CN112758278A - Rapid dismounting's unmanned ship test platform of binary - Google Patents
Rapid dismounting's unmanned ship test platform of binary Download PDFInfo
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- CN112758278A CN112758278A CN202011568839.7A CN202011568839A CN112758278A CN 112758278 A CN112758278 A CN 112758278A CN 202011568839 A CN202011568839 A CN 202011568839A CN 112758278 A CN112758278 A CN 112758278A
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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
- B63B79/00—Monitoring properties or operating parameters of vessels in operation
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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
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/02—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement
- B63B1/10—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls
- B63B1/12—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly
- B63B1/121—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly comprising two hulls
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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
- B63B3/00—Hulls characterised by their structure or component parts
- B63B3/14—Hull parts
- B63B3/26—Frames
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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
- B63B7/00—Collapsible, foldable, inflatable or like vessels
- B63B7/06—Collapsible, foldable, inflatable or like vessels having parts of non-rigid material
- B63B7/08—Inflatable
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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
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/02—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement
- B63B1/10—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls
- B63B1/12—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly
- B63B1/121—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly comprising two hulls
- B63B2001/123—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly comprising two hulls interconnected by a plurality of beams, or the like members only
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- Fluid Mechanics (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
The invention discloses a quickly-disassembled and assembled double-body unmanned ship test platform which comprises a floater air bag mechanism, a force-bearing truss mechanism, a power supply and distribution management device, a course propeller and a speed propeller, wherein the upper part of the force-bearing truss mechanism is fixedly connected with the power supply and distribution management device, the lower part of the force-bearing truss mechanism is detachably connected with the floater air bag mechanism, 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 unmanned ship test platform has the characteristics of light weight, large using deck area, large reserve buoyancy, flexible configuration of functional devices, simple, safe and reliable navigation control operation, strong environmental applicability and the like, and meets the requirements of ships under various using and maintaining environmental conditions.
Description
Technical Field
The invention relates to the technical field of unmanned boats, in particular to a quickly-disassembled and assembled double-body unmanned boat test platform.
Background
The unmanned boat has wide application in the sea, and can be used for marine environment investigation, sea condition investigation, hydrological information acquisition, fishery detection and the like in the civil aspect; in the aspect of military, the method can be used for information collection, enemy ship positioning and the like. According to different tasks, the unmanned ship is provided with different equipment and instruments and executes the tasks along with the ship sailing.
Some unmanned boats mostly adopt a monohull boat, mainly on the water surface or semi-submersible, and use diesel oil as main power, and after equipment is prepared, the weight of a boat body is increased, so that the stable form of the monohull boat is poor, and the cruising ability is limited; difficult to maintain and can not meet the requirement of the complex ocean-going sea area for the permanent task.
Disclosure of Invention
Based on the technical problems in the background art, the invention provides a quickly-disassembled double-body unmanned boat test platform which is light in weight, convenient to disassemble, assemble and maintain and suitable for requirements of boats under various using and maintaining environmental conditions.
The invention provides a quickly-disassembled and assembled double-body unmanned ship test platform which comprises a floater air bag mechanism, a force-bearing truss mechanism, a power supply and distribution management device, a course propeller and a speed propeller, wherein the force-bearing truss mechanism is fixedly connected with the power supply and distribution management device, the lower part of the force-bearing truss mechanism is detachably connected with the floater air bag mechanism, 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.
Furthermore, the bearing truss mechanism comprises a main longitudinal beam, a first main cross beam and a second main cross beam, the main longitudinal beam and the first main cross beam are sequentially connected end to form a rectangular frame, two ends of the second main cross beam are respectively fixedly connected with the main longitudinal beams which are arranged mutually, an intermediate space formed by the two second main cross beams and the main longitudinal beams which are arranged mutually is used for fixing a deck, and a power supply and distribution management device and a navigation control box are fixedly arranged on the deck.
Further, the bearing truss mechanism further comprises an auxiliary cross beam, a first auxiliary longitudinal beam and a second auxiliary longitudinal beam, the auxiliary cross beam is arranged between the two second main cross beams, two ends of the auxiliary cross beam are respectively fixedly connected with the main longitudinal beams which are arranged mutually, the first auxiliary longitudinal beam is arranged in a side space formed between the first main cross beam and the adjacent second main cross beam, one end of the first auxiliary longitudinal beam is fixedly connected with the first main cross beam, the other end of the first auxiliary longitudinal beam is fixedly connected with the second main cross beam, the second auxiliary longitudinal beam is arranged in the middle space, and two ends of the second auxiliary longitudinal beam are respectively fixedly connected with the second main cross beam which is arranged relatively.
Furthermore, the two ends of the second main cross beam are respectively fixed with a far-hanging stress ring for hanging the bearing truss mechanism, and the four corners of the rectangular frame and the connection part of the second main cross beam and the main longitudinal beam are respectively provided with a tightening assembly for fixing the float airbag mechanism.
Furthermore, the float air bag mechanism comprises an air bag and a strapping tape, the tightening assembly comprises a hanging ring and a pressing plate, the hanging ring is fixed below the main longitudinal beam, the pressing plate is fixedly connected with 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 pressing plate.
Furthermore, the floater air bag mechanism further comprises a leaning ball which is arranged in a clamping space formed by the air bag, the main longitudinal beam and the hanging ring.
Furthermore, the course propeller and the navigational speed propeller respectively comprise a support bow seat, an underwater propulsion assembly and a steering engine for driving the underwater propulsion assembly to operate, and the support bow seat and the steering engine are fixed on the first main cross beam.
Furthermore, still fixedly on the first main beam be provided with the supporting component who is used for fixed steering wheel, supporting component includes support frame and the positioning disk that is used for fixed steering wheel, and the one end of two support frames is fixed to be set up on first main beam, the other end and positioning disk fixed connection, and the output of steering wheel passes the positioning disk and advances subassembly fixed connection through the propeller jib and under water.
Furthermore, the bearing truss mechanism is further provided with a main guardrail component and an auxiliary guardrail component, the two auxiliary guardrail components are arranged on two sides of the main guardrail component, and the main guardrail component and the auxiliary guardrail component are fixedly connected with the bearing truss mechanism.
Furthermore, the main guardrail assembly comprises main guardrail stand columns and main guardrail transverse pipes, the main guardrail stand columns are sequentially arranged and fixedly connected with the deck, and the main guardrail transverse pipes are fixedly connected with the upper ends of the main guardrail stand columns; the auxiliary guardrail component comprises auxiliary guardrail stand columns and auxiliary guardrail transverse pipes, the auxiliary guardrail stand columns are sequentially arranged and fixedly connected with the deck, and the auxiliary guardrail transverse pipes are fixedly connected with the upper ends of the auxiliary guardrail stand columns.
The rapid dismounting double-body unmanned ship test platform provided by the invention has the advantages that: the rapid-dismounting twin-hull unmanned ship test platform provided by the structure of the invention has the characteristics of light weight of a ship body, large using deck area, large reserve buoyancy, flexible configuration of functional devices, simple, safe and reliable navigation control operation, strong environmental applicability and the like; the unmanned ship test platform has the advantages that large-size parts of the main structure of the unmanned ship test platform can be quickly disassembled and assembled, the structural strength of the ship body bearing truss is enhanced, the power supply capacity and safety design of the ship are expanded, the reconfigurability of test task functional parts and the operation convenience design of ship passengers are increased, and therefore 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 structure of a heading thruster and a speed thruster;
FIG. 6 is a schematic structural view of the primary and secondary barrier assemblies;
wherein, 1-float air bag mechanism, 2-force bearing truss mechanism, 3-power supply and distribution management device, 4-course propeller, 5-navigational speed propeller, 6-navigation control box, 7-L-shaped part joint, 8-T-shaped part joint, 11-air bag, 12-strapping tape, 13-ball, 21-main longitudinal beam, 22-first main beam, 23-second main beam, 24-deck, 25-auxiliary beam, 26-first auxiliary longitudinal beam, 27-second auxiliary longitudinal beam, 28-remote stress ring, 29-fastening component, 30-main guardrail component, 31-auxiliary guardrail component, 41-support bow seat, 42-underwater propulsion component, 43-steering engine, 44-support component, 45-propeller suspender, 46-steering flange, 291-lifting ring, 292-pressing plate, 301-main handrail upright post, 302-main handrail transverse tube, 311-auxiliary handrail upright post, 312-auxiliary handrail transverse tube, 441-supporting frame, 442-positioning plate and 443-thickening block.
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.
As shown in fig. 1 to 6, the quickly disassembled and assembled twin-hull unmanned ship test platform provided by the invention comprises a float air bag mechanism 1, a force-bearing truss mechanism 2, a power supply and distribution management device 3, a course propeller 4 and a navigational speed propeller 5, wherein the force-bearing truss mechanism 2 is fixedly connected with the power supply and distribution management device 3, the lower part of the force-bearing truss mechanism is detachably connected with the float air bag mechanism 1, and the course propeller 4 and the navigational speed propeller 5 are respectively arranged at two opposite ends of the force-bearing truss mechanism 2.
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 main guardrail assembly 30 and the auxiliary guardrail assembly 31 are fixedly installed on the bearing truss mechanism 2, a GPS/Beidou antenna, a communication antenna, a navigation collision avoidance radar and other necessary device equipment are arranged on the guardrails, and the navigation control box 6 is respectively connected and fixed with the bearing truss mechanism 2 and the main guardrail assembly 30. 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 length of the boat is 5 meters and the width of the boat is 2.7 meters under the sailing state, the total weight is about 350kg, the maximum displacement is 700kg, the draft is about 0.2 meter, the economic sailing speed is about 6 knots, and the maximum cruising power is 12 hours.
In this embodiment, the force-bearing truss mechanism 2 includes a main longitudinal beam 21, a first main cross beam 22 and a second main cross beam 23, the main longitudinal beam 21 and the first main cross beam 22 are sequentially connected end to form a rectangular frame, two ends of the second main cross beam 23 are respectively fixedly connected with the main longitudinal beams 21 that are arranged mutually, an intermediate space formed by the two second main cross beams 23 and the main longitudinal beams 21 that are arranged mutually is used for fixing a deck 24, and the power supply and distribution management device 3 and the aviation case are fixedly arranged on the deck 24. The force-bearing truss mechanism 2 further comprises an auxiliary cross beam 25, a first auxiliary longitudinal beam 26 and a second auxiliary longitudinal beam 27, the auxiliary cross beam 25 is arranged between the two second main cross beams 23, two ends of the auxiliary cross beam are respectively fixedly connected with the main longitudinal beams 21 which are arranged mutually, the first auxiliary longitudinal beam 26 is arranged in a side space formed between the first main cross beam 22 and the adjacent second main cross beam 23, one end of the first auxiliary longitudinal beam 26 is fixedly connected with the first main cross beam 22, the other end of the first auxiliary longitudinal beam is fixedly connected with the second main cross beam 23, the second auxiliary longitudinal beam 27 is arranged in a middle space, and two ends of the second auxiliary longitudinal beam 27 are respectively fixedly connected with the second main cross beams 23 which are arranged oppositely.
The bearing truss mechanism 2 uses a medium-grade 40x80 aluminum alloy section and a 6mm aluminum alloy plate as main structural materials, the upper longitudinal beam, the cross beam, the deck 24 and a battery box of a power supply and distribution management device form a single-layer latticed truss structure, the connection relations among the upper longitudinal beam, the cross beam and the deck can be connected through bolts, the detachability of the whole device is improved, and therefore the integrally formed bearing truss mechanism 2 can achieve larger structural stress strength with lighter weight.
In this embodiment, the force-bearing truss mechanism 2 forms a frame through the main longitudinal beam 21, the first main cross beam 22, the second main cross beam 23, the deck 24, the auxiliary cross beam 25, the first auxiliary longitudinal beam 26, and the second auxiliary longitudinal beam 27 and divides the frame into 14 functional grids, wherein four grids in the middle of the middle space are used for installing battery boxes of a power supply and distribution management device, 4 battery boxes are respectively nested in 4 grids, the deck 24 is used as an upper cover, all battery boxes are arranged in a sealed box formed by the grids, other four grids in the middle space are used for assisting in laying the deck 24, a clamping plate is laid in the whole middle space, and six grids in other side spaces are left vacant when no task is configured. Wherein the arrangement of the first secondary stringers 26 provides support for the cabling. The deck 24 adopts the antiskid design of taking the decorative pattern, chooses 4 ~ 6mm thick aluminum alloy sheet processing preparation for use, can satisfy the requirement of getting on the boat passenger stand, transporting goods and materials and its packing box to 24 intensity on deck.
Because set up two second main transverse beam 23, therefore second main transverse beam 23 can form two side spaces rather than adjacent first main transverse beam 22, all sets up two first auxiliary longerons 26 in every side space, carries out functional meshing to the side space to reserve, improve whole load truss mechanism 2's structural firmness and stability simultaneously.
The rectangular frame formed by sequentially connecting the main longitudinal beam 21 and the first main cross beam 22 in an ending way is an important structural component for connecting the force-bearing truss mechanism 2 with the float air bag mechanism 1, bundling the air bags 11, uniformly distributing the stress of the whole device, fixedly connecting the deck 24 and the like.
In a rectangular frame formed by sequentially connecting the main longitudinal beam 21 and the first main cross beam 22 in an ending manner, the connecting position of the main longitudinal beam 21 and the first main cross beam 22 is called as an L-shaped part connecting part 7, which is a stress concentration position of the bearing truss mechanism 2 for bearing the thrust of the boat in all directions, and is also a local stress highest position when the first main cross beam 22 is disassembled and assembled, aluminum alloy strip plate workpieces can be used at the connecting part to form a clamping groove structure, a high-strength all-direction stress structure can be provided for the connection of the main longitudinal beam 21 and the first main cross beam 22, and possible destructive structural stress is reduced in a clamping groove inserting and pulling manner when the main longitudinal beam 21 and the first main cross beam 22 are. This position is also the binding point of the force-bearing truss mechanism 2 and the air bag 11.
Specifically, the connecting position of the main longitudinal beam 21 and the second main cross beam 23 is called as a T-shaped part connecting part 8, which is the most concentrated stress and highest strength position of the boat structure, and an aluminum alloy strip plate workpiece is used for forming a clamping groove structure, so that a high-strength all-directional stress structure can be provided for the connection of the main longitudinal beam 21 and the second main cross beam 23, and the disassembly and the assembly are convenient. And 4 hoisting distance stress rings 28 are arranged slightly towards the middle of the position, so that a safe hoisting point can be provided for the hull hoisting by using a flexible hoisting belt. The position is also the binding point of the bearing truss mechanism 2 and the float airbag mechanism 1. The binding point of the float airbag mechanism 1 and the force-bearing truss mechanism 2 is also used as a binding point at the four-corner connection of the hull rectangular frame in addition to the position of the injury, and a binding assembly 29 for fixing the float airbag mechanism 1 is arranged at the binding point.
In this embodiment, the float airbag mechanism 1 includes an airbag 11 and a binding band 12, the tightening assembly 29 includes a hanging ring 291 and a pressing plate 292, the hanging ring 291 is fixed below the main longitudinal beam 21, the pressing plate 292 is fixedly connected to the main longitudinal beam 21, one end of the binding band 12 is fixedly connected to the hanging ring 291, and the other end of the binding band is fixedly connected to the pressing plate 292 by bypassing the airbag 11.
The float air bag 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 isolated air chamber and a rear isolated air chamber are respectively arranged, the air bags of the two isolated 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 291 and the main longitudinal beam 21, the leaning balls 13 are arranged in the clamping space formed by the airbag 11, the main longitudinal beam 21 and the hanging ring 291, and the airbag 11 is protected and installed to a certain extent through the arrangement of the leaning balls 13, so that the service life of the airbag 11 is prolonged.
In this embodiment, a heading thruster 4 and two speed thrusters 5 are provided, the heading thruster 4 is fixedly disposed on the first main beam 22, the other two speed thrusters 5 are disposed on the same first main beam 2, the heading thruster 4 is mainly used for heading control, and the speed thrusters 5 are mainly used for speed control.
The heading propeller 4 and the navigational speed propeller 5 are similar in structure and respectively comprise a support bow seat 41, an underwater propulsion assembly 42 and a steering engine 43 for driving the underwater propulsion assembly 42 to operate, and the support bow seat 41 and the steering engine 43 are fixed on the first main cross beam 22. The first main cross beam 22 is further fixedly provided with a supporting assembly 44 used for fixing the steering engine 43, the supporting assembly 44 comprises a supporting frame 441 and a positioning disc 442 used for fixing the steering engine 43, one end of each supporting frame 441 is fixedly arranged on the first main cross beam 22, the other end of each supporting frame 441 is fixedly connected with the positioning disc 442, and the output end of the steering engine 43 penetrates through the positioning disc 442 and is fixedly connected with the underwater propulsion assembly 42 through a propeller suspender 45.
The support frames 441 are fixed with the first main cross beam 22, a thickening block 443 is arranged between the two support frames 441, the thickening block is attached and fixed with the first main cross beam 22, and the thickening block is mainly used for mounting the heading propeller 4/the navigational speed propeller 5 and bearing the uniform transmission of the thrust of each propeller to the hull.
The underwater propulsion assembly 42, the propeller suspender 45, the steering flange 46 and the steering engine 43 are connected into a whole, the propulsion force is transmitted to the force-bearing truss mechanism 2 through the propeller suspender 4 and the support bow seat 41, and the support frame 441 is connected with the positioning disc 442 through bolts so as to counteract the reaction force of steering of the steering engine 43.
The course propeller 4 and the navigational speed propeller 5 are subjected to closed-loop control through a communication network (CAN/RS485) by using a boat navigation control computer, and the working states of the boat navigation control computer are monitored in real time.
The navigation control computer controls the rotating speed of the propeller of the underwater propulsion assembly 42 through the output voltage signal, and the propulsion force of the navigation control computer is fed back through the control effect of the navigation speed and the acceleration in each direction output by the boat inertial navigation device to form a navigation speed control closed loop.
The rudder angle sensor installed in the steering engine 43 can detect the rotation angle of the propeller suspender 45, and after the rotation angle signal is transmitted to the navigation control computer, the closed-loop feedback control of the underwater propulsion assembly 42 in the propulsion direction is realized by controlling the driver of the steering engine 43.
The cooperative combination of 3 propellers (1 course propeller and 2 speed propellers) on the boat can realize the flexible vector propulsion control effect, and the high-precision satellite navigation signal and the boat position navigation state signal output by the inertial navigation device are used as feedback, so that the water surface super-maneuvering navigation actions such as position and heading maintenance in a dynamic water environment, no preset transverse movement, in-situ rotation, no deceleration course change, wharf berth conversion in a super-small area and the like can be realized.
Through reliability and economic analysis, 3 propellers of unmanned ship can adopt manual operation to realize its posture switching operation's that falls down the lifting on the ship, lay down and erect scheme. When each propeller is vertically dropped and locked, the propeller is in a sailing propulsion state; when the boat body and the boat berth are parked for overhauling and maintaining the room, each propeller can be vertically lifted and locked, the propeller of each propeller can be prevented from touching the ground, and each propeller can be laid down, so that the overhaul by personnel is facilitated; when needs storage transportation, each propeller can simply be pulled down and case alone and deposit to reduce the demand to the hull to parking space.
In this embodiment, the force-bearing truss mechanism 2 is further provided with a main guardrail assembly 30 and an auxiliary guardrail assembly 31, the two auxiliary guardrail assemblies 31 are arranged on two sides of the main guardrail assembly 30, and the main guardrail assembly 30 and the auxiliary guardrail assemblies 31 are both fixedly connected with the force-bearing truss mechanism 2. The main guardrail assembly 30 comprises main guardrail posts 301 and main guardrail transverse tubes 302, the main guardrail posts 301 are sequentially arranged and fixedly connected with the deck 24, and the main guardrail transverse tubes 302 are fixedly connected with the upper ends of the main guardrail posts 301; the auxiliary guardrail assembly 31 comprises auxiliary guardrail upright posts 311 and auxiliary guardrail transverse tubes 312, the auxiliary guardrail upright posts 311 are sequentially arranged and fixedly connected with the deck 24, and the auxiliary guardrail transverse tubes 312 are fixedly connected with the upper ends of the auxiliary guardrail upright posts 311.
The main guardrail component 30 uses a medium-grade 40x80 aluminum alloy section bar which is the same as the bearing truss mechanism 2, a structure capable of being rapidly disassembled is formed by 1 main guardrail transverse tube 302 and 4 main guardrail upright posts 301, each main guardrail upright post 301 is fixed on a preset fixing hole of the bearing truss mechanism 2 of the submarine body, and one end of each main guardrail upright post 301 penetrates through the deck 24 to be fixedly connected with the bearing truss mechanism 2. The main guardrail component 30 is used for safety protection of boat-loading test personnel and positioning and fixing of the aviation case 6, and is also a high-position mounting bracket of a boat GPS/Beidou positioning navigation antenna, a wireless communication antenna, a situation perception radar and other devices, which is equivalent to a mast function.
2 sets of auxiliary guardrail assemblies 31 are respectively arranged at the front edge and the rear edge of the boat deck 34, and each auxiliary guardrail assembly is composed of an auxiliary guardrail upright post 311, an auxiliary guardrail transverse tube 312 with the diameter of 32mm and other guardrail special tube connecting pieces and is mainly used for safety protection of boat-boarding testers.
Meanwhile, 4 installation positions of the folding stools are arranged on the boat deck 34 according to the standing habit of boat testers. The feet of the folding stool are fixed on the truss second main beam 23, and the stool can provide a sitting and notebook computer placing table for a tester after being unfolded. On the boat handrail, a liquid crystal display with a folding arm (a power supply and a video wire of the liquid crystal display are laid in a navigation control box), a lighting device, a rain shelter and the like can be selected and installed according to the requirements of navigation and test tasks, and on the upright post of the boat handrail, a mooring rope, a flexible hoisting belt, a collision-proof leaning ball and other navigation necessary accessories are hung.
In this embodiment, the power supply and distribution management device 3 is provided with 4 battery boxes in order to meet the requirements of the unmanned ship course propeller 4 and the navigational speed propeller 5 on electric power and power supply safety, and the four functional grids at the middle part of the bearing truss mechanism 2 are embedded with each other. A battery core body module, a power supply and distribution management module and a battery voltage and current monitoring module are installed in the battery box, and measurement and control signals are connected into the navigation control computer through a communication cable to jointly form a power supply and distribution management device 3, so that safe and reliable power supply and distribution functions of the course propeller 4 and the navigation speed propeller 5 are realized.
Each battery box adopts an alloy three-proofing shell, a deck 24 is used as an upper cover, and a gap between the box body and the upper cover is filled with a foaming material. Each battery box is provided with 3 high-capacity lithium battery cores, and each battery core is isolated by using a partition plate. The bottom of the box body is provided with a film air release valve, so that the pressure relief of the battery core body in time when the battery core body explodes due to faults can be avoided. In order to meet different requirements of users on endurance and equipment cost of the boat, 4-12 lithium battery cores can be configured in 4 battery boxes of the boat, and under the maximum configuration, 12 battery core modules can provide the maximum power supply capacity of 24V2460 AH.
Each battery box is provided with two groups of external cables, one group of external cables leads to the course propeller 4 and the navigational speed propeller 5, the other group of external cables leads to the navigational control box 6, and power and signal cables penetrate through the battery box wall by using a waterproof PG joint to form a box body. Each battery box is provided with an independent charging control module, each battery core body in the battery box can be charged by using an external power supply, and the charging process and the charging safety are monitored. The battery boxes, the battery core modules in the battery boxes, the power distribution management module, the power supply detection module and the like are designed by adopting specifications, unified overall dimensions and connectors, so that the battery box has good interchangeability and can be quickly disassembled, assembled and replaced.
In the navigation control box 6in this embodiment, the navigation control box can be selected from an aviation equipment box embedded with a 19-inch 12U high (or 15U) rack, an ABS plastic shell, an aluminum alloy reinforcing frame, a front and back cover, 4 to 5 layers of equipment trays are configured, a navigation control computer, an inertial navigation device, a GPS/beidou satellite positioning terminal, a VHF/UHF wireless communication data transmission station, a public mobile communication station, a navigation control related measurement and control drive function module, a power supply conversion module and the like are installed on each tray, and a corresponding test task device can be selected and installed in the remaining space in the box as required. A temperature and humidity detection sensor, a forced air convection fan and a drying agent box are arranged in the navigation control box 6, 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, 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 between the configurations is the conversion of the attitude and position of the float airbag mechanism 1, the course thruster 4, the navigational speed thruster 5, the main guardrail assembly 30, the auxiliary guardrail assembly 31, and the like.
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 course propeller 4 and the navigational speed propeller 5 are installed and fixed, and each propeller is in a vertical falling state;
(1.3) the main guardrail assembly 30 and the auxiliary guardrail assembly 31 are well installed and fixed, a GPS/Beidou antenna, a communication antenna, a navigation collision avoidance radar and other necessary device equipment on the guardrail are well installed and fixed, and the electric power and the communication cable of related devices are well connected;
(1.4) the battery in each battery box of the unmanned ship is fully charged, and the power distribution management module works normally;
(1.5) the navigation control box 6 is respectively connected and fixed with the bearing truss mechanism 2 and the main guardrail component 30;
(1.6) each power and signal cable is connected with each propeller and the navigation control box 6 respectively
And (1.7) closing a power switch of the navigation control box, and electrifying systems and functional units such as navigation control, propulsion, navigation, communication, perception and the like and keeping the systems and the functional units in a good state.
(1.8) boat navigation accessories (cables, harnesses, arm-rests, etc.) are prepared and put in place.
Second, maintenance configuration
This configuration mainly used unmanned ship land is deposited for a short time, 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) each propeller of the boat is in a vertical and raised state, the bottom of the propeller of the underwater propulsion assembly 42 is higher than the bottom of the air bag 11 (without touching the ground), and each propeller can be tested at any time (the propeller and the steering engine can act temporarily);
(2.3) the boat handrails are fixedly connected with the navigation control box 6, and the devices on the main handrail transverse pipe 302 and the auxiliary handrail transverse pipe 312 are in a fixed and use standby state;
(2.4) the battery charging function in each battery box of the boat is turned on, and each battery module can be charged at any time by using shore power (or other power supplies);
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 6, 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 floater air bag mechanisms 1 of the boat are disassembled and deflated, the air bag mechanisms, the air pump, the leaning ball 13, 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;
and (3.4) detaching all devices installed on the boat handrail, packaging and storing the devices respectively, and making necessary marking and protection measures.
(3.5) detaching the components such as the boat main guardrail component 30, the auxiliary guardrail component 31, the rain-proof shed and the like and placing the components in a special storage and transportation box body;
and (3.6) if the boat body needs to be sealed for a long time, the decks of the battery box covers can be opened, the batteries are detached and placed in a special storehouse, and the lithium battery maintenance operation is carried out regularly.
After the bearing truss mechanism 2 of the unmanned ship in a storage and transportation state and storage and transportation boxes of all parts are placed in a centralized manner, the external space size of the bearing truss mechanism is smaller than the external size of a national standard 20-foot container, and the unmanned ship 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. The utility model provides a quick assembly disassembly's unmanned ship test platform of binary, a serial communication port, including float gasbag mechanism (1), load truss mechanism (2), power supply and distribution management device (3), course propeller (4) and speed of a ship propeller (5), load truss mechanism (2) and power supply and distribution management device (3) fixed connection, the below can be dismantled with float gasbag mechanism (1) and be connected, course propeller (4) and speed of a ship propeller (5) set up respectively in the relative both ends of load truss mechanism (2), power supply and distribution management device (3) are used for supplying power to course propeller (4) and speed of a ship propeller (5).
2. The test platform of the fast-dismounting twin-hull unmanned ship according to claim 1, wherein the force-bearing truss mechanism (2) comprises a main longitudinal beam (21), a first main transverse beam (22) and a second main transverse beam (23), the main longitudinal beam (21) and the first main transverse beam (22) are sequentially connected end to form a rectangular frame, two ends of the second main transverse beam (23) are respectively and fixedly connected with the mutually arranged main longitudinal beams (21), an intermediate space formed by the two second main transverse beams (23) and the mutually arranged main longitudinal beams (21) is used for fixing a deck (24), and the power distribution management device (3) and the aviation case are fixedly arranged on the deck (24).
3. The quick-dismounting twin-hull unmanned ship test platform according to claim 2, wherein the force-bearing truss mechanism (2) further comprises an auxiliary cross beam (25), a first auxiliary longitudinal beam (26) and a second auxiliary longitudinal beam (27), the auxiliary cross beam (25) is arranged between the two second main cross beams (23), and two ends of the auxiliary cross beam are respectively and fixedly connected with the mutually arranged main longitudinal beams (21), the first auxiliary longitudinal beam (26) is arranged in a side space formed between the first main cross beam (22) and the adjacent second main cross beam (23), one end of the first auxiliary longitudinal beam (26) is fixedly connected with the first main cross beam (22), the other end of the first auxiliary longitudinal beam is fixedly connected with the second main cross beam (23), the second auxiliary longitudinal beam (27) is arranged in the middle space, and two ends of the second auxiliary longitudinal beam (27) are respectively and fixedly connected with the oppositely arranged second main cross beam (23).
4. The rapid dismounting twin-hull unmanned aerial vehicle test platform according to claim 3, wherein the two ends of the second main beam (23) are respectively fixed with a lifting stress ring (28) for lifting the bearing truss mechanism (2), and the four corners of the rectangular frame and the connection between the second main beam (23) and the main longitudinal beam (21) are respectively provided with a fastening component (29) for fixing the float airbag mechanism (1).
5. The quick-dismounting double-body unmanned ship test platform is characterized in that the floater airbag mechanism (1) comprises an airbag (11) and a strapping tape (12), the tightening assembly (29) comprises a hanging ring (291) and a pressing plate (292), the hanging ring (291) is fixed below the main longitudinal beam (21), the pressing plate (292) is fixedly connected with the main longitudinal beam (21), one end of the strapping tape (12) is fixedly connected with the hanging ring (291), and the other end of the strapping tape bypasses the airbag (11) and is fixedly connected with the pressing plate (292).
6. The quick-dismounting twin-hull unmanned ship test platform according to claim 5, characterized in that the float airbag mechanism (1) further comprises a back ball (13), and the back ball (13) is arranged in a clamping space formed by the airbag (11), the main longitudinal beam (21) and the hanging ring (291).
7. The quick-dismounting twin-hull unmanned aerial vehicle test platform according to claim 2, wherein the course thruster (4) and the cruise thruster (5) each comprise a support bow base (41), an underwater propulsion assembly (42), and a steering engine (43) for driving the underwater propulsion assembly (42) to operate, and the support bow base (41) and the steering engine (43) are fixed on the first main beam (22).
8. The quick-dismounting catamaran unmanned aerial vehicle test platform as claimed in claim 7, wherein the first main beam (22) is further fixedly provided with a support assembly (44) for fixing the steering engine (43), the support assembly (44) comprises a support frame (441) and a positioning disc (442) for fixing the steering engine (43), one end of each support frame (441) is fixedly arranged on the first main beam (22), the other end of each support frame is fixedly connected with the positioning disc (442), and the output end of the steering engine (43) penetrates through the positioning disc (442) and is fixedly connected with the underwater propulsion assembly (42) through a propeller boom (45).
9. The quick-dismounting twin-hull unmanned aerial vehicle test platform according to claim 2, wherein the force-bearing truss mechanism (2) is further provided with a main guardrail assembly (30) and an auxiliary guardrail assembly (31), the two auxiliary guardrail assemblies (31) are arranged on two sides of the main guardrail assembly (30), and the main guardrail assembly (30) and the auxiliary guardrail assemblies (31) are fixedly connected with the force-bearing truss mechanism (2).
10. The quick-release twin hull unmanned boat test platform of claim 9, wherein the main guardrail assembly (30) comprises main guardrail posts (301) and main guardrail cross tubes (302), the main guardrail posts (301) are arranged in sequence and fixedly connected to the deck (24), and the main guardrail cross tubes (302) are fixedly connected to the upper ends of the main guardrail posts (301);
the auxiliary guardrail component (31) comprises auxiliary guardrail upright posts (311) and auxiliary guardrail transverse tubes (312), the auxiliary guardrail upright posts (311) are sequentially arranged and fixedly connected with the deck (24), and the auxiliary guardrail transverse tubes (312) are fixedly connected with the upper ends of the auxiliary guardrail upright posts (311).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011568839.7A CN112758278A (en) | 2020-12-25 | 2020-12-25 | Rapid dismounting's unmanned ship test platform of binary |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011568839.7A CN112758278A (en) | 2020-12-25 | 2020-12-25 | Rapid dismounting's unmanned ship test platform of binary |
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| CN112758278A true CN112758278A (en) | 2021-05-07 |
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| CN202011568839.7A Pending CN112758278A (en) | 2020-12-25 | 2020-12-25 | Rapid dismounting's unmanned ship test platform of binary |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115258065A (en) * | 2022-08-06 | 2022-11-01 | 山东安信行智能装备科技有限公司 | Inflatable overwater operation platform |
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| CN110065588A (en) * | 2019-04-30 | 2019-07-30 | 天津大学 | A kind of fast assembling-disassembling three-body unmanned boat partly latent |
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| WO2003053772A1 (en) * | 2001-12-19 | 2003-07-03 | Janssen Hermann J | Method and apparatus for loading and unloading cargo from a twin-hull sea-going ship |
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