CN112572706A - Double-body unmanned boat - Google Patents

Double-body unmanned boat Download PDF

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Publication number
CN112572706A
CN112572706A CN202011568824.0A CN202011568824A CN112572706A CN 112572706 A CN112572706 A CN 112572706A CN 202011568824 A CN202011568824 A CN 202011568824A CN 112572706 A CN112572706 A CN 112572706A
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China
Prior art keywords
main
steering engine
ratchet
propeller
bearing
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CN202011568824.0A
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Chinese (zh)
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CN112572706B (en
Inventor
黄海韬
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Hefei Innovation Research Institute of Beihang University
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Hefei Innovation Research Institute of Beihang University
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B3/00—Hulls characterised by their structure or component parts
    • B63B3/14—Hull parts
    • 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
    • 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
    • B63H25/06—Steering by rudders
    • B63H25/08—Steering gear
    • B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
    • B63H25/26—Steering engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B3/00—Hulls characterised by their structure or component parts
    • B63B3/14—Hull parts
    • B63B2003/145—Frameworks, i.e. load bearing assemblies of trusses and girders interconnected at nodal points
    • 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

Abstract

The invention discloses a double-body unmanned ship, which comprises a float air bag mechanism, a force-bearing truss mechanism, a power supply and distribution management device, a course propeller, a speed propeller and a mast mechanism, wherein the upper part of the force-bearing truss mechanism is fixedly connected with the mast mechanism, the lower part of the force-bearing truss mechanism is detachably connected with the float air bag mechanism, the power supply and distribution management device is embedded and arranged in the force-bearing truss mechanism for fixation, the course propeller and the speed propeller are respectively arranged at two opposite ends of the force-bearing truss mechanism, and the power supply and distribution management device is used for supplying power to the course propeller and the speed propeller; the basic form of the boat is basically maintained on the structural form of the boat body, the material and the appearance of a bearing truss mechanism part are optimally designed, and a structural strengthening design method combining a thin plate shell box body and a beam frame is adopted, so that the structural strength of the boat body is further strengthened, and the structural life is prolonged.

Description

Double-body unmanned boat
Technical Field
The invention relates to the technical field of unmanned boats, in particular to a double-body unmanned boat.
Background
With the continuous development of the unmanned control technology, as an unmanned platform, the unmanned boat can replace the manned platform in the fields of ore exploration, obstacle removal, certain dangers or special environments, so that the danger of the field implementation can be reduced, and the effect of achieving twice the result with half the effort can be achieved.
But current practical unmanned ship of binary structure configuration is more single, is generally fixed connection or combination between each functional device, leads to its service mode single, and environmental suitability is poor, is unfavorable for transportation and flexibility of use, can't satisfy more user demands.
Disclosure of Invention
Based on the technical problems in the background art, the invention provides a twin-hull unmanned boat which is diversified in use mode, good in environmental applicability, strengthened in structural strength and prolonged in structural life.
The invention provides a double-body unmanned ship, which comprises a float air bag mechanism, a force-bearing truss mechanism, a power supply and distribution management device, a course propeller, a speed propeller and a mast mechanism, wherein the upper part of the force-bearing truss mechanism is fixedly connected with the mast mechanism, the lower part of the force-bearing truss mechanism is detachably connected with the float air bag mechanism, the power supply and distribution management device is embedded and arranged in the force-bearing truss mechanism for fixation, the course propeller and the speed propeller are respectively arranged at two opposite ends of the force-bearing truss mechanism, and the power supply and distribution management device is used for supplying power to the course propeller and the speed propeller;
course propeller and navigational speed propeller all include the steering wheel supporting seat of fixing on force-bearing truss mechanism, the top dismantlement formula of steering wheel supporting seat installs the telex steering wheel, the below rotation of telex steering wheel is connected with the jib, advancing mechanism under water is installed to the bottom of jib.
Furthermore, the force-bearing truss mechanism comprises a main longitudinal beam, a first main cross beam, a second main cross beam, an auxiliary cross beam, a first auxiliary longitudinal beam and a second auxiliary longitudinal beam, wherein the main longitudinal beam and the first main cross beam are sequentially connected end to form a rectangular frame, a deck is laid on the rectangular frame, and two ends of the two second main cross beams are respectively and fixedly connected with the main longitudinal beams which are oppositely arranged;
four first auxiliary longerons set up in the intermediate space that two second main crossbeams formed, its both ends respectively with second main crossbeam fixed connection, two auxiliary crossbeams set up in the intermediate space that two second main crossbeams formed, its both ends respectively with main longeron fixed connection, two second auxiliary longerons set up in the side space that forms between first main crossbeam and the adjacent second main crossbeam, the both ends of the vice longeron of second respectively with first main crossbeam, second main crossbeam fixed connection, the inside of rectangle support frame is respectively through second main crossbeam, first auxiliary longeron and the vice longeron of second cut into a plurality of net.
Furthermore, 19 grids are formed, 4 non-functional grids for laying the deck are formed between the first auxiliary longitudinal beam and the adjacent main longitudinal beam, the middle space is divided into 9 functional grids through the auxiliary cross beam and the first auxiliary longitudinal beam, and the power supply and distribution management device is nested in the 9 grids;
and far-lifting stress rings for lifting the twin-hull unmanned ship are respectively fixed at two ends of the second main cross beam, and fastening assemblies for fixing the float airbag mechanism are arranged at four corners of the rectangular frame and at the joint of the second main cross beam and the main longitudinal beam.
Furthermore, the float air bag mechanism comprises an air bag, a strapping tape and a hanging ring, the hanging ring is fixed below the main longitudinal beam, one end of the strapping tape is fixedly connected with the hanging ring, and the other end of the strapping tape bypasses the air bag and is fixedly connected with the tightening assembly;
the tightening assembly comprises a base and a tape winding shaft which is rotatably connected with the base, and a power part for driving the tape winding shaft to rotate and a ratchet locking part for locking or releasing the tape winding shaft are arranged in the base; the tape coiling shaft comprises a tape coiling section, the tape coiling section is provided with a tape inserting hole, and two ends of the tape coiling section are respectively provided with a reel gear and a ratchet wheel mounting shaft;
the power portion include with the base rotates the steering gear axle of connecting, be equipped with the driving gear on the steering gear axle, the driving gear with the spool gear meshing is connected, the one end of steering gear axle extends to the outside of base forms the roating seat.
Furthermore, the base comprises a winding belt groove, a power box and a ratchet box, wherein the power box and the ratchet box are positioned at two ends of the winding belt groove, a first bearing section is arranged at one end, close to the power box, of the winding belt shaft, the first bearing section is connected with a wallboard of the power box through a bearing, a second bearing section is arranged at one end, close to the ratchet box, of the winding belt shaft, the second bearing section is connected with a wallboard of the ratchet box through a bearing, an inner hexagonal sleeve hole is formed in the top end of the rotary seat, and the rotary seat is rotatably connected with the base through a first cover plate;
the lower end of the driving gear is coaxially provided with a support shaft, and the support shaft is rotatably connected with the base; the ratchet locking part comprises a ratchet fixedly connected with the ratchet mounting shaft, and the base is provided with an anti-falling lock catch matched with the ratchet.
Furthermore, the anti-falling lock catch comprises a lock catch main body, the lock catch main body is rotatably connected with the base through a rotating shaft, one end of the lock catch main body is provided with a ratchet matched with the ratchet wheel, one end of the lock catch main body, which is far away from the ratchet, is provided with a releasing handle, and a compression spring is arranged between the lower end of the releasing handle and the base;
the coiling shaft is provided with a ratchet wheel installation shaft with a rectangular structure, a rectangular through hole matched with the ratchet wheel installation shaft is formed in the ratchet wheel, a retainer ring section is arranged on the outer side of the ratchet wheel installation shaft, a plain washer and an elastic retainer ring for a shaft are sleeved on the retainer ring section, and a second cover plate connected with the base in a detachable mode is arranged on the outer side of the retainer ring section.
Furthermore, the course propeller and the navigational speed propeller also comprise a folding fixing device, and the folding fixing device comprises a sliding bearing sleeve movably sleeved on the outer side of the suspender and a suspender supporting seat fixedly connected with the sliding bearing sleeve;
the steering engine supporting seat comprises a pair of lower steering engine supporting seats and a pair of upper steering engine supporting seats; the lower steering engine supporting seats are symmetrically fixed on a stern cross beam of the boat, and the upper steering engine supporting seats are hinged with the lower steering engine supporting seats through hinge shafts; a posture correcting positioning pin is further arranged between the lower steering engine supporting seat and the upper steering engine supporting seat;
the top of the upper piece steering engine supporting seat is provided with a locking clamping groove, and the bottom of the locking clamping groove is provided with a threaded hole; and the upper sheet steering engine supporting seat is connected with the electric transmission steering engine through a threaded hole.
Furthermore, the fly-by-wire steering engine comprises a chassis fixed above a steering engine supporting seat, a driving mechanism is installed at the top of the chassis, and the output end of the driving mechanism is connected with the suspension rod through a ring gear reducer;
the electric transmission steering engine also comprises a steering flange sleeved on the suspension rod, the steering flange penetrates through the chassis and the annular gear reducer, and the steering flange, the chassis and the annular gear reducer are coaxially arranged; the steering flange comprises a flange plate section, a shaft sleeve section and a synchronous belt wheel section; the synchronous belt wheel section is positioned at the top of the annular gear reducer, a synchronous belt wheel is sleeved on the synchronous belt wheel section, and a rudder angle sensor is arranged in the synchronous belt wheel;
the driving mechanism comprises a propeller direct current servo motor driver and a steering engine stepping motor driver;
a pair of chassis positioning lugs are symmetrically fixed on two sides of the chassis, and the size of each chassis positioning lug is matched with that of the locking clamping groove; the chassis positioning lug is connected with the upper sheet steering engine supporting seat through a locking bolt;
a first connecting hole is formed in the periphery of the lower portion of the shell, a second connecting hole matched with the first connecting hole is formed in the periphery of the side wall of the chassis, and shell mounting screws penetrate through the first connecting hole and the second connecting hole; the shell and the chassis are connected into a whole through a shell mounting screw;
threaded holes are correspondingly formed in the chassis and the ring gear reducer, and reducer mounting screws penetrate through the threaded holes; the hanger rod supporting seat comprises a pair of symmetrically arranged bow seats, and one end of each bow seat is fixed with a fixing screw rod with a handle.
Further, mast mechanism includes main support, auxiliary stand, navigation radar, optics aims the nacelle, GPS big dipper antenna, millimeter wave radar, communication antenna and navigation signal lamp, and navigation radar, optics aim nacelle, GPS big dipper antenna, millimeter wave radar, communication antenna, navigation signal lamp all are fixed in on the main support, the one end and the main support fixed connection of auxiliary stand, the other end and first main beam fixed connection, the main support is in bottom and the second main beam fixed connection who is close to the auxiliary stand.
Furthermore, the catamaran unmanned ship also comprises a guardrail assembly, wherein the guardrail assembly comprises guardrail transverse pipes and guardrail upright posts fixed on the force bearing truss mechanism, the guardrail transverse pipes are sequentially connected end to form a U-shaped structure with one open end, the guardrail upright post used for supporting the guardrail transverse pipe is arranged at the joint of each guardrail transverse pipe, and the end part of the U-shaped structure is also supported by the guardrail upright posts; a canopy assembly is arranged in an extending mode in the direction, away from the bearing truss mechanism, of the guardrail stand column fixedly arranged on the first main cross beam.
The double-body unmanned boat provided by the invention has the advantages that: the catamaran unmanned ship provided by the invention basically maintains the basic form of the ship on the structural form of the ship body, not only optimally designs the material and the appearance of a bearing truss mechanism part, but also adopts a structural strengthening design method of combining a thin plate shell box body and a beam frame, further strengthens the structural strength of the ship body and prolongs the structural life. In the structure strengthening design process, the structure and the electrical interface are unified by using the modularized design of functional components (such as a battery module, a power propulsion module, a floating bag bundling module and the like), so that the generalization and the maintainability of the components are greatly improved; therefore, the unmanned ship test platform has the advantages that the large-size main structure part can be quickly disassembled and assembled, the structural strength of the ship body bearing truss is enhanced, the capacity and safety design of a power supply of the ship are expanded, the reconfigurability of the test task functional part and the operation convenience design of the personnel taking the ship are increased, and the requirements of the ship under various use and maintenance environmental conditions are met.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an enlarged view of a portion of FIG. 1;
FIG. 3 is a schematic view of a connection structure of a bearing truss mechanism, a course propeller, a navigational speed propeller and a deck;
fig. 4 is a structural schematic diagram of a bearing truss mechanism;
FIG. 5 is a schematic view of the guardrail assembly;
FIG. 6 is a schematic view of the tightening assembly;
FIG. 7 is a top view of FIG. 6;
FIG. 8 is a schematic view of the ratchet box of the tightening assembly;
FIG. 9 is a cross-sectional view A-A of FIG. 7;
FIG. 10 is a schematic view of the spool configuration of the tightening assembly;
FIG. 11 is a schematic view of a steering gear shaft in the binding assembly;
FIG. 12 is a schematic view of the engagement between the steering gear and the reel gear in the tightening assembly;
FIG. 13 is a front view of a heading thruster provided by the present invention;
FIG. 14 is an isometric view of a heading thruster provided by the present invention;
FIG. 15 is an enlarged view of portion A of FIG. 14;
FIG. 16 is a schematic structural view of an upper plate steering engine support seat;
FIG. 17 is an exploded view of a fly-by-wire steering engine;
FIG. 18 is a schematic structural view of a steering flange;
the system comprises a float air bag mechanism, a 2-bearing truss mechanism, a 3-power supply and distribution management device, a 4-course propeller, a 5-navigational speed propeller, a 6-mast mechanism, a 7-binding component, a 8-guardrail component, a 9-navigation control box, an 11-air bag, a 12-binding tape, a 13-hanging ring, a 14-leaning ball, a 21-main longitudinal beam, a 22-first main transverse beam, a 23-second main transverse beam, a 24-auxiliary transverse beam, a 25-first auxiliary longitudinal beam, a 26-second auxiliary longitudinal beam, a 27-deck and a 28-far-hanging stress ring, wherein the float air bag mechanism is connected with the power supply and distribution management device through the power supply and distribution management device; 42-an electric steering engine, 43-a suspender, 44-an underwater propulsion mechanism, 45-a folding fixing device, 46-a locking bolt, 47-a first connecting hole, 48-a second connecting hole, 49-a mounting screw and 50-a reducer mounting screw;
61-main support, 62-auxiliary support, 63-navigation radar, 64-optical aiming pod, 65-GPS/beidou antenna, 66-millimeter wave radar, 67-communication antenna, 68-navigation signal light, 69-middle support frame, 81-guardrail transverse tube, 82-guardrail upright post, 83-U-shaped structure, 84-canopy assembly;
41-a steering engine supporting seat, 411-a lower steering engine supporting seat, 412-an upper steering engine supporting seat, 413-a hinge shaft, 414-a posture correcting positioning pin and 415-a locking clamping groove;
421-chassis, 422-ring gear reducer, 423-steering flange, 4231-flange plate section, 4232-shaft sleeve section, 4233-synchronous pulley section, 424-synchronous pulley, 425-rudder angle sensor, 426-shell, 427-propeller direct current servo motor driver, 428-steering engine stepping motor driver, 429-chassis positioning ear, 451-sliding bearing sleeve, 452-bow seat, 453-suspender overturning positioning handle, 454-fixed screw rod and 455-handle;
71-tape winding shaft, 72-steering gear shaft, 73-ratchet wheel, 74-anti-falling lock catch, 75-base, 76-first cover plate, 77-second cover plate, 711-reel gear, 712-first bearing section, 713-tape winding section, 714-insertion hole, 715-second bearing section, 716-ratchet wheel mounting shaft, 717-retainer ring section, 721-rotating seat, 722-driving gear, 723-supporting shaft, 741-lock catch main body, 742-ratchet wheel, 743-rotating shaft, 744-releasing handle, 45-spring, 751-tape winding groove, 752-power box and 753-ratchet wheel box.
Detailed Description
The present invention is described in detail below with reference to specific embodiments, and in the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as broadly as the present invention is capable of modification in various respects, all without departing from the spirit and scope of the present invention.
The length of the boat is 5 meters, the width of the boat is 2.7 meters, the total weight of the boat is about 380kg, the maximum displacement is 700kg, the draft is about 0.3 meter, the economic speed is about 8 knots, and the maximum endurance is 20 hours.
As shown in fig. 1, the twin-hull unmanned ship provided by the invention comprises a float airbag mechanism 1, a force-bearing truss mechanism 2, a power supply and distribution management device 3, a course propeller 4, a speed propeller 5 and a mast mechanism 6, wherein the upper part of the force-bearing truss mechanism 2 is fixedly connected with the mast mechanism 6, the lower part of the force-bearing truss mechanism 2 is detachably connected with the float airbag mechanism 1, the power supply and distribution management device 3 is fixedly arranged in the force-bearing truss mechanism 2 in a nested manner, the course propeller 4 and the speed propeller 5 are respectively arranged at two opposite ends of the force-bearing truss mechanism 2, and the power supply and distribution management device 3 is used for supplying power to the course propeller 4 and the speed propeller 5.
The float air bag mechanism 1 is firmly bound on the bearing truss mechanism 2 after being inflated, the course propeller 4 and the navigational speed propeller 5 are fixed on the bearing truss mechanism 2, and the propellers in the course propeller 4 and the navigational speed propeller 5 are in a vertical falling state. The guardrail component is fixedly arranged on the bearing truss mechanism 2, the mast mechanism 6 is provided with a navigation radar 63, an optical aiming pod 64, a GPS/Beidou antenna 65, a millimeter wave radar 66, a communication antenna 67, a navigation signal lamp 68 and other necessary device equipment, and the navigation control box 9 is respectively connected and fixed with the bearing truss mechanism 2 and the mast mechanism 6. But this application unmanned ship test platform's major structure jumbo size part quick assembly disassembly has reinforceed hull load truss structural strength, has expanded ship power supply capacity and security design, has increased test task functional part reconfigurability and takes advantage of ship personnel operation convenience design to this demand of ship under various use and maintenance environmental conditions has been satisfied.
In the embodiment, the unmanned boat navigation control box 9 is positioned at the rear edge of the functional cabin in the middle of the boat bow, and an aluminum alloy box body with a higher sealing grade (IP67) is adopted. The top cover of the navigation control box 9 is connected with the box body by a hinge and can be lifted upwards for assembling and disassembling navigation control equipment, overhauling equipment and the like. The top cover of the navigation control box 9 is provided with 2 sets of built-in locks for limiting the opening of a non-maintainer. The top cover of the navigation control box 9 is also a seat for a boat rider, and the structure of the top cover is reinforced for avoiding treading on the damage to the sealing structure of the top cover.
The vertical rack supported by spring suspension is arranged in the navigation control box 9, most of navigation control equipment can be installed on the rack in a board insertion type module mode so as to be convenient to overhaul, replace and wire distribution, and a certain vibration isolation effect is achieved. Other equipment which is not convenient for the installation of the frame of the navigation control system is arranged in the space at the two sides of the frame in the box body.
The navigation control box body is mainly provided with navigation control computer, high-performance image and radar signal processor set, satellite navigation processing terminal machine, wireless communication radio station, power supply conversion module and other navigation control system components.
A temperature and humidity detection sensor, a forced air convection fan and a dry agent box are arranged in the unmanned boat navigation control box 9, and the regulation and the stabilization of the environment in the box can be realized through the monitoring of a navigation control computer.
In this embodiment, the force-bearing truss mechanism 2 includes a main longitudinal beam 21, a first main cross beam 22, a second main cross beam 23, an auxiliary cross beam 24, a first auxiliary longitudinal beam 25 and a second auxiliary longitudinal beam 26, the main longitudinal beam 21 and the first main cross beam 22 are sequentially connected end to form a rectangular frame, and a deck 27 is laid on the rectangular frame.
The four first auxiliary longitudinal beams 25 are arranged in a middle space formed by the two second main cross beams 23, two ends of each first auxiliary longitudinal beam are fixedly connected with the two second main cross beams 23 respectively, the two auxiliary cross beams 24 are arranged in a middle space formed by the two second main cross beams 23, two ends of each auxiliary cross beam are fixedly connected with the main longitudinal beams 21 respectively, the two second auxiliary longitudinal beams 26 are arranged in side spaces formed between the first main cross beams 22 and the adjacent second main cross beams 23, two ends of each second auxiliary longitudinal beam 26 are fixedly connected with the first main cross beams 22 and the second main cross beams 23 respectively, and the inner portion of the rectangular support frame is divided into a plurality of grids through the second main cross beams 23, the first auxiliary longitudinal beams 25 and the second auxiliary longitudinal beams 26 respectively.
4 non-functional grids for laying the deck 27 are formed between the first auxiliary longitudinal beam 25 and the adjacent main longitudinal beam 21, the middle space is divided into 9 functional grids by the auxiliary cross beam 24 and the first auxiliary longitudinal beam 25, and the power supply and distribution management device 3 is nested in the 9 grids; and far-hanging stress rings 28 for adjusting the power supply and distribution management device 3 are respectively fixed at two ends of the second main cross beam 23, and fastening assemblies 7 for fixing the float airbag mechanism 1 are arranged at four corners of the rectangular frame and the connection part of the second main cross beam 23 and the main longitudinal beam 21.
The bearing truss mechanism 2 uses glass fiber reinforced plastic and antirust aluminum alloy square tube sectional materials as main structural materials, a single-layer latticed truss structure is formed by the longitudinal beams, the transverse beams and the functional cabin bodies (modules) through fasteners, and the integrally formed thin shell structure can achieve higher structural stress strength with lighter weight. The bearing truss has 19 grids in total, and 15 grids are functional grids. In the functional grid, the middle 9 modules are used for installing standard-sized battery module modules and power management modules.
The main longitudinal beam 21 is a glass fiber reinforced plastic paste product sandwiched by steel beams, a flat top surface and an arc-shaped bottom surface are provided with 5 binding assemblies 7 embedded with grooves on the outer side, anti-collision rubber strips are laid, a glass fiber reinforced plastic shell is arranged outside the main longitudinal beam 21, a groove-shaped steel beam is embedded in the main longitudinal beam, steel fins are uniformly arranged in the transverse direction, and foaming materials are filled in the space in the main longitudinal beam 21 and are important structural components such as a bearing truss mechanism 2, a floater air bag mechanism 1, an air bag 11 binding, uniform stress distribution, deck 27 connection and the like.
The main longitudinal beam 21, the first main cross beam 22, the second main cross beam 23, the auxiliary cross beam 24, the first auxiliary longitudinal beam 25 and the second auxiliary longitudinal beam 26 can be made of rustproof aluminum alloy square tubes (80x 80); the first main beam 22 is provided with a thickening block body which is mainly used for installing the course propeller 4 and the navigational speed propeller 5 and bears the uniform transmission of the thrust of each propeller to the hull. The second main cross beam 23 and the main longitudinal beam 21 are the highest positions of the boat structure with most concentrated stress and highest strength, and 4 lifting rings 13 are arranged at the connecting positions, so that a safe lifting point can be provided for the lifting of the boat body by using flexible lifting belts; the middle part of the second main beam 23 is provided with 2 connecting flange joints which are main bearing fulcrums for mounting the mast mechanism 6. In addition, the connection positions of each longitudinal beam and each transverse beam (including a main type and a secondary type) of the bearing truss mechanism 2 are provided with wire passing holes, and the wire passing holes of the boat power and the measurement and control communication signal cables are laid in the beam frame, so that the requirements of cable collision prevention, water prevention and electromagnetic isolation can be effectively met.
In the present embodiment, the power supply and distribution management apparatus 3 includes a power supply management module and a battery module. The power management module comprises 3 power supply and distribution management submodules, each submodule adopts an antirust aluminum alloy three-proofing shell, the appearance of each submodule is an upper cover with an anti-slip plate and a rectangular caisson, waterproof connectors which are interconnected with the battery module are arranged on the front side and the rear side of each submodule, and the submodules are interconnected through wire passing pipes.
The 3 power supply and distribution management submodules are arranged in 3 grids formed by the auxiliary cross beam 24 and the first auxiliary longitudinal beam 25, are interconnected by using fasteners and are a component of the integral stress structure of the force-bearing truss mechanism 2.
For guaranteeing boats and ships power and control power supply and distribution safety and manageability, and compromise the user demand of electrified quick assembly and disassembly battery module, supply and distribution management microprocessor module and distribution management switch matrix have been installed to supply and distribution management submodule piece, can carry out real-time supervision to the voltage and the electric current of each battery module of inserting, realize power supply capacity control and statistics, power supply dynamic management and incessant switching, overvoltage overcurrent undervoltage undercurrent safety logic chain protection and fault isolation, charge capacity and safety monitoring, control, practical function such as statistics and fault information networking report.
Wherein the battery module, in order to satisfy unmanned ship electric propulsion and navigation control to electric power and power supply safety's needs, 6 large capacity battery module modules have been installed on the load truss mechanism 2 of this embodiment, install respectively in 6 nets that vice crossbeam 24, first vice longeron 25, second main beam 23 formed. Each battery module adopts rust-resistant aluminum alloy three proofings casing, and the appearance is upper cover and the rectangle caisson of taking the antiskid ribbed tile, and the front side is equipped with waterproof connector, and 3 lithium cell core bodies are installed to the box, use the baffle to keep apart each battery core. The bottom of the box body is provided with a film air release valve, so that the pressure of the battery core body can be prevented from being released in time when the battery core body explodes due to faults.
In order to meet different requirements of users on the endurance and equipment cost of the boat, the boat can be provided with 1-6 battery module devices, and each battery module can be matched with battery cores with different capacities. Under the maximum configuration, the 6 battery module modules can provide the maximum power supply capacity of 24V3690 AH. And each battery module is connected with a power supply and distribution management submodule in the power management module by using a waterproof 9-core high-current connector (4-core power supply, 2-core charging and 3-core communication). Each battery module adopts the design of uniform overall dimension and connector position, is internally provided with a microprocessor management module, and has good interchangeability and a quick assembly and disassembly structure.
In the embodiment, the float airbag mechanism 1 comprises an airbag 11, a binding band 12 and a hanging ring 13, wherein the hanging ring 13 is fixed below a main longitudinal beam 21, one end of the binding band 12 is fixedly connected with the hanging ring 13, and the other end of the binding band bypasses the airbag 11 and is fixedly connected with a tightening assembly 7.
The float air bag mechanism 1 is a main buoyancy part of the unmanned ship, the air bag 11 can use a cylindrical air bag added with a woven net core PVC film, a front isolation air chamber and a rear isolation air chamber are respectively arranged, the air bags of the two isolation air chambers are respectively fixedly connected with the main longitudinal beams 21 which are oppositely arranged, and the other air chamber can still have enough buoyancy to store when one air chamber leaks. The air bag 11 is wound and fixed through the strapping tape 12, so that the rapid assembly and disassembly are realized, and meanwhile, the air bag 11 can be stored in a small-size warehouse after being disassembled and exhausted. In the process of fixing the airbag 11, in order to avoid friction damage between the airbag 11 and the hanging ring 13 and the main longitudinal beam 21, the leaning ball 14 is arranged in a clamping space formed by the airbag 11, the main longitudinal beam 21 and the hanging ring 13, and the airbag 11 is subjected to certain installation protection through the arrangement of the leaning ball 14, so that the service life of the airbag 11 is prolonged.
In this embodiment, the tightening assembly includes a base 75 and a winding shaft 71 rotatably connected to the base 75, the base 75 includes a winding groove 751, and a power box 52 and a ratchet box 753 located at two ends of the winding groove 751, a power portion for driving the winding shaft 71 to rotate is provided in the power box 52, and a ratchet locking portion for locking or releasing the winding shaft is provided in the ratchet box 753.
The power part comprises a steering gear shaft 72 rotatably connected with the base 75, a driving gear 722 is arranged on the steering gear shaft 72, the driving gear 722 is a bevel gear, and the bevel gear is an integrally processed orthogonal straight bevel gear. One end of the steering gear shaft 72 extends to the outside of the base 75 to form a rotating seat 721, and an inner hexagonal socket is formed at the top end of the rotating seat 721. The inner hexagonal hole e is 8mm, the depth is 10mm, and the processing precision is the same as the related requirements of GB/T70.1-2000 inner hexagonal socket head screws on the precision. The rotary seat 721 is rotatably connected to the base 75 through the first cover plate 76, a support shaft 723 is coaxially disposed at a lower end of the driving gear 722, and the support shaft 723 is rotatably connected to the base 75.
The tape winding shaft 71 comprises a reel gear 711, a first bearing section 712, a tape winding section 713, a second bearing section 715, a ratchet wheel mounting shaft 716 and a retainer ring section 717 which are arranged in sequence.
The driving gear 722 is engaged with the reel gear 711, the axis of the steering gear shaft 72 is perpendicular to the axis of the tape winding shaft 71, and the reel gear 711 is a bevel gear; the tooth profile of the gear section is made by national standard GB/T12369-1990, the tooth profile angle is 20 degrees, the tooth height coefficient is 1, the tip clearance coefficient is 0.2, and an isospace shrinkage tooth profile is used. For a typical 50mm woven belt matching product specification, the module m of the section is 2.5, the number of teeth is 11, and the outer diameter of the gear is about 34 mm. After the gear section is milled, fine grinding is needed.
The winding belt section 713 is provided with an inserting belt hole 714, the winding belt section 713 is used for winding and tensioning the ribbon, a long round through hole is milled in a cylindrical shape, the diameter of a cylindrical shaft of the winding belt section is 20mm, the width of the long round through hole is 53mm, the width of the long round through hole is 3.6mm, and most of the ribbons with the width of 50mm on the market can penetrate. To ensure the frictional force after the band is inserted and wound, the surface roughness Ra of the main shaft is not less than 6.3 mu m.
One end of the tape winding shaft 71, which is close to the power box 51, is provided with a first bearing section 712, the first bearing section 712 is connected with a wall plate of the power box 51 through a bearing, one end of the tape winding shaft 71, which is close to the ratchet box 753, is provided with a second bearing section 715, and the second bearing section 715 is connected with the wall plate of the ratchet box 753 through a bearing.
The ratchet locking part comprises a ratchet wheel 73 fixedly connected with a ratchet wheel mounting shaft 716, an anti-release lock 74 matched with the ratchet wheel 73 is arranged on a base 75, the anti-release lock 74 comprises a lock body 741, the lock body 741 is rotatably connected with the base 75 through a rotating shaft 743, a ratchet 742 matched with the ratchet wheel 73 is arranged at one end of the lock body 741, a release handle 744 is arranged at one end of the lock body 741 far away from the ratchet 742, a compression spring 745 is arranged between the lower end of the release handle 744 and the base 75, a ratchet wheel mounting shaft 716 with a rectangular structure is arranged on a tape winding shaft 71, a rectangular through hole matched with the ratchet wheel mounting shaft 716 is formed in the ratchet wheel 73, a retainer ring section 717 is arranged on the outer side of the ratchet wheel mounting shaft 716, a plain washer and an elastic retainer ring for a shaft are sleeved on the retainer ring section.
In use, the present invention is a metal structural product, and the device of the present embodiment can be secured to a customer structure (e.g., a support truss) using fasteners or welding. One end of a flexible ribbon (a common product is a high-strength polyester woven ribbon, the typical specification is 50mm wide, 1.7mm thick, and the breaking force is greater than 3T) is fixed on a user structure, one end of the flexible ribbon is inserted into the insertion hole 714 on the ribbon winding shaft 71 in the embodiment, a universal hexagonal wrench or a special hexagonal handle is used, the flexible ribbon is inserted into the inner hexagonal hole on the rotating seat 721 and then rotates the steering gear shaft 72 through the handle, so as to drive the driving gear 722 on the steering gear shaft 72 to rotate, the driving gear 722 drives the spool gear 711 to rotate, finally, the ribbon winding shaft 71 can be driven to rotate through the spool gear 711, the ribbon winding shaft 71 can be driven and wound on the ribbon winding shaft 71 while rotating, in the embodiment, the ribbon can be tensioned by clockwise rotation, the bundling of objects is realized, and the ribbon winding shaft 71 is locked through the ratchet wheel 73 in the bundling. When the band needs to be loosened, the releasing handle 744 in the anti-release lock 74 on the left side of the band is pressed down, so that the lock main body 741 rotates around the rotating shaft 743, the ratchet 43 is driven to move in the direction away from the ratchet wheel 73, the ratchet 43 and the ratchet wheel 73 are released, the ratchet wheel 73 is in a releasing state, and the band can be loosened.
The course propeller 4 and the navigational speed propeller 5 comprise steering engine supporting seats fixed on the first main beam 22, a teletype steering engine 42 is detachably installed above the steering engine supporting seats, a suspender 43 is rotatably connected below the teletype steering engine 42, and an underwater propulsion mechanism 44 is installed at the bottom of the suspender 43; the underwater propulsion mechanism 44 is commercially available and comprises a housing, a propeller and a locking fitting, a dc motor, a motor driver, etc., and the propeller boom 43 is directly fixed to the propulsion mechanism housing and a sealing material is used to secure the water-tightness of the connection portion. The underwater propulsion mechanism 44 is characterized in that a motor power line and a driving control signal line penetrate through the suspender 43 to be led out, a cable connecting terminal is arranged at the position of the outlet suspender 43, the underwater propulsion mechanism 44 is made of an aluminum alloy precision casting by a shell, and the suspender 43 is made of a stainless steel pipe.
The electric propeller further comprises a folding fixing device 45, wherein the folding fixing device 45 comprises a sliding bearing sleeve 451 movably sleeved on the outer side of the suspender 43 and a suspender 43 supporting seat fixedly connected with the sliding bearing sleeve 451. A boom overturn positioning handle 453 is fixed on the outer side of the sliding bearing sleeve 451, the sliding bearing sleeve 451 is a main stressed structure for transmitting the thrust of the propeller to the ship body, and the opening of the sliding bearing sleeve 451 is designed to lock the boom 43 to rotate and move up and down by using a fixing screw 454 with a handle 455. The supporting base of the suspension rod 43 comprises a pair of symmetrically arranged bow bases 452, and a fixing screw 454 with a handle 455 is fixed at one end of the bow bases 452. The bow seat 452 is an aluminum alloy precision casting, two screws with handles are used for fixing the bow part on the stern beam of the boat, and the positioning of 6 inclined angles in the propeller falling process can be realized through the handles.
The steering engine supporting seat 1 comprises a pair of lower steering engine supporting seats 411 and a pair of upper steering engine supporting seats 412; the lower steering engine supporting seat 411 is symmetrically fixed on the first main cross beam 22, and the upper steering engine supporting seat 412 is hinged with the lower steering engine supporting seat 411 through a hinge shaft 413; a posture-correcting positioning pin 414 is further arranged between the lower steering engine supporting seat 411 and the upper steering engine supporting seat 412. When the lower plate steering engine supporting seat 411 and the upper plate steering engine supporting seat 412 are in vertical positions, the electric steering engine 42 on the lower plate steering engine supporting seat can be ensured to keep in a right posture after the posture correcting positioning pin 414 is inserted. When the propeller needs to be adjusted to be in a horizontal state, the posture correcting positioning pin 414 is taken down, and the upper plate steering engine supporting seat 412 can rotate by taking the hinge shaft 413 as an axis, so that the effect of adjusting the posture of the propeller is achieved. The lower steering engine supporting seat 411 and the upper steering engine supporting seat 412 are made of rustproof aluminum alloy materials. The top of the upper piece steering engine supporting seat 412 is provided with a locking clamping groove 415, and the bottom of the locking clamping groove 415 is provided with a threaded hole; the upper plate steering engine supporting seat 412 is connected with the electric steering engine 42 through a threaded hole.
The electric steering engine 42 comprises a chassis 421 fixed above the steering engine supporting seat 1, the chassis 421 is made of antirust aluminum alloy, and is integrally milled and manufactured on a CNC (computer numerical control) machine, and surface treatment is performed by using white oxidation passivation, further, a pair of chassis positioning lugs 429 are symmetrically fixed on two sides of the chassis 421, and the sizes of the chassis positioning lugs 429 are matched with those of the locking clamping grooves 415, so that the chassis positioning lugs are reliably connected with the upper steering engine supporting seat 412 in a clamping groove buckling mode to counteract the steering reaction force of the electric steering engine 42; the chassis positioning lug 429 is connected with the upper plate steering engine supporting seat through a locking bolt 46. The top of the chassis 421 is installed with a driving mechanism, the output end of the driving mechanism is connected with the hanger rod 43 through a ring gear reducer 422, and the chassis 421 and the ring gear reducer 422 are connected through a reducer mounting screw 410. Through the ring gear speed reducing mechanism, the output torque of the speed reducing mechanism reaches 15N.m, the minimum stepping angle is 1.8 degrees, the maximum rotating speed is 2 s/circle, and the requirements of the boat on the steering engine during high-mobility navigation can be met. Preferably, the drive mechanism includes a propeller dc servo motor driver 427 and a steering engine stepper motor driver 428. The unmanned ship navigation controller can directly drive the corresponding executing motor through the rotating speed and the steering navigation control instruction issued by the two drivers, and closed-loop control is realized through the rotating speed and the rudder angle detection sensor.
The electric steering engine 42 further comprises a steering flange 423 sleeved on the suspension rod 43, the steering flange 423 penetrates through the chassis 421 and the ring gear reducer 422, and the steering flange 423, the chassis 421 and the ring gear reducer 422 are coaxially arranged; the steering flange 423 comprises a flange plate section 4231, a shaft sleeve section 4232 and a synchronous belt wheel section 4233, the steering flange 423 is made of antirust aluminum alloy and integrally processed by CNC (computerized numerical control), and is used for mechanically connecting a suspender of an underwater propulsion mechanism with a telex steering engine, the shape of the tooth of the synchronous belt wheel section 4233 is XL (X-shaped), the pitch is 5.08mm, the tooth height is 1.27mm, the tooth width is 15mm, and the wheel diameter is 50 mm. The synchronous pulley section 4233 is positioned at the top of the ring gear reducer 422, the synchronous pulley section 4233 is sleeved with a synchronous pulley 424, and a rudder angle sensor 425 is arranged in the synchronous pulley 424; the rudder angle sensor 425 synchronously rotates through the synchronous belt wheel 424 and the suspension rod 43 to detect the propelling direction of the propeller in real time, the rudder angle sensor 425 adopts a 40-diameter optical rotary encoder and 1024 pulses/circles, the synchronous belt wheel 424 matched with the steering flange 423 is preassembled, the tooth form of the synchronous belt wheel 424 adopts an XL type, the pitch is 5.08mm, the tooth height is 1.27mm, the tooth width is 15mm, and the wheel diameter is 25 mm. The matched XL type synchronous belt (seamless closure) is 15mm in bandwidth, 2.3mm in belt thickness and 52mm in distance between two wheel shafts.
The electric steering engine 42 further comprises a shell 426 fixed on the chassis 421, the shell 426 is a protective cover of parts installed in the steering engine, the shell is made of epoxy glass fiber reinforced plastic paste, the shell is connected with the chassis 421 through 15M 4 mounting screws, and a connecting joint is sealed by a rubber ring so as to achieve a water sealing grade not lower than IP 65. Two waterproof aerial plug interfaces are further mounted on the side vertical face of the shell 426 and are used for providing interfaces for power electricity of the propeller and the steering engine and control communication cables. Furthermore, a first connection hole 47 is formed on the periphery of the lower portion of the shell 426, a second connection hole 48 matched with the first connection hole 47 is formed on the periphery of the side wall of the chassis 421, and shell mounting screws 49 are arranged in the first connection hole 47 and the second connection hole 48 in a penetrating manner; the housing 426 and the chassis 421 are integrally connected by the housing mounting screws 49.
The telex control tail-mounted electric propeller provided by the invention can automatically control the rotating speed and the steering of the propeller through the telex steering engine 42, and has remarkable working efficiency and economic benefit; by folding the fixing device 45, the pusher can be switched between two postures of a vertical state and a horizontal state. After the propeller is in a vertical falling position, the speed and the course of the boat carrier can be controlled by sending a rotating speed and a steering instruction to the propeller through a navigation control computer of the boat carrier; when the boat is close to a dock or the lifted water is placed on a land keel block, the propeller can be lifted and locked at a height by manual operation so as to be convenient for maintenance and avoid the propeller of the propeller from touching the ground; at the moment, each propeller can be laid down so as to facilitate loading and hoisting of the boat body; when needs ship needs long-time storage to be deposited, can dismantle the propeller wholly the back case alone and deposit to reduce the demand to the hull to parking space.
The telex control tail-mounted electric propeller provided by the invention CAN use an embedded computer to control the rotation speed and the steering of the telex control tail-mounted electric propeller through a communication link (CAN/RS485), and CAN provide a solution with lower cost for realizing computer control and automatic driving (unmanned driving) of the conventional naval vessel provided with the electric propeller. The invention can carry out customized telex control refitting according to most electric propeller thrusters and partial gasoline and diesel tail hanging thrusters configured on a user ship, and has the characteristics of low refitting cost, small volume, convenient installation, open control interface, strong environmental applicability and the like, and has wide application occasions and strong practicability.
In this embodiment, the mast mechanism 6 includes a main support 61, a sub-support 62, a navigation radar 63, an optical aiming pod 64, a GPS/beidou antenna 65, a millimeter wave radar 66, a communication antenna 67 and a navigation signal lamp 68, wherein the navigation radar 63, the optical aiming pod 64, the GPS/beidou antenna 65, the millimeter wave radar 66, the communication antenna 67 and the navigation signal lamp 68 are all fixed on the main support 61, one end of the sub-support 62 is fixedly connected with the main support 61, the other end of the sub-support is fixedly connected with the first main beam 22, and the main support 61 is fixedly connected with the second main beam 23 at the bottom close to the sub-support 62. Power and communication cables on the mast mechanism 6 can be laid to the navigation box 9 below the mast through the pipe penetrating cavity in the main bracket 61, and can also be laid along an exposed line outside the main bracket 61 so as to be convenient to overhaul.
The mast mechanism 6 is in a conventional door-shaped structural form, is positioned at the rear edge of the functional cabin in the middle of the boat bow, and is mainly supported by the second main beam 23 on the boat bearing truss mechanism 2. Main support 61 and auxiliary support 62, adopt the stainless steel pipe preparation of D50, the middle part support frame of its main support 61 upper portion installation being used for fixed navigation radar 63, optical sighting nacelle 64, GPS big dipper antenna 65, millimeter wave radar 66, communication antenna 67, navigation signal lamp 68, the stainless steel pipe of D32 can be adopted to the middle part support frame, this kind of setting is except having the effect that the structure is strengthened, still is convenient for be located the installation that the control personnel bench back was driven to the passenger boat under mast mechanism 6.
Flange bases are welded at the bottoms of the main support 61 and the auxiliary support 62, the auxiliary support 62 extends and is fixed in the direction away from the main support 61, auxiliary support for the main support 61 is achieved, and the auxiliary support 62 can serve as a handrail of a seat backrest of a boat driver and control personnel under the mast mechanism 6 and a support of a boat driving device panel.
The masthead equipment mainly comprises a navigation radar and an optical aiming nacelle (video screen monitoring) which are arranged on a middle support frame; a communication antenna, a meteorological observation device, a loudspeaker and the like are arranged on the pipe backup plate; the end box bodies at the two ends of the horizontal mast pipe are provided with a GPS/Beidou navigation antenna, a navigation signal lamp, a millimeter wave radar and the like.
In this embodiment, the catamaran unmanned ship further comprises a guardrail assembly 8, the guardrail assembly 8 comprises guardrail transverse pipes 81 and guardrail upright posts 82 fixed on the force bearing truss mechanism 2, the guardrail transverse pipes 81 are sequentially connected end to form a U-shaped structure 83 with one open end, a guardrail upright post 82 used for supporting the guardrail transverse pipe 81 is arranged at the joint of each guardrail transverse pipe 81, and the end parts of the U-shaped structures 83 are also supported by the guardrail upright posts 82.
The hull force-bearing truss mechanism 2 is provided with 10 fixed flange hole groups (4 groups are respectively arranged on the two main longitudinal beams 21, and 2 groups are arranged on the first main cross beam 22) for fixing the guardrail posts 82, and a user can install the guardrail posts 82 at the positions and install the guardrail transverse pipes 81. The guardrail posts 82 of different heights can be selected for different needs of the boat for carrying people or goods. If the article carrying is mainly used, the height of the guardrail can be 500mm, and a stainless steel pipe with the diameter of 32mm and special pipe fittings for the guardrail (straight pipe stand feet, pipe corner connecting pieces with pins, pipe three-way connecting pieces with pins, pipe four-way connecting pieces with pins and the like) are selected to manufacture the guardrail transverse pipe 81 and the guardrail upright post 82. If the boat is mainly carried by people, the height of the guardrail posts 82 can be chosen to be 860mm or 1200mm, but is not limited to the above size.
If the boat needs to be equipped with the canopy assembly 84, long upright pipes (such as 1800mm in height) can be used at the preset positions of the guardrail posts 82 and are matched with corresponding cross rods, diagonal draw bars, tensioning ropes and rain-proof cloth for manufacturing.
In the present embodiment, the hull deck 27 is substantially mainly composed of the power management module, the battery module, and the upper covers of the functional cabins. The top surfaces of the modules and the upper cover of the cabin body are all designed to be antiskid with decorative patterns. The deck 27 is made of an antirust aluminum alloy plate with the thickness of 4-6 mm, and can meet the requirements of the passengers on the boat for standing, transferring goods and materials and the packing boxes for the deck strength.
In this embodiment, the first main cross beam 22, the second main cross beam 23, and the second auxiliary longitudinal beam 26 form 6 functional grids, the front part and the rear part of the force-bearing truss mechanism 2 are respectively 3, these 6 grids can be used as functional cabins for configuring required articles, each functional cabin adopts a rust-proof aluminum alloy three-proof housing, and the appearance is an upper cover with an anti-skid plate and a rectangular caisson. And power supply and communication waterproof connectors can be arranged in each box body according to requirements, and cables can be laid in advance. The specific configuration can be as follows:
(1) the front middle grid can be provided with a navigation control box and a uncovered sinking groove for passengers to sit and fall feet;
(2) the front left and right grids can be provided with tool boxes which can be opened and closed upwards and used for containing sailing maintenance instruments, tools, materials and the like;
(3) the back middle part grid can be provided with an equipment box which can be opened upwards to place navigation lifesaving equipment, such as an inflatable life buoy, a life jacket, a fresh water bottle, medicines and the like.
(4) The equipment box of the screw fixed cover plate can be installed on the back left and right grids (therefore, the thruster is installed at the position, and the actual use space is small), and detection instruments, power converters, lighting tools, detection materials, consumable materials and the like which are required to be assembled by users due to navigation tasks can be installed and used.
In this embodiment, unmanned ship has designed three kinds of use configurations according to each item requirement to the hull that surface navigation, pier mooring, the into-and-out water of handling by crane, slipway maintenance, land transportation and warehouse deposit: navigation configuration, maintenance configuration and storage and transportation configuration. The main difference of each configuration is the conversion of the postures and the positions of components such as an air bag floater, an electric propeller, a mast and the like, and the method specifically comprises the following steps:
one, sailing configuration
The structure is used for hoisting the unmanned boat body to go out of water and sail on the water surface of the unmanned boat. The configuration is a complete configuration of the unmanned ship and is mainly characterized in that:
(1.1) the floater air bag mechanism 1 is firmly bound on the bearing truss mechanism 2 after being inflated;
(1.2) the mast mechanism 6 is well installed and fixed, the mast top equipment is well installed and fixed, and the power and communication cables of the mast top equipment are well connected;
(1.3) the course propeller 4 and the navigational speed propeller 5 are installed and fixed, and each propeller is in a vertical falling state;
(1.4) firmly installing each battery module and each functional cabin of the unmanned ship in a corresponding groove (grid) on the bearing truss mechanism 2 and keeping the battery module and the functional cabins in a good state;
and (1.5) the navigation control box 9 controls the power supply circuit breaker to be closed, and the systems and functional units for boat navigation control, propulsion, navigation, communication, perception and the like are electrified and in a good state.
(1.6) boat sailing accessories (cables, harnesses, arm-rests (14), etc.) are prepared and put in place.
Second, maintenance configuration
This configuration mainly used unmanned ship land is deposited in short term, daily maintenance, battery module charge etc. and the suggestion is settled unmanned ship hull at special keel block. The configuration is mainly characterized in that:
(2.1) the float airbag mechanism 1 is kept in an inflated bundling state on the bearing truss mechanism 2;
(2.2) the mast mechanism 6 and each structural component fixed on the mast mechanism 6 are in a fixed and use standby state;
(2.3) the course thruster 4 and the navigational speed thruster 5 are in a vertical and uplifted state, the bottom of each thruster propeller is higher than the bottom of the floater air bag mechanism 1 (without touching the ground), and each thruster can perform trial operation (the propellers and the steering engine temporarily act) at any time;
(2.4) the charging function of each battery module of the unmanned ship is turned on, and shore power (or other power sources) can be used for charging each battery module at any time;
and (2.5) each device in the boat navigation control box is in a standby state and can be started at any time.
Storage and transportation structure
The configuration is mainly used for transportation of unmanned boats by using land-based transportation tools with limited sizes and storage requirements in indoor storage environments. When the unmanned ship is converted from a sailing or maintenance configuration to the configuration, the unmanned ship hull is suggested to be placed on the special keel block, and the main configuration characteristics are as follows:
(3.1) powering off and closing all equipment in the boat navigation control box 9, and disconnecting the external connection cable of the navigation control box and a power supply and distribution power supply breaker;
(3.2) after the two float air bag mechanisms 1 of the boat are disassembled and deflated, the air bag mechanisms, the air pump, the leaning ball (14), the mooring rope and the like are placed in a special storage and transportation box body;
(3.3) the propellers of the boat are integrally detached and placed in a special storage and transportation box body;
(3.4) detaching the components such as the guardrail component 8, the rain-proof shed and the like which are selectively assembled on the boat, and placing the detached components in a special storage and transportation box body;
(3.5) the fixing bolts at the bottom of the mast mechanism 6 are released, the mast mechanism 6 is laid on the boat deck 27 and is cushioned by square timber to avoid collision, and all devices of the mast top can be detached as required, packaged and stored respectively, and necessary marking and protection measures are taken.
And (3.6) if the boat body needs to be sealed and stored for a long time, each battery module can be detached and placed in a special storehouse, and the lithium battery maintenance operation can be carried out regularly.
The unmanned boat hull truss and the laid down mast mechanism 6in the storage and transportation state have the external space dimension smaller than the external dimension of a national standard 20-foot container, and can be transported by using a common freight vehicle. Wherein the international standard 20 feet container external dimensions are (length x width x height): 6.1m × 2.44m × 2.59m (20ft × 8ft × 8ft6 in).
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims (10)

1. A double-body unmanned ship is characterized by comprising a float airbag mechanism (1), a force-bearing truss mechanism (2), a power supply and distribution management device (3), a course propeller (4), a navigational speed propeller (5) and a mast mechanism (6), wherein the upper part of the force-bearing truss mechanism (2) is fixedly connected with the mast mechanism (6), the lower part of the force-bearing truss mechanism is detachably connected with the float airbag mechanism (1), the power supply and distribution management device (3) is nested in the force-bearing truss mechanism (2) for fixation, the course propeller (4) and the navigational speed propeller (5) are respectively arranged at two opposite ends of the force-bearing truss mechanism (2), and the power supply and distribution management device (3) is used for supplying power to the course propeller (4) and the navigational speed propeller (5);
course propeller (4) and navigational speed propeller 5 all include steering wheel supporting seat (41) of fixing on force-bearing truss mechanism (2), telex steering wheel (42) are installed to the top dismantlement formula of steering wheel supporting seat (41), telex steering wheel's (42) below is rotated and is connected with jib (43), advancing mechanism (44) under water is installed to the bottom of jib (43).
2. The catamaran unmanned ship of claim 1, wherein the force-bearing truss mechanism (2) comprises a main longitudinal beam (21), a first main cross beam (22), a second main cross beam (23), an auxiliary cross beam (24), a first auxiliary longitudinal beam (25) and a second auxiliary longitudinal beam (26), the main longitudinal beam (21) and the first main cross beam (22) are sequentially connected end to form a rectangular frame, a deck (27) is laid on the rectangular frame, and two ends of the two second main cross beams (23) are respectively fixedly connected with the main longitudinal beams (21) which are arranged oppositely;
four first auxiliary longitudinal beams (25) are arranged in a middle space formed by two second main transverse beams (23), two ends of each first auxiliary longitudinal beam are fixedly connected with the second main transverse beams (23) respectively, two auxiliary transverse beams (24) are arranged in a middle space formed by the two second main transverse beams (23), two ends of each first auxiliary longitudinal beam are fixedly connected with the main longitudinal beams (21) respectively, two second auxiliary longitudinal beams (26) are arranged in a side space formed between the first main transverse beam (22) and the adjacent second main transverse beam (23), two ends of each second auxiliary longitudinal beam (26) are fixedly connected with the first main transverse beam (22) and the second main transverse beam (23) respectively, and the inner part of the rectangular support frame is divided into a plurality of grids through the second main transverse beam (23), the first auxiliary longitudinal beams (25) and the second auxiliary longitudinal beams (26).
3. The catamaran unmanned ship of claim 2, characterized in that the number of said cells is 19, 4 non-functional cells for laying a deck (27) are formed between a first secondary stringer (25) and an adjacent primary stringer (21), the intermediate space is divided into 9 functional cells by a secondary transverse beam (24) and the first secondary stringer (25), and the power supply and distribution management device (3) is nested in the 9 cells;
and far-lifting stress rings (28) for lifting the twin-hull unmanned ship are respectively fixed at two ends of the second main cross beam (23), and fastening assemblies (7) for fixing the float air bag mechanism (1) are respectively arranged at four corners of the rectangular frame and the connection part of the second main cross beam (23) and the main longitudinal beam (21).
4. The twin unmanned boat according to claim 3, wherein the float airbag mechanism (1) comprises an airbag (11), a strapping (12) and a lifting ring (13), the lifting ring (13) is fixed below the main longitudinal beam (21), one end of the strapping (12) is fixedly connected with the lifting ring (13), and the other end of the strapping (12) bypasses the airbag (11) and is fixedly connected with the tightening assembly (7);
the tightening assembly (7) comprises a base (75) and a tape winding shaft (71) rotatably connected with the base (75), and a power part for driving the tape winding shaft (71) to rotate and a ratchet locking part for locking or releasing the tape winding shaft (71) are arranged in the base (75); the tape winding shaft (71) comprises a tape winding section (713), an inserting hole (714) is formed in the tape winding section (713), and a reel gear (711) and a ratchet wheel mounting shaft (716) are respectively arranged at two ends of the tape winding section (713);
the power part comprises a steering gear shaft (72) which is rotationally connected with the base (75), a driving gear (722) is arranged on the steering gear shaft (72), the driving gear (722) is meshed with the scroll gear (711), and one end of the steering gear shaft (72) extends to the outside of the base (75) to form a rotating seat (721).
5. The catamaran unmanned ship of claim 4, wherein the base (75) comprises a belt winding groove (751), a power box (752) and a ratchet box (753) which are arranged at two ends of the belt winding groove (751), one end of the belt winding shaft (71) close to the power box (751) is provided with a first bearing section (712), the first bearing section (712) is connected with the wall plate of the power box (751) through a bearing, one end of the belt winding shaft (71) close to the ratchet box (753) is provided with a second bearing section (715), the second bearing section (715) is connected with the wall plate of the ratchet box (753) through a bearing, the top end of the rotating seat (721) is provided with an inner hexagonal sleeve hole, and the rotating seat (721) is rotatably connected with the base (75) through a first cover plate (76);
the lower end of the driving gear (722) is coaxially provided with a supporting shaft (723), and the supporting shaft (723) is rotatably connected with the base (75);
ratchet hasp portion include with ratchet installation axle (716) fixed connection's ratchet (73), be equipped with on base (75) with ratchet (73) complex anticreep hasp (74).
6. The catamaran unmanned ship of claim 5, wherein the anti-release lock (74) comprises a lock body (741), the lock body (741) is rotatably connected to the base (75) through a rotation shaft (743), one end of the lock body (741) is provided with ratchet teeth (742) cooperating with the ratchet wheels (73), one end of the lock body (741) far away from the ratchet teeth (742) is a release handle (744), and a compression spring (745) is arranged between a lower end of the release handle (744) and the base (75);
the utility model discloses a take-up reel (71) is equipped with ratchet installation axle (716) of rectangle structure, seted up in ratchet (73) with ratchet installation axle (716) cooperation rectangle through-hole, ratchet installation axle (716) outside is equipped with fender circle section (717), the fender circle section (717) go up the cup jointed plain washer and the axle circlip, keep off circle section (717) outside be equipped with second apron (77) of connection can be dismantled in base (75).
7. The catamaran unmanned ship of claim 1, wherein the course thruster (4) and the cruise thruster 5 further comprise a folding fixing device (45), and the folding fixing device (45) comprises a sliding bearing sleeve (451) movably sleeved outside the suspension rod (43) and a suspension rod (43) supporting seat fixedly connected with the sliding bearing sleeve (451);
the steering engine supporting seat (41) comprises a pair of lower steering engine supporting seats (411) and a pair of upper steering engine supporting seats (41); the lower steering engine supporting seats (411) are symmetrically fixed on a stern cross beam of the boat, and the upper steering engine supporting seat (41) is hinged with the lower steering engine supporting seats (411) through a hinge shaft (413); a posture correcting positioning pin (414) is further arranged between the lower steering engine supporting seat (411) and the upper steering engine supporting seat (41);
the top of the upper sheet steering engine supporting seat (41) is provided with a locking clamping groove (415), and the bottom of the locking clamping groove (415) is provided with a threaded hole; the upper plate steering engine supporting seat (41) is connected with the electric transmission steering engine (42) through a threaded hole.
8. The catamaran unmanned ship of claim 7, wherein the fly-by-wire steering engine (42) comprises a chassis (421) fixed above a steering engine support seat (41), a driving mechanism is mounted on the top of the chassis (421), and an output end of the driving mechanism is connected with the suspension rod (43) through a ring gear reducer (422);
the electric steering engine (42) further comprises a steering flange (423) sleeved on the suspension rod (43), the steering flange (423) penetrates through the chassis (421) and the ring gear reducer (422), and the steering flange (423), the chassis (421) and the ring gear reducer (422) are coaxially arranged; the steering flange (423) comprises a flange plate section (4231), a shaft sleeve section (4232) and a synchronous pulley section (4233); the synchronous pulley section (4233) is positioned at the top of the ring gear reducer (422), the synchronous pulley section (4233) is sleeved with a synchronous pulley (424), and a rudder angle sensor (425) is arranged in the synchronous pulley (424);
the driving mechanism comprises a propeller direct current servo motor driver (427) and a steering engine stepping motor driver (428);
a pair of chassis positioning lugs (429) are symmetrically fixed on two sides of the chassis (421), and the sizes of the chassis positioning lugs (429) are matched with the size of the locking clamping groove (415); the chassis positioning lug (429) is connected with the upper sheet steering engine supporting seat (41) through a locking bolt (46);
a first connecting hole (47) is formed in the peripheral side of the lower portion of the shell (426), a second connecting hole (48) matched with the first connecting hole (47) is formed in the peripheral side of the side wall of the chassis (421), and shell mounting screws (49) of the shell (426) penetrate through the first connecting hole (47) and the second connecting hole (48); the shell (426) and the chassis (421) are connected into a whole through a shell mounting screw (49) of the shell (426);
threaded holes are correspondingly formed in the chassis (421) and the ring gear reducer (422), and reducer mounting screws (50) penetrate through the threaded holes;
the hanger rod (43) supporting seat comprises a pair of symmetrically arranged bow seats (452), and one end of each bow seat (452) is fixed with a fixing screw rod (454) with a handle (455).
9. The catamaran unmanned ship of claim 2, wherein the mast mechanism (6) comprises a main bracket (61), a secondary bracket (62), a navigation radar (63), an optical aiming pod (64), a GPS/Beidou antenna (65), a millimeter wave radar (66), a communication antenna (67) and a navigation signal lamp (68), the navigation radar (63), the optical aiming pod (64), the GPS/Beidou antenna (65), the millimeter wave radar (66), the communication antenna (67) and the navigation signal lamp (68) are all fixed on the main bracket (61), one end of the secondary bracket (62) is fixedly connected with the main bracket (61), the other end of the secondary bracket is fixedly connected with the first main beam (22), and the main bracket (61) is fixedly connected with the second main beam (23) at the bottom close to the secondary bracket (62).
10. The catamaran unmanned ship according to claim 3, further comprising a guardrail assembly (8), wherein the guardrail assembly (8) comprises guardrail transverse pipes (81) and guardrail upright posts (82) fixed on the force bearing truss mechanisms (2), the guardrail transverse pipes (81) are sequentially connected end to form a U-shaped structure (83) with one open end, a guardrail upright post (82) used for supporting the guardrail transverse pipes (81) is arranged at the joint of each guardrail transverse pipe (81), and the end parts of the U-shaped structure (83) are also supported by the guardrail upright posts (82);
a rain shelter component (84) is arranged in an extending manner in the direction of a guardrail upright post (82) fixedly arranged on the first main cross beam (22) far away from the bearing truss mechanism (2).
CN202011568824.0A 2020-12-25 2020-12-25 Double-body unmanned boat Active CN112572706B (en)

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CN206031736U (en) * 2016-08-18 2017-03-22 苏州市阿尔帕斯动力机械有限公司 Outboard engine
US20170106950A1 (en) * 2015-10-16 2017-04-20 Jon Khachaturian Floating catamaran production platform
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CN109606577A (en) * 2018-12-03 2019-04-12 江苏科技大学 A kind of marine environmental monitoring green energy resource small-waterplane-area binary unmanned boat
CN110304192A (en) * 2019-05-31 2019-10-08 北京航天控制仪器研究所 A kind of novel unmanned double-body target ship
CN210618399U (en) * 2019-08-28 2020-05-26 广东海洋大学 Long-endurance unmanned intelligent cruise monitoring catamaran
CN210653541U (en) * 2019-10-29 2020-06-02 北京南风科创应用技术有限公司 Modularized double-body unmanned boat

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4562786A (en) * 1984-03-27 1986-01-07 Pruonto Gene M Collapsible pontoon boat
US20050098077A1 (en) * 2003-07-18 2005-05-12 George Blaisdell Pontoon boat
US20070197107A1 (en) * 2006-01-30 2007-08-23 Lee Bruce R Trolling motor device
CN103253349A (en) * 2013-04-19 2013-08-21 上海海洋大学 Multifunctional unmanned-boat twin-hull boat structure
CN104174128A (en) * 2014-08-11 2014-12-03 国家电网公司 Telegraph pole operation safety belt
US20170106950A1 (en) * 2015-10-16 2017-04-20 Jon Khachaturian Floating catamaran production platform
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CN210653541U (en) * 2019-10-29 2020-06-02 北京南风科创应用技术有限公司 Modularized double-body unmanned boat

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Application publication date: 20210330

Assignee: Hefei Manta Intelligent Technology Co.,Ltd.

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Denomination of invention: A catamaran unmanned craft

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