CN110510070A - A kind of novel unmanned boat four link type docking mechanism - Google Patents
A kind of novel unmanned boat four link type docking mechanism Download PDFInfo
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- CN110510070A CN110510070A CN201910728765.XA CN201910728765A CN110510070A CN 110510070 A CN110510070 A CN 110510070A CN 201910728765 A CN201910728765 A CN 201910728765A CN 110510070 A CN110510070 A CN 110510070A
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- unmanned boat
- slide plate
- driving crank
- fixed frame
- driving
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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
- B63B23/00—Equipment for handling lifeboats or the like
- B63B23/38—Transport of boats to davits or the like
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The present invention discloses a kind of novel unmanned boat four link type docking mechanism, it is related to unmanned boat docking technique field, fixed frame including being fixed on the unmanned boat bilge, fixed frame side is provided with guide rail, guide rail one end is provided with spring stop, it is movably equipped with latch plate on guide rail, compressed spring is equipped between latch plate and spring stop；The driven sliding block hinged with connecting rod is movably equipped on guide rail, connecting rod is hinged with driving crank and follower link, follower link end is hinged with driving crank, and the end of driving crank and driving crank is articulated on fixed frame, and driving crank side can be cooperatively connected with passive side circular cone；Strip-shaped hole is offered on fixed frame, and the driving slide plate connecting with horizontal slide plate is provided at strip-shaped hole；The fixed frame other side is equipped with stepper motor, and stepper motor is hinged by drive rod and driving slide plate.Novel unmanned boat four link type docking mechanism provided by the invention, structure is simple, easy to operate, safety is good, docking is reliable.
Description
Technical field
The present invention relates to unmanned boat docking technique fields, more particularly to a kind of novel unmanned boat four link type docking machine
Structure.
Background technique
Currently, mainly all being laid both at home and abroad using some more traditional for lay reclaimer and the method for unmanned boat
Way of recycling, what is equipped on China naval vessel is traditional boat davit mostly, does not have Wave motion compensation technology and passive type
Subtract pendulum control technology, can only be used under low sea situation, it is also necessary to which deck hand controls boat davit, passes through hand on the deck of recycling ship
Dynamic control, between deck hand and boat davit at intervals, it is possible to provide enough length and angle are used to control canoe,
It excessively waves to prevent canoe and collides with recycling ship.According to the difference of sea situation, this operation process needs several deck hands
Control boat davit remains operational route, and the ability that deck hand executes safety operation often becomes limiting factor, since pendulum is imitated
Canoe caused by answering collides with recycling ship, and traditional draw off gear trivial operations, safety and reliability be not high.
Summary of the invention
The object of the present invention is to provide a kind of novel unmanned boat four link type docking mechanisms, are deposited with solving the above-mentioned prior art
The problem of, make that structure is simple, easy to operate, safety is good, docking is reliable.
To achieve the above object, the present invention provides following schemes:
The present invention provides a kind of novel unmanned boat four link type docking mechanism, the fixation machine including being fixed on the unmanned boat bilge
Frame, the fixed frame side be equipped with the vertically disposed connecting plate of the fixed frame, be provided with two on the connecting plate
The first parallel guide rail of item, first guide rail one end is provided with spring stop, is fixedly connected with level on the spring stop
Bar is equipped with compressed spring on the horizon bar；Horizontal slide plate is provided on first guide rail, described horizontal slide plate one end connects
It is connected to the latch plate being vertically arranged, described horizon bar one end is actively located on the latch plate；It is fixed on the horizontal slide plate
It is provided with driven sliding block, the driven sliding block is hinged with connecting rod, and the connecting rod end has been respectively articulated with driving crank and driven company
Bar, the driving crank end are articulated on the fixed frame, and the follower link end is hinged with driving crank, the master
Dynamic crank end is articulated on the fixed frame, and the driving crank side can be with the passive side taper that is installed on hanger
Block is cooperatively connected；Horizontal strip-shaped hole is offered on the fixed frame below the connecting plate, at the strip-shaped hole
It is provided with driving slide plate, is connect at the top of the driving slide plate with the horizontal slide plate；The fixed frame other side is equipped with step
Into motor, the stepper motor is connected with drive rod, the drive rod end pass through after the strip-shaped hole with the driving slide plate
Hingedly.
Optionally, the hinge joint of the driving crank and the fixed frame is located above the compressed spring；And it is described
The hinge joint and the driving crank of driving crank and the fixed frame and the hinge joint of the fixed frame are located at same
On horizontal line.
Optionally, the driving crank is acute triangle structure, the obtuse angle of the follower link and the driving crank
It is hinged at position；The upper end on the bottom edge of the driving crank is provided with the protrusion of arc-shaped, the protrusion can with it is described passive
Side circular cone is cooperatively connected.
Optionally, one end that protrusion is provided on the driving crank is connected with collision avoiding caster.
Optionally, the strip-shaped hole upper and lower ends are provided with two the second parallel guide rails, and the driving slide plate slides are set
It is placed on second guide rail.
Optionally, second guide rail is connected with block close to one end of the spring stop.
Optionally, hinged block is fixedly installed on the driving slide plate, the hinged block is located at the bar shaped hole location；
The drive rod is hinged by the hinged block and the driving slide plate.
Optionally, the length of the connecting rod and the follower link is all larger than the length of the driving crank.
Optionally, first guide rail is fixedly installed with slide plate limited block far from one end of the spring stop.
The present invention achieves following technical effect compared with the existing technology:
The ingenious dead-centre position principle using double leval jib of novel unmanned boat four link type docking mechanism provided by the invention, no
Any power drive and data measurement unit are needed, the cloth of unmanned boat only can be independently realized by simplest rod piece mechanical structure
It puts and recycles, agency cost is low, high reliablity, and integrated functionality is significant.Small in size, light weight may be mounted at different docking
On carrier, be suitable in a certain range different size unmanned boats lays reclaimer operation demand, improve lay recyclable device from
Adaptability.Passive side docking mechanism is fixed on hanger, and the bottom of passive side taper connection block is designed to horizontal end face, can
Reduce the shock of passive side bottom when docking, the transition portion of cone mechanism is designed to circular arc, can reduce answering in docking operation
Power collection neutralizes abrasion.The convex portion of driving crank is designed to the circular shape to match with passive side circular cone, along circular cone
Side can reduce abrasion and frictional resistance when gliding.Collision avoiding caster above convex portion can reduce hitting for passive side circular cone
It hits, improves the stability of driving crank movement.
It is ingenious to use slider-crank mechanism and compressed spring, it is driven by the dead-centre position and motor that move to plane double leval jib
Dynamic connecting rod destroys the position at double leval jib dead point, realizes that unmanned boat remains to fast and safely complete recycling under high sea situation and release is made
Industry.Applied to the system that unmanned boat lays recycling, using the dead-centre position of plane double leval jib, it can be achieved that unmanned boat and hanger safety
Docking mission is smoothly completed, structure is simple, stability and reliability are higher, ensure that unmanned boat under the conditions of complicated sea situation
Safe retrieving and positioning storage.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the schematic perspective view in novel unmanned boat four link type docking mechanism master end provided by the invention；
Fig. 2 is the another side structural schematic diagram in novel unmanned boat four link type docking mechanism master end provided by the invention；
Signal when Fig. 3 is novel unmanned boat four link type docking mechanism master end provided by the invention and passive side contacts
Figure；
Fig. 4 is signal when novel unmanned boat four link type docking mechanism master end provided by the invention is detached from passive side
Figure；
Wherein, 1 it is fixed frame, 2 be the first guide rail, 3 be spring stop, 4 be compressed spring, 5 be horizontal slide plate, 6 is
Latch plate, 7 be driven sliding block, 8 be connecting rod, 9 be driving crank, 10 be follower link, 11 be driving crank, 12 be passive side
Circular cone, 13 be strip-shaped hole, 14 be driving slide plate, 15 be stepper motor, 16 be drive rod, 17 be protrusion, 18 be collision avoiding caster,
19 be the second guide rail, 20 be block, 21 is hinged block.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of novel unmanned boat four link type docking mechanisms, are deposited with solving the above-mentioned prior art
The problem of, make that structure is simple, easy to operate, safety is good, docking is reliable.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
The present invention provides a kind of novel unmanned boat four link type docking mechanism, as Figure 1-Figure 4, including master end docking
Mechanism and passive side docking mechanism.Unmanned boat can be with autonomous navigation and positioning, so serving as master end docking mechanism, passively
Docking mechanism is mounted on hanger, and hanger position is fixed, and cooperation master end docking mechanism completes laying and recycling for unmanned boat.It is main
Dynamic side docking mechanism mainly includes plane double leval jib interlinked mechanism, and the plane double leval jib partial component of the docking mechanism mainly includes
The components such as driving crank 9, follower link 10, driving crank 11, connecting rod 8, fixed frame 1, sliding block, compressed spring 4.When passive side
At work, driving crank 11 is compressed docking mechanism, drives the swing of follower link 10, driving crank 9, follower link 10
Movement with driving crank 9 drives slider-crank mechanism extension spring again, to realize that plane double leval jib moves to the position at dead point
It sets, locks passive side circular cone 12, complete the recycling operation of unmanned boat；When needing to discharge unmanned boat, the movement of drive rod 16
The compression of compressed spring 4, the rotation of drive rod 16 are driven, dead-centre position is destroyed, and passive side circular cone 12 is detached from, and unmanned boat can
Smoothly it is driven out to.
Passive side docking mechanism is made of passive side circular cone, and the bottom of passive side circular cone 12 is designed to horizontal ends
Face, and being not designed to pointed purpose is, the shock of passive side bottom when in order to reduce each docking, passive side circular cone 12 it is upper
The transition portion in portion is designed to circular arc, and the stress collection that can be reduced in docking operation neutralizes abrasion.The upper end side of passive side circular cone
While a circle curved slot arrangement is set as, for being cooperatively connected with the arc convex of driving crank.
Specifically, the present invention includes the fixed frame 1 for being fixed on the unmanned boat bilge, 1 side of fixed frame is equipped with and consolidates
Determine the vertically disposed connecting plate of rack 1, two the first parallel guide rails 2 is provided on connecting plate, 2 one end of the first guide rail is provided with
Spring stop 3 is fixedly connected with horizon bar on spring stop 3, compressed spring 4 is equipped on horizon bar；It is arranged on first guide rail 2
There is horizontal slide plate 5,5 one end of horizontal slide plate is connected with the latch plate 6 being vertically arranged, and horizon bar one end is actively located in latch plate 6
On, compressed spring 4 is between latch plate 6 and spring stop 3；Driven sliding block 7, driven cunning are fixedly installed on horizontal slide plate 5
Block 7 is hinged with connecting rod 8, and 8 end of connecting rod has been respectively articulated with driving crank 9 and follower link 10, and 9 end of driving crank is articulated with solid
Determine in rack 1,10 end of follower link is hinged with driving crank 11, and 11 end of driving crank is articulated on fixed frame 1, actively
11 side of crank can be cooperatively connected with the passive side circular cone 12 being installed on hanger；Fixed frame below connecting plate
Horizontal strip-shaped hole 13 is offered on 1, and driving slide plate 14,14 top of driving slide plate and horizontal slide plate 5 are provided at strip-shaped hole 13
Connection；1 other side of fixed frame is equipped with stepper motor 15, and stepper motor 15 is connected with drive rod 16, and 16 end of drive rod is logical
It crosses hinged with driving slide plate 14 at strip-shaped hole 13.
It is further preferred that the hinge joint of driving crank 9 and fixed frame 1 is located at 4 top of compressed spring；And driving crank
9 are located on same horizontal line with the hinge joint and driving crank 11 of fixed frame 1 and the hinge joint of fixed frame 1.It is actively bent
Handle 11 is acute triangle structure, and follower link 10 and the blunt angular position of driving crank 11 are hinged；The bottom edge of driving crank 11
Upper end be provided with the protrusion 17 of arc-shaped, protrusion 17 can be cooperatively connected with passive side circular cone 12.It is set on driving crank 11
The one end for being equipped with protrusion 17 is connected with collision avoiding caster 18.13 upper and lower ends of strip-shaped hole are provided with two the second parallel guide rails
19, driving slide plate 14 is slideably positioned on the second guide rail 19.Second guide rail 19 is connected with block close to one end of spring stop 3
20.It is fixedly installed with hinged block 21 on driving slide plate 14, hinged block 21 is located at 13 position of strip-shaped hole, and is located at close to strip-shaped hole
13 side；Drive rod 16 is hinged by hinged block 21 and driving slide plate 14.The length of connecting rod 8 and follower link 10 be all larger than from
The length of dynamic crank 9.First guide rail 2 is fixedly installed with slide plate limited block far from one end of spring stop 3.
The configuration of the present invention is simple works convenient and reliable, and master end docking mechanism is set on unmanned boat, passive side docking machine
Structure is mounted on hanger, hanger position is fixed, and cooperation master end docking mechanism completes unmanned boat and laying and recycling, when work,
Protrusion 17 of the unmanned boat on hanger, driving crank 11 is contacted with the passive side circular cone 12 on hanger, driving crank 11 by
To compression, the swing of follower link 10 and driving crank 9 is driven, the movement of follower link 10 and driving crank 9 drives connecting rod again
8 oliquely downward move, so that connecting rod 8 drives the horizontal movement on the first guide rail 2 of driven sliding block 7, horizontal slide plate 5 is far from bullet at this time
Spring baffle 3 moves, so that compressed spring 4 be driven to stretch, the final position realized plane double leval jib and move to dead point is led at this time
The protrusion 17 of the arc-shaped of dynamic crank 11 locks passive side circular cone 12, completes the recycling operation of unmanned boat；When needing to discharge nothing
When people's ship, stepper motor 15 drives drive rod 16 to move, and the movement of drive rod 16 drives driving slide plate 14 to move, and drives slide plate 14
Horizontal slide plate 5 is driven to move close to spring stop 6, compressed spring 4 is compressed, and connecting rod 8 moves obliquely upward, and then follower link
10 drive driving crank 11 to move, and the rotation of drive rod 16 is finally destroyed dead-centre position, and passive side circular cone 12 is detached from
Driving crank 11, unmanned boat can be smoothly driven out to.
Specific examples are applied in the present invention, and principle and implementation of the present invention are described, above embodiments
Illustrate to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, according to
According to thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification
It should not be construed as limiting the invention.
Claims (9)
1. a kind of novel unmanned boat four link type docking mechanism, it is characterised in that: the fixation machine including being fixed on the unmanned boat bilge
Frame, the fixed frame side be equipped with the vertically disposed connecting plate of the fixed frame, be provided with two on the connecting plate
The first parallel guide rail of item, first guide rail one end is provided with spring stop, is fixedly connected with level on the spring stop
Bar is equipped with compressed spring on the horizon bar；Horizontal slide plate is provided on first guide rail, described horizontal slide plate one end connects
It is connected to the latch plate being vertically arranged, described horizon bar one end is actively located on the latch plate；It is fixed on the horizontal slide plate
It is provided with driven sliding block, the driven sliding block is hinged with connecting rod, and the connecting rod end has been respectively articulated with driving crank and driven company
Bar, the driving crank end are articulated on the fixed frame, and the follower link end is hinged with driving crank, the master
Dynamic crank end is articulated on the fixed frame, and the driving crank side can be with the passive side taper that is installed on hanger
Block is cooperatively connected；Horizontal strip-shaped hole is offered on the fixed frame below the connecting plate, at the strip-shaped hole
It is provided with driving slide plate, is connect at the top of the driving slide plate with the horizontal slide plate；The fixed frame other side is equipped with step
Into motor, the stepper motor is connected with drive rod, the drive rod end pass through after the strip-shaped hole with the driving slide plate
Hingedly.
2. novel unmanned boat four link type docking mechanism according to claim 1, it is characterised in that: the driving crank with
The hinge joint of the fixed frame is located above the compressed spring；And the hinge joint of the driving crank and the fixed frame
It is located on same horizontal line with the hinge joint of the driving crank and the fixed frame.
3. novel unmanned boat four link type docking mechanism according to claim 1, it is characterised in that: the driving crank is
Acute triangle structure, the follower link and the blunt angular position of the driving crank are hinged；The bottom edge of the driving crank
Upper end be provided with the protrusion of arc-shaped, the protrusion can be cooperatively connected with the passive side circular cone.
4. novel unmanned boat four link type docking mechanism according to claim 3, it is characterised in that: on the driving crank
The one end for being provided with protrusion is connected with collision avoiding caster.
5. novel unmanned boat four link type docking mechanism according to claim 1, it is characterised in that: above and below the strip-shaped hole
Both ends are provided with two the second parallel guide rails, and the driving slide plate slides are set on second guide rail.
6. novel unmanned boat four link type docking mechanism according to claim 5, it is characterised in that: second guide rail leans on
One end of the nearly spring stop is connected with block.
7. novel unmanned boat four link type docking mechanism according to claim 6, it is characterised in that: on the driving slide plate
It is fixedly installed with hinged block, the hinged block is located at the bar shaped hole location；The drive rod passes through the hinged block and institute
It is hinged to state driving slide plate.
8. novel unmanned boat four link type docking mechanism according to claim 1, it is characterised in that: the connecting rod and described
The length of follower link is all larger than the length of the driving crank.
9. novel unmanned boat four link type docking mechanism according to claim 1, it is characterised in that: first guide rail is remote
One end from the spring stop is fixedly installed with slide plate limited block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910728765.XA CN110510070B (en) | 2019-08-08 | 2019-08-08 | Novel unmanned ship four-connecting-rod type docking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910728765.XA CN110510070B (en) | 2019-08-08 | 2019-08-08 | Novel unmanned ship four-connecting-rod type docking mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110510070A true CN110510070A (en) | 2019-11-29 |
| CN110510070B CN110510070B (en) | 2020-06-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910728765.XA Active CN110510070B (en) | 2019-08-08 | 2019-08-08 | Novel unmanned ship four-connecting-rod type docking mechanism |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS554241A (en) * | 1978-06-23 | 1980-01-12 | Kotobuki Kogyo Kk | Device for mooring ship |
| DE4101813C2 (en) * | 1990-01-31 | 1997-12-04 | Kba Planeta Ag | Vibration system drive |
| WO2001089919A1 (en) * | 2000-05-26 | 2001-11-29 | Navion Asa | A locking mechanism, especially for the locking of a buoy |
| CN105659759B (en) * | 2006-11-03 | 2009-07-01 | 北京空间飞行器总体设计部 | A kind of four-bar linkage for spacecraft |
| CN106185135A (en) * | 2016-07-05 | 2016-12-07 | 同济大学 | A kind of resilience self-locking plug pin docking mechanism |
-
2019
- 2019-08-08 CN CN201910728765.XA patent/CN110510070B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS554241A (en) * | 1978-06-23 | 1980-01-12 | Kotobuki Kogyo Kk | Device for mooring ship |
| DE4101813C2 (en) * | 1990-01-31 | 1997-12-04 | Kba Planeta Ag | Vibration system drive |
| WO2001089919A1 (en) * | 2000-05-26 | 2001-11-29 | Navion Asa | A locking mechanism, especially for the locking of a buoy |
| CN105659759B (en) * | 2006-11-03 | 2009-07-01 | 北京空间飞行器总体设计部 | A kind of four-bar linkage for spacecraft |
| CN106185135A (en) * | 2016-07-05 | 2016-12-07 | 同济大学 | A kind of resilience self-locking plug pin docking mechanism |
Non-Patent Citations (2)
| Title |
|---|
| 杨毅等: "一种2 自由度柔顺移动并联机构研究", 《机械工程学报》 * |
| 杨超等: "一种海水采样对接传输装置的设计", 《上海大学学报》 * |
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| Publication number | Publication date |
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| CN110510070B (en) | 2020-06-19 |
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