CN110027689B - Semi-submersible cruising unmanned ship based on gravity change and semi-submersible method - Google Patents
Semi-submersible cruising unmanned ship based on gravity change and semi-submersible method Download PDFInfo
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- CN110027689B CN110027689B CN201910316231.6A CN201910316231A CN110027689B CN 110027689 B CN110027689 B CN 110027689B CN 201910316231 A CN201910316231 A CN 201910316231A CN 110027689 B CN110027689 B CN 110027689B
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- 230000005484 gravity Effects 0.000 title claims abstract description 56
- 238000000034 method Methods 0.000 title claims description 8
- 239000012530 fluid Substances 0.000 claims abstract description 4
- 238000009434 installation Methods 0.000 claims abstract 4
- 230000000712 assembly Effects 0.000 claims description 2
- 238000000429 assembly Methods 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 7
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000001066 destructive effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
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- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention relates to a semi-submersible type cruising unmanned ship based on gravity change, which comprises: the unmanned ship body comprises a front part and a rear part, wherein the front part is of a fluid structure, and the front part is provided with a matching hole; the top of the control box is matched with the matching hole, and the bottom of the control box is provided with a telescopic rod; and the sliding assembly is arranged at the rear part and comprises a driving assembly, more than one gravity block and an installation frame, a sliding groove is formed in the installation frame, and the gravity block is matched with the sliding groove. Has the advantages that: drive assembly can drive the gravity piece, make the afterbody of gravity piece toward unmanned ship remove, the gravity of gravity piece itself collects at unmanned ship afterbody like this, the weight of unmanned ship afterbody is enough big like this, the afterbody of making unmanned ship is submerged under the surface of water, but the holistic weight of unmanned ship is unchangeable, so the top of unmanned ship can upwarp, and then realize semi-submerged, if marine storm or other to the condition of unmanned ship, all can adopt semi-submerged to protect the body of unmanned ship.
Description
Technical Field
The invention relates to the technical field of unmanned ship design, in particular to a semi-submersible cruise unmanned ship based on gravity change.
Background
The unmanned ship is a direction which has to be considered and developed before, now or later, the existing unmanned ship can judge the ship on the sea, people can judge and identify the condition on the sea without being in the sea through equipment such as radar, AIS, video monitoring and the like arranged on the unmanned ship, and the size and the shape of the ship can be judged very intuitively, so that the sea area controlled by the country can achieve the purpose of cruising without people only needing to operate the unmanned ship; thus saving a lot of manpower and material resources.
At present, unmanned boats are still under stable development, because various scenes possibly appearing on the sea can not be expected, and like windy weather, rainstorm weather and even tornado can cause destructive damage to the unmanned boats; in addition, in the navigation process of the unmanned ship, if the control system of the unmanned ship has problems, workers need to replace parts, but the unmanned ship is small and is not suitable for people to go up directly, rescue workers need to find the unmanned ship firstly and then pull the unmanned ship to the rescue ship, so that the operation is time-consuming and labor-consuming; unmanned boats will become more and more available in the future, but the mooring positions of ports are limited, which is also a problem that is not well solved.
Disclosure of Invention
Therefore, it is necessary to provide a more practical semi-submersible cruising unmanned boat based on gravity change, aiming at the problem that the unmanned boat is not practical.
A gravity-based change semi-submersible cruise unmanned ship, comprising:
the unmanned ship body comprises an unmanned ship front part and an unmanned ship rear part, the unmanned ship front part is of a fluid structure, and the unmanned ship front part is provided with a matching hole;
the top of the control box is matched with the matching hole, and the bottom of the control box is provided with a telescopic rod; and
the sliding assembly is arranged at the rear part of the unmanned ship and comprises a driving assembly, more than one gravity block and a mounting frame, a sliding groove is formed in the mounting frame, and the gravity block is matched with the sliding groove.
Further, mounting bracket one end is equipped with the backup pad, drive assembly with the backup pad is connected.
Furthermore, the supporting plate is provided with a mounting ring, the mounting ring is provided with a connecting rod, and the connecting rod is connected with the gravity block.
Furthermore, the quantity of backup pad is 3, every respectively all be equipped with in the backup pad drive assembly, drive assembly is connected the quantity of gravity piece is all not more than one.
Furthermore, one end of the mounting frame, which is far away from the supporting plate, is provided with a limiting block, the limiting block is provided with a clamping groove, and the size of the clamping groove corresponds to that of the gravity block.
Furthermore, the stopper with the quantity in chucking groove is 3, 3 chucking groove is located respectively on the stopper.
Furthermore, the bottom of the telescopic rod is provided with a power box, and the power box is used for providing power for the telescopic rod.
Furthermore, the top of the power box is provided with a mounting ring, and the telescopic rod is sleeved on the mounting ring.
Furthermore, the telescopic link includes a first body of rod and a second body of rod, the first body of rod cover is located in the second body of rod, the length of the first body of rod with the control box top apart from the distance of unmanned ship top unanimous.
A gravity-based unmanned ship semi-submersible method comprises the following steps:
step S1: the control box receives semi-submersible information;
step S2: the driving assembly drives the gravity block to move towards the tail of the unmanned boat;
step S3: the gravity block is matched with the clamping groove, the movement is finished, the tail of the unmanned ship starts to dive, and the top of the unmanned ship upwarps.
The invention solves the defects in the background technology, and has the following beneficial effects:
1. the unmanned ship comprises an unmanned ship body, and is characterized in that a sliding assembly is arranged in the unmanned ship body, the sliding assembly comprises a driving assembly, the driving assembly can drive a gravity block to move towards the tail of the unmanned ship, so that the gravity of the gravity block is collected at the tail of the unmanned ship, the weight of the tail of the unmanned ship is large enough to enable the tail of the unmanned ship to submerge under the water, but the whole weight of the unmanned ship is unchanged, so that the top of the unmanned ship can be tilted upwards, and semi-submergence is realized; certainly, if wind waves are encountered on the sea or other conditions that the unmanned ship is not good, the unmanned ship can be protected by adopting semi-submergence, so that the unmanned ship is submerged below the sea surface by half to protect the unmanned ship;
2. when the unmanned boat body is in a cruising state, the control box leaks, but when the unmanned boat is in danger, the control box sinks to be in sealing fit with the unmanned boat body, and therefore even if water waves exist, water cannot enter the unmanned boat;
3. when the number of unmanned boats is very large but the mooring position of the port is limited, semi-submersible can be adopted, so that the tail of the unmanned boat is submerged below the water surface, and the mooring space can be saved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings of the embodiments can be obtained according to the drawings without creative efforts.
FIG. 1 is an interior view of an embodiment of a gravity-based variable semi-submersible cruise unmanned vehicle;
FIG. 2 is a cross-sectional view of the gravity-based variable semi-submersible cruise unmanned vehicle shown in FIG. 1;
FIG. 3 is an isometric view of the body of the gravity-based variable semi-submersible cruise unmanned vehicle of FIG. 1;
FIG. 4 is a front view of the gravity-based variable semi-submersible cruise unmanned vehicle shown in FIG. 1;
FIG. 5 is a flow chart of a semi-submersible unmanned vehicle semi-submersible method;
FIG. 6 is a schematic view of two states of the semi-submersible cruise unmanned vehicle based on gravity change shown in FIG. 1;
the reference numerals are explained below:
10. an unmanned boat body; 110. the front part of the unmanned boat; 120. the rear part of the unmanned boat; 130. a mating hole;
20. a control box; 210. a telescopic rod; 211. a first rod body; 212. a second rod body;
30. a sliding assembly; 310. a drive assembly; 320. a gravity block; 330. a mounting frame; 340. a chute; 350. a support plate; 360. a mounting ring; 370. a connecting rod; 380. a limiting block; 390. and (4) clamping the groove.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "inner", "outer", "left", "right" and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
As shown in fig. 1 to 6, the present invention provides a gravity-based variable semi-submersible cruise unmanned boat, comprising: the unmanned ship comprises an unmanned ship body 10, wherein the unmanned ship body 10 comprises an unmanned ship front part 110 and an unmanned ship rear part 120, the unmanned ship front part 110 is of a fluid structure, and the unmanned ship front part 110 is provided with a matching hole 130; the top of the control box 20 is matched with the matching hole 130, and the bottom of the control box 20 is provided with an expansion link 210; and the sliding assembly 30, the sliding assembly 30 is arranged at the rear part 120 of the unmanned boat, the sliding assembly 30 comprises a driving assembly 310, more than one gravity block 320 and a mounting frame 330, the mounting frame 330 is provided with a sliding groove 340, and the gravity block 320 is matched with the sliding groove 340. The sliding assembly 30 is arranged in the unmanned boat body 10, the sliding assembly 30 is arranged at the rear portion 120 of the unmanned boat, when the driving assembly 310 drives the gravity block 320 to move, the gravity block 320 can move towards the tail portion of the unmanned boat, and thus the weight of the gravity block 320 is totally gathered at the tail portion of the unmanned boat, the weight of the tail portion of the unmanned boat is higher than that of the front portion 110 of the unmanned boat, the tail portion of the unmanned boat can dive downwards, but the total weight of the unmanned boat is unchanged, so that the front portion 110 of the unmanned boat can be upwarped, when the control box 20 of the unmanned boat fails, a worker finds the unmanned boat and then the front portion 110 of the unmanned boat is higher than the water surface when the unmanned boat is semi-submerged, so that the worker can conveniently replace related components; in addition, when the unmanned ship needs to be moored at a port, semi-submersible can be adopted, so that the mooring position of the port is saved, and the space required for mooring the unmanned ship and on the sea surface is saved.
Specifically, one end of the mounting bracket 330 is provided with a supporting plate 350, and the driving assembly 310 is connected with the supporting plate 350; the supporting plate 350 is provided with a mounting ring 360, the mounting ring 360 is provided with a connecting rod 370, and the connecting rod 370 is connected with the gravity block 320; the number of the supporting plates 350 is 3, each supporting plate 350 is provided with a driving assembly 310, and the number of the gravity blocks 320 connected with the driving assemblies 310 is more than one; a limiting block 380 is arranged at one end of the mounting frame 330 far away from the supporting plate 350, a clamping groove 390 is arranged on the limiting block 380, and the size of the clamping groove 390 corresponds to that of the gravity block 320; the quantity of stopper 380 and chucking groove 390 is 3, and 3 chucking grooves 390 are located respectively on the stopper 380.
It is understood that the mounting ring 360 is used for mounting the connecting rod 370, and the connecting rod 370 is connected to the gravity block 320, so that the driving assembly 310 can drive the gravity block 320 to move; in this embodiment, the number of the supporting plates 350 is 3, so that the gravity blocks 320 can be uniformly distributed in three rows in the cabins of the rear portion 120 of the unmanned boat, when the unmanned boat needs semi-submersible, the three rows of the gravity blocks 320 can simultaneously move towards the tail portion of the unmanned boat, so that the gravity can be gathered more quickly, and the unmanned boat can also take less time to reach a semi-submersible state; if the unmanned boat encounters high wind or high waves at sea, the unmanned boat body 10 is damaged by the high waves if the time for entering the semi-submersible state is too long, so that the time for entering the semi-submersible state is very important for the unmanned boat.
In other embodiments, the number of the supporting plates 350 may be adjusted according to the size of the unmanned boat or the requirements of a specific scene, as long as the unmanned boat is kept to sail smoothly without being semi-submerged.
Specifically, a power box is arranged at the bottom of the telescopic rod 210, and the power box is used for providing power for the telescopic rod 210; the top of the power box is provided with a mounting ring 360, and the telescopic rod 210 is sleeved on the mounting ring 360; the telescopic rod 210 comprises a first rod body 211 and a second rod body 212, the first rod body 211 is sleeved in the second rod body 212, and the length of the first rod body 211 is consistent with the distance between the top of the control box 20 and the top of the unmanned boat.
So set up, telescopic link 210 divide into first body of rod 211 and second body of rod 212, and the length of first body of rod 211 is unanimous with the distance from unmanned ship top at the top of control box 20 moreover. In this case, the control box 20 has two states, and when the unmanned ship is normally sailed, the first rod 211 and the second rod 212 are matched with each other, so that the control box 20 is exposed out of the unmanned ship; when the unmanned ship is semi-submerged, the top of the control box 20 is sealed with the surface of the unmanned ship while the first rod 211 is sleeved on the second rod 212.
Specifically, the invention provides a gravity-based unmanned ship semi-submersible method, which is characterized by comprising the following steps of: step S1: the control box 20 receives the semi-submersible information; step S2: the driving assembly 310 drives the gravity block 320 to move towards the tail of the unmanned boat; step S3: the gravity block 320 is matched with the clamping groove 390, the movement is finished, the tail of the unmanned boat begins to dive, and the top of the unmanned boat is upwarped.
In fig. 6, the unmanned surface vehicle drawn by the solid line is the unmanned surface vehicle in the non-tilted state, and the unmanned surface vehicle replaced by the dotted line is the unmanned surface vehicle in the tilted state, and at this time, the unmanned surface vehicle tilts the control box 20 high. On the bank that is higher than unmanned ship or the supply ship that is higher than unmanned ship, the staff can be through the state of adjustment unmanned ship, make unmanned ship upwarp the head, the height that highly is greater than unmanned ship when not upwarping the head far away of the surface of water of unmanned ship head this moment, the staff highly keeps unanimous with unmanned ship upwarp control box 20 that comes on the eminence relatively easily this moment, make things convenient for carrying out all kinds of actions of controlling of staff opening control box 20, read data and overhaul the supply and change battery etc..
The method can realize semi-submersible of the unmanned ship, the unmanned ship in the semi-submersible state can adapt to different marine environments, and the mooring space of the unmanned ship in a port can be saved.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (2)
1. A gravity-based change semi-submersible cruise unmanned ship, comprising:
the unmanned ship body comprises an unmanned ship front part and an unmanned ship rear part, the unmanned ship front part is of a fluid structure, and the unmanned ship front part is provided with a matching hole;
the top of the control box is matched with the matching hole, the bottom of the control box is provided with a telescopic rod, the telescopic rod comprises a first rod body and a second rod body, the first rod body is sleeved in the second rod body, and the length of the first rod body is consistent with the distance from the top of the control box to the top of the unmanned boat; and
the sliding assembly is arranged at the rear part of the unmanned ship and comprises a driving assembly, more than one gravity block and an installation frame, a sliding groove is formed in the installation frame, and the gravity block is matched with the sliding groove;
a supporting plate is arranged at one end of the mounting frame, the driving assembly is connected with the supporting plate, a mounting ring is arranged on the supporting plate, a connecting rod is arranged on the mounting ring and connected with the gravity block, and the driving assembly can drive the gravity block to move;
the number of the supporting plates is 3, the driving assembly is arranged on each supporting plate, and the number of the gravity blocks connected with the driving assemblies is more than one;
a limiting block is arranged at one end, far away from the supporting plate, of the mounting frame, a clamping groove is formed in the limiting block, the size of the clamping groove corresponds to that of the gravity block, the number of the limiting block and the number of the clamping grooves are 3, and the 3 clamping grooves are respectively formed in the limiting block;
the bottom of the telescopic rod is provided with a power box, and the power box is used for providing power for the telescopic rod;
the top of the power box is provided with a mounting ring, and the telescopic rod is sleeved on the mounting ring.
2. The semi-submersible method for a gravity-based variable semi-submersible cruise unmanned ship according to claim 1, comprising the steps of:
step S1: the control box receives semi-submersible information, and when the unmanned ship is semi-submersible, the top of the control box is sealed with the surface of the unmanned ship while the first rod body is sleeved on the second rod body;
step S2: the driving assembly drives the gravity block to move towards the tail of the unmanned boat;
step S3: the gravity block is matched with the clamping groove, the movement is finished, the tail of the unmanned boat starts to dive, the top of the unmanned boat upwarps, and the height of a control box, which is upwarped by the worker, is kept consistent.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910316231.6A CN110027689B (en) | 2019-04-19 | 2019-04-19 | Semi-submersible cruising unmanned ship based on gravity change and semi-submersible method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910316231.6A CN110027689B (en) | 2019-04-19 | 2019-04-19 | Semi-submersible cruising unmanned ship based on gravity change and semi-submersible method |
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| CN110027689A CN110027689A (en) | 2019-07-19 |
| CN110027689B true CN110027689B (en) | 2021-04-06 |
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| CN110962998B (en) * | 2019-11-25 | 2024-04-02 | 上海海洋大学 | Sinking and floating device based on semi-submersible unmanned ship |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| FR2617115B2 (en) * | 1984-05-29 | 1989-11-03 | Gass Andre | SEMI-SUBMERSIBLE MARINE VEHICLE |
| CN102923262B (en) * | 2012-11-20 | 2015-04-29 | 江苏科技大学 | Small water plane and semi-submersible composite unmanned surface vehicle |
| CN104773272B (en) * | 2015-04-10 | 2017-06-20 | 哈尔滨工程大学 | A kind of operation type underwater robot gravity adjusting device |
| CN205770078U (en) * | 2016-05-11 | 2016-12-07 | 浙江海洋大学 | A kind of gravity center adjusting mechanism of underwater glider |
| CN105905251A (en) * | 2016-06-03 | 2016-08-31 | 江苏科技大学 | Stealth single-hull small waterline area hydrofoil unmanned ship and sailing method |
| CN206171736U (en) * | 2016-09-14 | 2017-05-17 | 海南海大信息产业园有限公司 | Flexible semi -submerged formula unmanned ship |
| CN206634190U (en) * | 2017-03-31 | 2017-11-14 | 大鹏高科（武汉）智能装备有限公司 | A kind of underwater robot with gravity adjusting device |
| CN107416127A (en) * | 2017-05-13 | 2017-12-01 | 上海海洋大学 | A kind of " fish type " semi-submersible type unmanned boat |
| CN107600331B (en) * | 2017-08-17 | 2019-07-23 | 上海大学 | A kind of symmetrical expression can underwater unmanned boat partly latent |
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Effective date of registration: 20210319 Address after: 125001 Hanjiang Road, Beigang Industrial Park, Huludao Economic Development Zone, Liaoning Province Applicant after: LIAONING JINLONG MEGA YACHT MANUFACTURING Co.,Ltd. Address before: Room 807, building 10, Yancheng Financial City, Xinfeng community, Xindu street, Chengnan New District, Yancheng City, Jiangsu Province 224000 Applicant before: YANCHENG JUNBA AUTO PARTS Co.,Ltd. |
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