CN108100171A - A kind of unmanned water surface robot for rescue - Google Patents
A kind of unmanned water surface robot for rescue Download PDFInfo
- Publication number
- CN108100171A CN108100171A CN201711382865.9A CN201711382865A CN108100171A CN 108100171 A CN108100171 A CN 108100171A CN 201711382865 A CN201711382865 A CN 201711382865A CN 108100171 A CN108100171 A CN 108100171A
- Authority
- CN
- China
- Prior art keywords
- agent structure
- robot
- water surface
- rescue
- buoyancy
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
- B63B43/02—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking
- B63B43/10—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving buoyancy
- B63B43/14—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving buoyancy using outboard floating members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C9/00—Life-saving in water
- B63C9/01—Air-sea rescue devices, i.e. equipment carried by, and capable of being dropped from, an aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/08—Arrangements on vessels of propulsion elements directly acting on water of propellers of more than one propeller
-
- 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
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/008—Unmanned surface vessels, e.g. remotely controlled remotely controlled
Abstract
It is most of including propulsion system, buoyancy system, agent structure, salvage system, control system five the present invention relates to a kind of unmanned water surface robot for rescue.Buoyancy system and agent structure constitute a stable surface platform, buoyancy system uses the pattern of the separated layout of four floating drums, effectively increase distribution area, considerably increase the stability that robot is travelled in the water surface, under the lifesaving appliance of identical size, unmanned water surface robot for rescue in the present invention has preferable stability under more severe sea situation, improves the ability to work under severe sea condition, can preferably complete rescue mission.Propulsion system provides power for platform, completes rescue on water surface task by the salvage system of carrying, control system realizes the remote control to entirely succouring process.Stability of the present invention is strong, headway is fast, flexibility is high, can complete rescue task under more severe sea situation.
Description
Technical field
The present invention relates to a kind of sea lifesaving equipments, and in particular to a kind of unmanned water surface that can be worked under severe sea condition is rescued
Help robot.
Background technology
With the development of shipping, maritime safety accident is also increasing, and the generation of many security incidents is all in severe sea
Under condition.Relief mode under existing severe sea condition is mainly：Helicopter relief, the close relief of rescue ship, band cable relief etc., with
On relief mode be required for the direct participation of salvor, under severe sea condition, also have greatly to the safety of salvor
It threatens, while helicopter relief and salvage ship succour the defects of suffering from itself, can not meet all relief demands.
, it is necessary to which accuracy is high, headway is fast, safe rescuing of being not required that rescue personnel participates under severe sea condition
Equipment is helped, makes itself and existing relief equipment cooperative cooperating, preferably completes the rescue mission under severe sea condition.
The content of the invention
In order to overcome above-mentioned deficiency, present invention research and development are a kind of to be had preferable sea-keeping, is participated in without salvor, can be
Meet the unmanned water surface robot for rescue of rescue demand under severe sea condition, it can be to relief machine that maritime peril personnel are succoured
People.
To achieve the above object, the present invention, which adopts the following technical scheme that, comes：
A kind of unmanned water surface robot for rescue, by agent structure, propulsion system, buoyancy system, salvage system and control system
System composition；Wherein agent structure is formed by fixing 4 supporting legs 5 under support plate 7, with can automatic deploying and retracting cowcatcher salvage system
It is fixed in the support plate 7 of agent structure, buoyancy system is fixedly connected on the supporting leg 5 of agent structure, is carried for entire robot
For buoyancy；Buoyancy system and agent structure constitute a stable surface platform；Buoyancy system is fixedly connected with propulsion system simultaneously
System, control system realize the sea of robot by receiving control of the base station remote signal realization to propulsion system and salvage system
Upper traveling and relief.
Further, the agent structure is formed by fixing 4 supporting legs under support plate 7, and 4 supporting legs 5 are connected by supporting leg
Joint chair 6 is connected on upper backup pad 7.
Further, the propulsion system includes 2 propulsion electric machines 1, and propulsion electric machine 1 is respectively fixedly connected in main body knot
On the floating drum 2 of the two supporting legs 5 at structure rear, position is fixed, irremovable, while promotes electricity with propeller on propulsion electric machine 1
The rotation of machine 1 drives propeller to rotate to be robot and provides marine driving power, and the rotating speed for passing through 2 propulsion electric machines 1 is different real
Steering in existing robot traveling process.
Further, the buoyancy system is distributed in conplane floating drum 2 by 4 and forms, and 4 floating drums 2, which are fixed, to be connected
It is connected on the supporting leg 5 of agent structure, required buoyancy, wherein the two of agent structure rear floating drum 2 is provided for entire robot
Upper connection propulsion electric machine 1.
Further, 4 floating drums 2 are connected on the supporting leg 5 of agent structure, and 4 floating drums pass through floating drum link 3
It is respectively fixedly connected with connecting flange 4 on 4 supporting legs 5, irremovable, 4 supporting legs 5 and support plate 7 of agent structure are complete
It is fixed, it is irremovable, so as to which buoyancy system and agent structure form an entirety.
Further, the floating drum 2 is capsule-type structure.
Further, the salvage system is by relief motor 8, reel fixed frame 9, bearing block 10, cable winding drum 11, whirlpool
12,2 pulley support framves 13 of worm and gear retarder, winding pulley 14 and cowcatcher composition；Succour motor 8, reel fixed frame
9th, 12,2 pulley support framves 13 of turbine and worm retarder are bolted in the support plate 7 of agent structure, succour motor 8
Output shaft be connected with the input shaft of turbine and worm retarder 12 by chain, transfer the power of relief motor 8, bearing block 10 is logical
It crosses bolt to be fixed on reel fixed frame 9, the upper end of cable winding drum 11 passes through bearing block 10, lower end and turbine and worm retarder 12
Output shaft be connected, the output shaft of turbine and worm retarder 12 can be followed to rotate, winding pulley 14 is bolted on pulley
On supporting rack 13, cowcatcher expands into a plane, and two angles of cowcatcher are separately fixed on 2 supporting legs 5, other two angle connects
It connects on a steel cord, steel wire rope is connected to by winding pulley 14 on cable winding drum 11, and the rotation of cable winding drum 11 can drive steel
The movement of cord, so as to drive the movement of cowcatcher.
The present invention unmanned robot for rescue control system be remote control, control system can control simultaneously propulsion electric machine and
Motor is succoured, so as to fulfill the movement of unmanned water surface robot and the corresponding rescue mission of completion；The present invention can be with existing large size
Equipment be used in combination, dropped by amphibious aircraft or launched by large-scale rescue ship, can also multiple robot clusters
It cooperates, improves existing relief efficiency.
Compared with the prior art, beneficial effects of the present invention are as follows：
1st, compared with existing salvage device, there is small, light-weight, movement flexibly, remote control operation is entirely succoured
Process is participated in without salvor, safe；
2nd, agent structure combination buoyancy system constitutes a stable surface platform, the mould being separately laid out using four floating drums
Formula considerably increases the stability that robot is travelled in the water surface, improves the ability to work under severe sea condition；
3rd, the present invention can be used in combination with the equipment of existing large size, can be dropped by amphibious aircraft, can pass through large size
Rescue ship is launched, can also multiple robot clusters cooperate, improve existing relief efficiency.
The present invention provides a kind of accuracy is high, headway is fast, can be more preferable with existing relief equipment cooperative cooperating
Complete severe sea condition under rescue mission, have important promotional value.
Description of the drawings
It in order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments described in application, for those of ordinary skill in the art, without creative efforts,
It can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is the structure diagram of unmanned water surface robot for rescue in the embodiment of the present invention 1；
Fig. 2 is the front view of unmanned water surface robot for rescue in the embodiment of the present invention 1；
Fig. 3 is the side view of unmanned water surface robot for rescue in the embodiment of the present invention 1；
In figure：1st, propulsion electric machine, 2, floating drum, 3, floating drum link, 4, connecting flange, 5, supporting leg, 6, supporting leg connecting seat, 7,
Support plate, 8, relief motor, 9, reel fixed frame, 10, bearing block, 11, cable winding drum, 12, turbine and worm retarder, 13, sliding
Wheeling supporting frame, 14, winding pulley.
Specific embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, with reference to the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly completely described, it is clear that described embodiment is this
The part of the embodiment rather than whole embodiments of invention.
Embodiment 1
As shown in Figure 1 to Figure 3, a kind of unmanned water surface robot for rescue by agent structure, propulsion system, buoyancy system, is rescued
Auxiliary system and control system composition；Wherein：
Agent structure is formed by fixing 4 supporting legs 5 under support plate 7, and 4 supporting legs 5 are connected to by supporting leg connecting seat 6
On upper backup pad 7, robot workbench is provided；
The floating drum 2 that buoyancy system is distributed in conplane capsule-type structure by 4 is formed, and 4 floating drums are connected by floating drum
It connects frame 3 and connecting flange 4 is respectively fixedly connected on 4 supporting legs 5, irremovable, 4 supporting legs 5 and the support plate 7 of agent structure
It is completely fixed, it is irremovable, so as to which buoyancy system constitutes a stable surface platform with agent structure；Buoyancy system is whole
A robot provides required buoyancy.
Propulsion system includes 2 propulsion electric machines 1, propulsion electric machine 1 is brshless DC motor, is provided for robot in the water surface
The power of traveling；Propulsion electric machine 1 is respectively fixedly connected on the floating drum 2 of the two supporting legs 5 at agent structure rear, and position is fixed,
It is irremovable, while with propeller on propulsion electric machine 1, the rotation of propulsion electric machine 1 drives propeller to rotate to be robot and provides sea
Upper driving power, and the different steerings realized in robot traveling process of rotating speed for passing through 2 propulsion electric machines 1.
With can the salvage system of automatic deploying and retracting cowcatcher be fixed in the support plate 7 of agent structure, salvage system is by rescuing
Help motor 8, reel fixed frame 9, bearing block 10, cable winding drum 11, turbine and worm retarder 12,2 pulley support framves 13, coilings
Pulley 14 and cowcatcher composition；It is logical to succour 12,2 motor 8, reel fixed frame 9, turbine and worm retarder pulley support framves 13
It crosses bolt to be fixed in the support plate 7 of agent structure, the input shaft for succouring the output shaft and turbine and worm retarder 12 of motor 8 leads to
Chain connection is crossed, transfers the power of relief motor 8, bearing block 10 is bolted on reel fixed frame 9, cable winding drum
11 upper end passes through bearing block 10, and lower end is connected with the output shaft of turbine and worm retarder 12, can follow turbine and worm retarder
12 output shaft rotation, winding pulley 14 are bolted on pulley support frame 13, and cowcatcher expands into a plane,
In two angles be separately fixed on 2 supporting legs, other two angle connect on a steel cord, steel wire rope is connected by winding pulley 14
On cable winding drum 11, the rotation of cable winding drum 11 can drive the movement of steel wire rope, so as to drive the movement of cowcatcher.
Control system is made of remote controler, signal receiving/transmission device, control circuit and power supply, and control system is by receiving base
Remote signal of standing realizes the control to propulsion electric machine 1 and relief motor 8, realizes robot in the traveling of the water surface and the receipts of cowcatcher
Discharge into relief process.
When there is distress personnel on sea, lifeguard is by the remote controler of control system come remote control propulsion electric machine 1, propulsion
Motor 1, which provides power, makes entire robot be moved near distress personnel, at this point, lifeguard controls relief motor 8 to rotate, so as to
The cable winding drum 11 being mounted on turbine and worm retarder 12 is driven to rotate, by the rotation of cable winding drum 11, realizes cowcatcher
Decentralization, the front end of cowcatcher is made to transfer to below the water surface；Lifeguard controls propulsion electric machine 1 to make robot movement until robot
The cowcatcher of lower part moves to the lower section of distress personnel；Lifeguard controls relief motor 8 to reversely rotate, and cowcatcher is made to increase, will
Distress personnel picks up, and robot is moved to safe area with distress personnel, completes rescue mission.
The present invention is small, light-weight, movement is flexible, using the pattern of the separated layout of four floating drums, effectively increases point
Cloth area considerably increases the stability that robot is travelled in the water surface, under the lifesaving appliance of identical size, the nothing in the present invention
People's robot for rescue on water surface has preferable stability under more severe sea situation, improves the energy to work under severe sea condition
Power can preferably complete rescue mission.It can be used in combination, can be dropped by amphibious aircraft, can with the equipment of existing large size
Launched by large-scale rescue ship, can also multiple robot clusters cooperate, by remote operation, participated in without salvor,
It realizes the movement of unmanned water surface robot and completes corresponding rescue mission, safely and effectively realize the relief of severe sea condition.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, technique according to the invention scheme and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (7)
1. a kind of unmanned water surface robot for rescue, which is characterized in that by agent structure, propulsion system, buoyancy system, salvage system
It is formed with control system；Wherein agent structure is formed by agent structure by fixing 4 supporting legs (5) under support plate (7)；With can from
The salvage system of dynamic folding and unfolding cowcatcher is fixed in the support plate (7) of agent structure, and buoyancy system is fixedly connected on agent structure
Supporting leg (5) on, provide buoyancy for entire robot；Buoyancy system and agent structure constitute a stable surface platform；
Buoyancy system is fixedly connected with propulsion system simultaneously, and control system is realized by receiving base station remote signal to propulsion system and relief
The control of system realizes that the marine of robot advances and succour.
2. unmanned water surface robot for rescue according to claim 1, which is characterized in that the agent structure is by support plate
(7) fix 4 supporting legs (5) under to form, 4 supporting legs (5) are connected to by supporting leg connecting seat (6) on upper backup pad (7).
3. unmanned water surface robot for rescue according to claim 1, which is characterized in that the propulsion system includes 2
Propulsion electric machine (1), propulsion electric machine (1) are respectively fixedly connected on the floating drum (2) of the two supporting legs (5) at agent structure rear, together
When propulsion electric machine (1) on propeller, propulsion electric machine (1) rotation drive propeller rotate to be robot provide it is marine advance it is dynamic
Power, and the different steerings realized in robot traveling process of rotating speed for passing through 2 propulsion electric machines (1).
4. unmanned water surface robot for rescue according to claim 1, which is characterized in that the buoyancy system is by 4 points
Cloth is formed in conplane floating drum (2), and 4 floating drums (2) are fixedly connected on the supporting leg (5) of agent structure, is entire machine
People provides required buoyancy, and propulsion electric machine (1) is connected wherein on the 2 of agent structure rear floating drum (2).
5. unmanned water surface robot for rescue according to claim 4, which is characterized in that 4 floating drums (2) are fixed to be connected
It is connected on the supporting leg (5) of agent structure, 4 floating drums are respectively fixedly connected with by floating drum link (3) and connecting flange (4) 4
On supporting leg (5), an entirety is formed with agent structure.
6. unmanned water surface robot for rescue according to claim 4 or 5, which is characterized in that the floating drum (2) is capsule
Type structure.
7. unmanned water surface robot for rescue according to claim 1, which is characterized in that the salvage system is by relief electricity
Machine (8), reel fixed frame (9), bearing block (10), cable winding drum (11), turbine and worm retarder (12), 2 pulley support framves
(13), winding pulley (14) and cowcatcher composition；Succour motor (8), reel fixed frame (9), turbine and worm retarder (12),
2 pulley support framves (13) are bolted in the support plate (7) of agent structure, the output shaft of relief motor (8) and whirlpool
The input shaft of worm and gear retarder (12) is connected by chain, transfers the power of relief motor (8), and bearing block (10) passes through spiral shell
Bolt is fixed on reel fixed frame (9), and the upper end of cable winding drum (11) passes through bearing block (10), lower end and turbine and worm retarder
(12) output shaft is connected, and the output shaft of turbine and worm retarder (12) can be followed to rotate, winding pulley (14) is consolidated by bolt
It being scheduled on pulley support frame (13), cowcatcher expands into a plane, and two angles of cowcatcher are separately fixed on 2 supporting legs (5),
Other two angle connects on a steel cord, and steel wire rope is connected to by winding pulley (14) on cable winding drum (11), cable winding drum
(11) rotation can drive the movement of steel wire rope, so as to drive the movement of cowcatcher.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711382865.9A CN108100171B (en) | 2017-12-20 | 2017-12-20 | A kind of unmanned water surface robot for rescue |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711382865.9A CN108100171B (en) | 2017-12-20 | 2017-12-20 | A kind of unmanned water surface robot for rescue |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108100171A true CN108100171A (en) | 2018-06-01 |
| CN108100171B CN108100171B (en) | 2019-07-30 |
Family
ID=62211347
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711382865.9A Active CN108100171B (en) | 2017-12-20 | 2017-12-20 | A kind of unmanned water surface robot for rescue |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109050802A (en) * | 2018-07-06 | 2018-12-21 | 大连海事大学 | A kind of adaptive unmanned water surface robot of wave |
| CN110356518A (en) * | 2019-08-01 | 2019-10-22 | 江苏科技大学 | A kind of polar region multipurpose support vessel |
| CN114212187A (en) * | 2021-12-14 | 2022-03-22 | 大连海事大学 | Small-sized double-body rescue boat capable of being used in various sea conditions |
| CN114476009A (en) * | 2022-03-10 | 2022-05-13 | 速力复材科技（惠州）有限公司 | Underwater propeller mounting structure |
| CN114476994A (en) * | 2021-12-28 | 2022-05-13 | 中国特种飞行器研究所 | Novel offshore independent winch winding and unwinding system |
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| CN2563099Y (en) * | 2002-07-05 | 2003-07-30 | 胡忠进 | Multipurpose life saving net on water |
| CN202175174U (en) * | 2011-07-29 | 2012-03-28 | 广州市番禺灵山造船厂有限公司 | Multifunctional offshore rescue ship |
| CN203111476U (en) * | 2013-03-05 | 2013-08-07 | 南京航空航天大学 | Underwater intelligent rescue robot system |
| CN106314724A (en) * | 2015-06-19 | 2017-01-11 | 李其谕 | Underwater multifunctional fish-shaped robot |
| CN106926992A (en) * | 2017-04-10 | 2017-07-07 | 武汉尼维智能科技有限公司 | A kind of multiaxis advances search and rescue robot waterborne |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2563099Y (en) * | 2002-07-05 | 2003-07-30 | 胡忠进 | Multipurpose life saving net on water |
| CN202175174U (en) * | 2011-07-29 | 2012-03-28 | 广州市番禺灵山造船厂有限公司 | Multifunctional offshore rescue ship |
| CN203111476U (en) * | 2013-03-05 | 2013-08-07 | 南京航空航天大学 | Underwater intelligent rescue robot system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109050802A (en) * | 2018-07-06 | 2018-12-21 | 大连海事大学 | A kind of adaptive unmanned water surface robot of wave |
| CN110356518A (en) * | 2019-08-01 | 2019-10-22 | 江苏科技大学 | A kind of polar region multipurpose support vessel |
| CN110356518B (en) * | 2019-08-01 | 2021-03-19 | 江苏科技大学 | Polar region multipurpose auxiliary ship |
| CN114212187A (en) * | 2021-12-14 | 2022-03-22 | 大连海事大学 | Small-sized double-body rescue boat capable of being used in various sea conditions |
| CN114212187B (en) * | 2021-12-14 | 2023-10-24 | 大连海事大学 | Small-sized double-body rescue ship capable of being used for various sea conditions |
| CN114476994A (en) * | 2021-12-28 | 2022-05-13 | 中国特种飞行器研究所 | Novel offshore independent winch winding and unwinding system |
| CN114476009A (en) * | 2022-03-10 | 2022-05-13 | 速力复材科技（惠州）有限公司 | Underwater propeller mounting structure |
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|---|---|
| CN108100171B (en) | 2019-07-30 |
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