnetic clutch (6) It is connected with main shaft (5)；The pull bar (12) is by half gear pair drive mechanism and main shaft (5) Connection, the main shaft (5) is by the separation of the electromagnetic clutch (6) or is pull-in on by direct current Reducing motor (7) drives or is changed by between handle (4) driving, by half gear pair Drive mechanism drives pull bar (12) to rotate, and then realizes the lock being connected with pull bar (12) The tension of line (13) is loosened.
- 2. as described in claim 1 for unmanned surface vehicle auto-manual actuation means, its It is characterised by：The half gear pair drive mechanism includes driving semi-gear (8) and passive half tooth Wheel (9), the driving semi-gear (8) is set on the main shaft (5) and main shaft (5) Interlock, passive half gear (9) be rotatably installed in supporting plate (1) and with the master Dynamic half gear (8) is meshed；Pull bar (12), institute are installed on passive half gear (9) Pull bar (12) is stated to be rotated with passive half gear (9).
- 3. as described in claim 2 for unmanned surface vehicle auto-manual actuation means, its It is characterised by：It is symmetrically arranged on two with above the driving semi-gear (8) and is separately mounted to branch Reed is equipped with spacing arc groove (16) on fagging (1), the spacing arc groove (16) (11), the upper end of the driving semi-gear (8) is provided with the damping compressed by reed (11) and determines Position post (10).
- 4. as described in claim 3 for unmanned surface vehicle auto-manual actuation means, its It is characterised by：The spacing arc groove (16) is arc-shaped, and outer end bends inwards, in hook-shaped, The reed (11) is placed in spacing arc groove (16) in arcuation, the reed (11) Two ends are stuck in the spacing arc groove in both sides (16) in hooked outer end；The driving semi-gear (8) Upper end be provided with semi-circular recesses, the damping locating dowel (10) is stuck in the semi-circular recesses, And between spacing arc groove (16) described in both sides, compressed by the reed (11).
- 5. as described in claim 1 or 2 for unmanned surface vehicle auto-manual actuation means, It is characterized in that：The side of the potentiometer (3) is provided with base (2), makes electricity The resistor of position meter (3) outer ring and the relatively-stationary potentiometer spacing ring (15) of base (2).
- 6. as described in claim 1 or 2 for unmanned surface vehicle auto-manual actuation means, It is characterized in that：The side of the electromagnetic clutch (6) is provided with base (2) Clutch check plate (14), the coil of the electromagnetic clutch (6) passes through the clutch stop Plate (14) is connected with base (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510861338.0A CN106809366A (en) | 2015-11-30 | 2015-11-30 | One kind is used for unmanned surface vehicle auto-manual actuation means |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510861338.0A CN106809366A (en) | 2015-11-30 | 2015-11-30 | One kind is used for unmanned surface vehicle auto-manual actuation means |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106809366A true CN106809366A (en) | 2017-06-09 |
Family
ID=59108159
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510861338.0A Pending CN106809366A (en) | 2015-11-30 | 2015-11-30 | One kind is used for unmanned surface vehicle auto-manual actuation means |
Country Status (1)
| Country | Link |
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| CN (1) | CN106809366A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107412991A (en) * | 2017-09-19 | 2017-12-01 | 徐工集团工程机械有限公司 | Jet status switching mechanism, big gun head and fire water monitor |
| CN109229327A (en) * | 2018-10-17 | 2019-01-18 | 青岛昊运船艇制造有限公司 | The mechanical two places operating system of ships and light boats |
| CN114987730A (en) * | 2022-06-16 | 2022-09-02 | 山东通达船舶技术有限公司 | Manual automatic control device and system for marine gear throttle |
| WO2024040452A1 (en) * | 2022-08-24 | 2024-02-29 | Honeywell International Inc. | Actuator with inbuilt automatic synchronization of feedback potentiometer and manually adjustable auxiliary switch switchpoint |
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| US20060046585A1 (en) * | 2004-08-25 | 2006-03-02 | Honda Motor Co., Ltd. | Remote operation system for outboard motor |
| CN101544278A (en) * | 2009-03-13 | 2009-09-30 | 上海汉格自动化工程科技有限公司 | Marine minitype stepless speed regulating manual control handle |
| CN202828081U (en) * | 2012-08-28 | 2013-03-27 | 浙江汉力士船用推进系统股份有限公司 | Operational hand lever of steering oar |
| CN103010444A (en) * | 2012-12-24 | 2013-04-03 | 广东江龙船舶制造有限公司 | Operation structure and operation method thereof |
| CN103786859A (en) * | 2014-02-19 | 2014-05-14 | 哈尔滨工程大学 | Manipulating device of ship main engine |
| CN105005298A (en) * | 2015-07-06 | 2015-10-28 | 上海大学 | Direction control device with manual and automatic switching mechanism |
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2015
- 2015-11-30 CN CN201510861338.0A patent/CN106809366A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060046585A1 (en) * | 2004-08-25 | 2006-03-02 | Honda Motor Co., Ltd. | Remote operation system for outboard motor |
| CN101544278A (en) * | 2009-03-13 | 2009-09-30 | 上海汉格自动化工程科技有限公司 | Marine minitype stepless speed regulating manual control handle |
| CN202828081U (en) * | 2012-08-28 | 2013-03-27 | 浙江汉力士船用推进系统股份有限公司 | Operational hand lever of steering oar |
| CN103010444A (en) * | 2012-12-24 | 2013-04-03 | 广东江龙船舶制造有限公司 | Operation structure and operation method thereof |
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| CN105005298A (en) * | 2015-07-06 | 2015-10-28 | 上海大学 | Direction control device with manual and automatic switching mechanism |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107412991A (en) * | 2017-09-19 | 2017-12-01 | 徐工集团工程机械有限公司 | Jet status switching mechanism, big gun head and fire water monitor |
| CN107412991B (en) * | 2017-09-19 | 2023-07-04 | 江苏徐工工程机械研究院有限公司 | Jet flow state switching mechanism, gun head and fire water gun |
| CN109229327A (en) * | 2018-10-17 | 2019-01-18 | 青岛昊运船艇制造有限公司 | The mechanical two places operating system of ships and light boats |
| CN114987730A (en) * | 2022-06-16 | 2022-09-02 | 山东通达船舶技术有限公司 | Manual automatic control device and system for marine gear throttle |
| WO2024040452A1 (en) * | 2022-08-24 | 2024-02-29 | Honeywell International Inc. | Actuator with inbuilt automatic synchronization of feedback potentiometer and manually adjustable auxiliary switch switchpoint |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170609 |