CN117048785A - Monomer double-body switching unmanned ship - Google Patents
Monomer double-body switching unmanned ship Download PDFInfo
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- CN117048785A CN117048785A CN202311119570.8A CN202311119570A CN117048785A CN 117048785 A CN117048785 A CN 117048785A CN 202311119570 A CN202311119570 A CN 202311119570A CN 117048785 A CN117048785 A CN 117048785A
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- 239000000178 monomer Substances 0.000 title claims abstract description 8
- 230000007246 mechanism Effects 0.000 claims abstract description 35
- 238000001514 detection method Methods 0.000 claims abstract description 18
- 238000004891 communication Methods 0.000 claims abstract description 17
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000013507 mapping Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- 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
- B63B3/16—Shells
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B45/00—Arrangements or adaptations of signalling or lighting devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B49/00—Arrangements of nautical instruments or navigational aids
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/008—Unmanned surface vessels, e.g. remotely controlled remotely controlled
Abstract
The invention discloses a monomer double-body switching unmanned ship, which comprises: the ship comprises a ship body shell, a controller, a first ship body, a second ship body and a folding and unfolding mechanism, wherein the first ship body and the second ship body are positioned below the ship body shell and are symmetrical to each other, the folding and unfolding mechanism is arranged at the bottom of the ship body shell and is used for driving the first ship body and the second ship body to be away from or close to each other, and propelling pieces for driving the ship bodies to move are respectively arranged on the first ship body and the second ship body; the hull shell is provided with a detection piece for detecting wind speed and wind direction, and the first hull, the folding and unfolding mechanism, the pushing piece and the detection piece are respectively in communication connection with the controller; the controller enables the unfolding mechanism to drive the first hull and the second hull to switch between the single unmanned ship structure and/or the double unmanned ship structure through the wind speed signal transmitted by the detection piece. The invention enables the double unmanned ship and the single unmanned ship to be switched through the folding and unfolding mechanism, thereby being applicable to complex ocean environments, improving the loading capacity and the sailing efficiency of the unmanned ship and having more flexible operation.
Description
Technical Field
The invention relates to the technical field of unmanned boats, in particular to a single-body double-body switching unmanned boat.
Background
With the continuous development of unmanned control technology, as an unmanned platform, unmanned ships can replace the unmanned platform in the fields of underwater mapping, water quality detection, hydrologic measurement, exploration of dangerous fields, underwater mine discharge and the like or special environments, so that the risk of the field in the field can be reduced, and the effect of half effort can be achieved.
Unmanned boats often face complex ocean environments when operated in the sea. At present, the monomer unmanned ship commonly used can take place to rock and slope when the wave is great, can't keep stable navigation, and when meetting extreme weather, the unmanned naval ship operation stability of this kind of monomer structure is relatively poor, controls the flexibility inadequately, can't accomplish corresponding task to perhaps also because the adverse circumstances damages the machine, increased cost of maintenance, and the monomer unmanned ship does not possess from the stability, can not keep balance and stability voluntarily in unmanned time, has increased the degree of difficulty of controlling. At present, the commonly used double-body unmanned ship can be stably stored for sailing when the sea waves are large, and the structural stability and stability of the double-body unmanned ship are higher than those of the single-body unmanned ship in extreme weather, but when the sea waves are calm and the sea waves are small, the sailing speed of the double-body unmanned ship structure is slower than that of the single-body unmanned ship, the flexibility is lower than that of the single-body unmanned ship, and meanwhile, the double-body unmanned ship is inconvenient to carry.
The traditional single unmanned ship and the double unmanned ship cannot be switched, so that the unmanned ship cannot adapt to complex marine environments, shake and incline easily under the influence of sea waves and tide, and the unmanned ship has the problems of small loading capacity and low sailing efficiency.
Disclosure of Invention
The invention aims to provide a single-body double-body switching type unmanned ship, which solves the problems that the existing single-body unmanned ship and double-body unmanned ship cannot be switched and are not suitable for complex marine environments.
The technical scheme for solving the technical problems is as follows:
a single-body, double-body, switching unmanned boat comprising: the ship comprises a ship body shell, a controller, a first ship body, a second ship body and a folding and unfolding mechanism, wherein the first ship body and the second ship body are positioned below the ship body shell and are symmetrical to each other, the folding and unfolding mechanism is arranged at the bottom of the ship body shell and is used for driving the first ship body and the second ship body to be away from or close to each other, and propelling pieces for driving the ship bodies to move are respectively arranged on the first ship body and the second ship body;
the hull shell is provided with a detection piece for detecting wind speed and wind direction, and the first hull, the folding and unfolding mechanism, the pushing piece and the detection piece are respectively in communication connection with the controller;
the controller enables the unfolding mechanism to drive the first hull and the second hull to switch between the single unmanned ship structure and/or the double unmanned ship structure through the wind speed signal transmitted by the detection piece.
According to the unmanned ship, the first ship body and the second ship body are far away from each other through the folding and unfolding mechanism to form a double-body unmanned ship structure, and the distance between the first ship body and the second ship body can be controlled through the controller, so that the unmanned ship is suitable for conditions of large sea waves or extreme weather and the like; when the sea wave is calm, the controller drives the folding and unfolding mechanism to control the first hull and the second hull to be close to each other, and a single unmanned ship structure is formed, so that the integral speed of the single unmanned ship can be improved, and the operation is more flexible. According to the invention, the double-body unmanned ship and the single-body unmanned ship can be switched through the folding and unfolding mechanism, so that the unmanned ship is suitable for complex ocean environments, and the loading capacity and the sailing efficiency of the unmanned ship are improved.
Further, the folding and unfolding mechanism comprises a T-shaped connecting block, a driving component connected to the T-shaped tail of the T-shaped connecting block, a driven component connected to the T-shaped tail in a sliding manner, and a folding and unfolding component matched and connected between the driven component and the T-shaped head of the T-shaped connecting block, wherein the T-shaped head of the T-shaped connecting block is matched and connected with the bottom of the hull shell, and the driving component is in communication connection with the controller;
l-shaped sliding bars which are in sliding fit with the T-shaped heads are symmetrically arranged on the first hull and the second hull respectively, and the two L-shaped sliding bars are respectively connected with the folding and unfolding assembly in a matched manner;
the driving component drives the driven component to slide along the T-shaped tail, the driven component further drives the folding and unfolding component to drive the two L-shaped sliding rods to slide along the T-shaped head, and the first ship body and the second ship body are far away from or close to each other.
According to the invention, the driven component is driven to slide along the T-shaped tail part by the driving component, the driven component drives the folding and unfolding component to drive the L-shaped sliding rods to slide relatively along the T-shaped head part, and the two L-shaped sliding rods drive the first hull and the second hull to be away from or close to each other, so that flexible switching between the double-body unmanned ship and the single-body unmanned ship is realized.
Further, the folding and unfolding assembly comprises a first connecting rod and a second connecting rod which are respectively in rotary fit with the driven assembly, a first rotating rod which is rotatably connected to the end part of the first connecting rod far away from the driven assembly, and a second rotating rod which is rotatably connected to the end part of the second connecting rod far away from the driven assembly, wherein the first connecting rod and the second connecting rod are arranged in a vertically staggered manner;
the T-shaped head of the T-shaped connecting block is provided with a first sliding groove matched with the L-shaped sliding rod along the axial direction, the first rotating rod is matched and connected with the L-shaped sliding rod on the first ship body, and the second rotating rod is matched and connected with the L-shaped sliding rod on the second ship body.
Further, the first sliding blocks which are in sliding fit with the first sliding grooves are arranged on the first rotating rods and the second rotating rods, the first sliding blocks are in contact with the end parts of the L-shaped sliding rods, and connecting pieces which are in rotating fit with the first rotating rods and the second rotating rods are respectively arranged on the two L-shaped sliding rods.
Further, the driving assembly comprises a fixing plate, a supporting plate connected to the fixing plate, a motor connected to the supporting plate and a driving gear connected to the output end of the motor in a matched mode, the fixing plate is connected to the outer wall of the rear end of the T-shaped tail portion of the T-shaped connecting block in a matched mode, and the motor is in communication connection with the controller.
Further, a second chute is formed in the T-shaped tail of the T-shaped connecting block along the axial direction;
the driven component comprises a second sliding block in sliding fit with the second sliding groove, a third rotating rod connected to the second sliding block, and a rack connected to the second sliding block, and the driving gear is meshed with the rack;
the first connecting rod and the second connecting rod are respectively in rotary fit with the third rotating rod.
Further, the hull shell comprises a shell body and an inclined rod arranged at the bottom of the shell body, and the bottom end of the inclined rod is connected with the T-shaped head of the T-shaped connecting block.
Further, the shell is of a truncated cone-shaped structure, and the detection piece is connected to the middle of the top end of the shell and is in communication connection with the controller.
Further, the shell is provided with a mounting groove, an obstacle avoidance piece is arranged in the mounting groove, and the obstacle avoidance piece is in communication connection with the controller.
Further, the first hull comprises a box body, a battery arranged in the box body and an illuminating lamp arranged on the box body, the controller is arranged in the box body, the battery is respectively electrically connected with the controller, the illuminating lamp, the detection piece, the obstacle avoidance piece, the folding and unfolding mechanism and the pushing piece, and the illuminating lamp is electrically connected with the controller.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the unmanned ship, the first ship body and the second ship body are far away from each other through the folding and unfolding mechanism to form the double-body unmanned ship structure, and the distance between the first ship body and the second ship body can be controlled through the controller, so that the unmanned ship is suitable for conditions such as large sea waves or extreme weather, the double-body unmanned ship has self-stability, balance and stability can be automatically kept under the condition of unmanned operation, the requirement on control is reduced, and the operation risk is reduced; when the sea wave is calm, the controller drives the folding and unfolding mechanism to control the first hull and the second hull to be close to each other, and the single unmanned ship structure is formed, so that the integral speed of the single unmanned ship can be improved, the device is suitable for a complex marine environment, and the loading capacity and the sailing efficiency of the unmanned ship are improved.
2. According to the invention, the driven component is driven to slide along the T-shaped tail part by the driving component, the driven component drives the folding and unfolding component to drive the L-shaped sliding rods to slide relatively along the T-shaped head part, and the two L-shaped sliding rods respectively drive the first hull and the second hull to be away from or close to each other, so that flexible switching between the double-body unmanned ship and the single-body unmanned ship is realized; the unmanned ship has the advantages of a single unmanned ship and a double unmanned ship, and can be used for the fields of underwater surveying and mapping, water quality detection, hydrologic measurement, dangerous field exploration, underwater mine drainage and the like to play a comprehensive role.
3. According to the invention, the driving gear is driven to rotate by the motor, the driving gear drives the rack and the second sliding block to slide along the T-shaped tail part of the T-shaped connecting block, the first connecting rod is in rotary fit with the first rotating rod and the third rotating rod, the second connecting rod is in rotary fit with the second rotating rod and the third rotating rod, the first sliding block is driven to slide relatively along the second sliding groove on the T-shaped head part by the first connecting rod and the second connecting rod respectively, and finally the first ship body and the second ship body are driven to be far away from or close to each other by the L-shaped sliding rod. The transmission structure is simple and reliable, the structure is stable, and the rapid switching between the single unmanned ship and the double unmanned ship can be realized.
4. The obstacle avoidance member adopts the navigation radar, is used for surveying the obstacle on the water surface, transmits the information of the surveyed obstacle to the controller, and drives the propulsion member to change the course according to the preset collision wall rule, so that the obstacle avoidance function is realized, and the position of the unmanned ship can be positioned.
Drawings
FIG. 1 is a schematic structural view of a single unmanned boat;
FIG. 2 is a schematic structural view of a twin-hull unmanned boat;
FIG. 3 is a schematic structural view of a hull casing;
FIG. 4 is a schematic view of the connection structure between the deployment mechanism and the first and second hulls;
FIG. 5 is a schematic diagram of a specific structure of the folding mechanism;
FIG. 6 is a schematic view of the connection structure of the shell and the L-shaped strut in the first hull;
fig. 7 is a schematic diagram of a connection structure between the second hull and the L-shaped slide bar.
In the figure: 1. a hull housing; 11. a housing; 12. a diagonal rod; 13. a mounting groove; 2. a first hull; 21. a case; 22. a lighting lamp; 3. a second hull; 4. a folding and unfolding mechanism; 41. a T-shaped connecting block; 411. a T-shaped tail; 412. a T-shaped head; 413. a first chute; 414. a second chute; 42. a drive assembly; 421. a fixing plate; 422. a support plate; 423. a motor; 424. a drive gear; 43. a driven assembly; 431. a second slider; 432. a third rotating rod; 433. a rack; 44. a folding and unfolding assembly; 441. a first link; 442. a second link; 443. a first rotating lever; 444. a second rotating rod; 445. a first slider; 5. a propulsion member; 6. a detecting member; 7. an L-shaped slide bar; 71. a connecting sheet; 8. obstacle avoidance members.
Detailed Description
The following description of the embodiments of the present invention will be made more apparent and fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by a person skilled in the art without any inventive effort, are intended to be within the scope of the present invention, based on the embodiments of the present invention.
As shown in fig. 1 to 3 and fig. 6, the present invention provides a single-body double-body switching unmanned boat, comprising: the ship comprises a ship body shell 1, a controller, a first ship body 2 and a second ship body 3 which are positioned below the ship body shell 1 and are symmetrical to each other, and a folding mechanism 4 which is arranged at the bottom of the ship body shell 1 and is used for driving the first ship body 2 and the second ship body 3 to be away from or close to each other, wherein a propelling piece 5 used for driving the ship bodies to move is respectively arranged on the first ship body 2 and the second ship body 3; the propulsion member 5 adopts a propeller structure such as an electric propeller, and the working principle of the propulsion member is well known to those skilled in the art, and will not be described herein.
The hull shell 1 is provided with a detection piece 6 for detecting wind speed and wind direction, and the first hull 2, the folding and unfolding mechanism 4, the pushing piece 5 and the detection piece 6 are respectively in communication connection with the controller; the controller enables the folding and unfolding mechanism 4 to drive the first hull 2 and the second hull 3 to switch between the single unmanned ship structure and the double unmanned ship structure through the wind speed signal transmitted by the detecting piece 6. The hull shell 1 includes a shell 11 and diagonal rods 12 disposed at the bottom of the shell 11, in this embodiment, the diagonal rods 12 are disposed in two groups, and the two groups of diagonal rods 12 are symmetrically distributed along the central axis of the shell 11. The folding and unfolding mechanism 4 is connected with the bottom of the diagonal rod 12 in a matched mode, and the diagonal rod 12 can provide a reliable switching space between the hull shell 1 and the first hull 2 and the second hull 3. The shell 11 is in a truncated cone-shaped structure, the detection piece 6 adopts a wind speed and direction sensor, and the wind speed and direction sensor is arranged in the middle of the top end of the shell 11 and is in communication connection with the controller; the shell 11 is provided with a mounting groove 13, the mounting groove 13 is internally provided with an obstacle avoidance member 8, and the obstacle avoidance member 8 is in communication connection with the controller. The controller receives a wind speed signal of the wind speed and wind direction sensor and further controls the unfolding mechanism 4 to drive the first hull 2 and the second hull 3 to be far away from each other or close together, so that the unmanned single-body boat and the unmanned double-body boat can be switched between to adapt to complex marine environments. The obstacle avoidance member 8 adopts a navigation radar, the controller receives obstacle signals transmitted by the navigation radar, and the controller controls the propulsion member 5 according to preset wall collision rules, so that the course is changed, and the aim of avoiding the obstacle is fulfilled.
The first ship body 2 comprises a box body 21, a battery arranged in the box body 21 and an illuminating lamp 22 arranged on the box body 21, wherein the controller is arranged in the box body 21, the battery is respectively and electrically connected with the controller, the illuminating lamp 22, the detection part 6, the obstacle avoidance part 8, the folding and unfolding mechanism 4 and the propelling part 5, the battery is used for providing power, and the illuminating lamp 22 is electrically connected with the controller. The controller in this embodiment is installed in the box 21, and in other embodiments of the present invention, the controller may also be installed in the housing 11 of the hull casing 1, and the illuminating lamp 22 adopts an LED lamp, and the controller controls the LED lamp to be turned on and off for illumination. The controller adopts a main control chip with the model of STM32F103C8T6, and can be connected with the illuminating lamp 22 in the first ship body 2, the motor 423 in the folding and unfolding mechanism 4, the pushing piece 5, the detecting piece 6 and the obstacle avoidance piece 8 in a wired or wireless mode.
Preferably, the controller is in communication connection with a remote control system, and the remote control operation of the unmanned aerial vehicle is realized through the remote control system.
As shown in fig. 4 to 7, the folding and unfolding mechanism 4 comprises a T-shaped connecting block 41, a driving component 42 connected to a T-shaped tail 411 of the T-shaped connecting block 41, a driven component 43 slidingly connected to the T-shaped tail 411, and a folding and unfolding component 44 cooperatively connected between the driven component 43 and a T-shaped head 412 of the T-shaped connecting block 41, wherein the T-shaped head 412 of the T-shaped connecting block 41 is cooperatively connected with the bottom of the hull shell 1, and the driving component 42 is in communication connection with a controller; the bottom end of the diagonal rod 12 is connected with the T-shaped head 412 of the T-shaped connecting block 41, and the diagonal rod 12 can be connected and fixed with the outer wall of the T-shaped connecting block 41 through bolts, so that the hull shell 1 and the folding and unfolding mechanism 4 can be conveniently disassembled and assembled.
The first hull 2 and the second hull 3 are symmetrically provided with L-shaped slide bars 7 which are in sliding fit with the T-shaped heads 412, and the two L-shaped slide bars 7 are respectively connected with the folding and unfolding assembly 44 in a matching manner; the driving component 42 drives the driven component 43 to slide along the T-shaped tail 411, and the driven component 43 further drives the folding component 44 to drive the two L-shaped sliding rods 7 to slide along the T-shaped head 412, and the first hull 2 and the second hull 3 are far away from or close to each other. The folding and unfolding assembly 44 includes a first connecting rod 441 and a second connecting rod 442 respectively in rotational fit with the driven assembly 43, a first rotating rod 443 rotatably connected to an end portion of the first connecting rod 441 far away from the driven assembly 43, and a second rotating rod 444 rotatably connected to an end portion of the second connecting rod 442 far away from the driven assembly 43, wherein the first connecting rod 441 and the second connecting rod 442 are staggered up and down;
the T-shaped head 412 of the T-shaped connecting block 41 is provided with a first sliding groove 413 matched with the L-shaped sliding rod 7 along the axial direction, the first rotating rod 443 is matched and connected with the L-shaped sliding rod 7 on the first ship body 2, and the second rotating rod 444 is matched and connected with the L-shaped sliding rod 7 on the second ship body 3.
Preferably, the first rotating rod 443 and the second rotating rod 444 are both provided with a first sliding block 445 in sliding fit with the first sliding groove 413, the first rotating rod 443 is fixedly connected with the first sliding block 445, the second rotating rod 444 is fixedly connected with the first sliding block 445, the first sliding block 445 is contacted with the end parts of the L-shaped sliding rods 7, and the two L-shaped sliding rods 7 are respectively provided with a connecting sheet 71 in rotating fit with the first rotating rod 443 and the second rotating rod 444. The connecting piece 71 is provided with a shaft hole, the aperture of which corresponds to the rod diameters of the first rotating rod 443 and the second rotating rod 444, so that the rotating fit is realized through the shaft hole.
The driving assembly 42 comprises a fixing plate 421, a supporting plate 422 connected to the fixing plate 421, a motor 423 connected to the supporting plate 422, and a driving gear 424 connected to the output end of the motor 423 in a matched manner, wherein the fixing plate 421 is connected to the outer wall of the rear end of the T-shaped tail 411 of the T-shaped connecting block 41 in a matched manner, and the motor 423 is in communication connection with the controller. The fixing plate 421 is fixed to the rear end outer wall of the T-shaped tail 411 of the T-shaped connection block 41 by bolts, and the end of the T-shaped tail 411 away from the T-shaped head 412 is the rear end. The T-shaped tail 411 of the T-shaped connecting block 41 is provided with a second chute 414 along the axial direction; the first sliding groove 413 and the second sliding groove 414 are perpendicular to each other, and the groove diameter of the first sliding groove 413 corresponds to the groove diameter of the second sliding groove 414. The first chute 413 and the second chute 414 are both provided with T-shaped chutes, the long end part of the L-shaped slide bar 7 slides along the transverse sliding part of the T-shaped chute, and the T-shaped chute can effectively prevent the L-shaped slide bar 7 from separating outwards.
The driven assembly 43 comprises a second sliding block 431 in sliding fit with the second sliding groove 414, a third rotating rod 432 connected to the second sliding block 431, and a rack 433 connected to the second sliding block 431, wherein the driving gear 424 is meshed with the rack 433; the third rotating rod 432 is fixedly connected to the top of the second sliding block 431, and the length of the rack 433 corresponds to the length of the second sliding groove 414; the first and second links 441 and 442 are respectively rotatably engaged with the third rotary lever 432. The first and second links 441 and 442 are each provided with a shaft hole corresponding to the rod diameter of the third rotating rod 432, thereby achieving a rotational fit through the shaft holes.
The application method of the monomer double-body switching unmanned ship comprises the following steps:
when the unmanned ship operates on the sea, the unmanned ship is switched from a single unmanned ship to a double unmanned ship: according to the wind speed detected by the wind speed and direction sensor in the detecting piece 6 and the wind speed signal is transmitted to the controller, when the wind speed detected by the wind speed and direction sensor is greater than a set value, the controller controls the motor 423 to rotate, the motor 423 rotates to drive the driving gear 424 to rotate, the driving gear 424 drives the rack 433 to drive the second slide block 431 to slide along the second slide groove 414, specifically, the second slide block 431 slides along the direction close to the T-shaped head 412 of the T-shaped connecting block 41, the first slide block 445 is further driven to drive the L-shaped slide bar 7 to slide along the first slide groove 413 on the T-shaped head 412 under the action of the first connecting rod 441 and the second connecting rod 442, and finally, the two L-shaped slide bars 7 are driven to be away from each other, at the moment, the first ship body 2 and the second ship body 3 are separated from each other, so that a double-body unmanned ship structure is formed.
The twin unmanned ship is switched into a single unmanned ship: when the detected wind speed is smaller than a set value, the controller controls the motor 423 to reversely rotate, the motor 423 drives the driving gear 424 to drive the rack 433 and the second slide block 431 to slide and reset along the second slide groove 414, and the first slide block 445 is driven to drive the two L-shaped slide bars 7 to slide and reset along the first slide groove 413 under the action of the first connecting rod 441 and the second connecting rod 442, so that the first hull 2 and the second hull 3 are close to and contacted with each other finally, and a single unmanned ship structure is formed.
According to the invention, the wind speed and the wind direction sensor are used for detecting the wind speed, and the controller is used for controlling the folding and unfolding mechanism 4 to enable the first hull 2 and the second hull 3 to be far away from each other or close to each other, so that the switching between the single unmanned ship and the double unmanned ship is realized, the complex sea condition is adapted, stable sailing is kept, the operation is efficiently completed, the device is suitable for complex sea environment, and the loading capacity and sailing efficiency of the unmanned ship are improved. And the design of the folding and unfolding mechanism 4 enables the single unmanned ship and the double unmanned ship to be flexibly switched, and can be used for exerting comprehensive advantages in the fields of underwater surveying and mapping, water quality detection, hydrologic measurement, dangerous exploration, underwater mine drainage and the like.
The foregoing is only illustrative of the present invention and is not to be construed as limiting thereof, but rather as various modifications, equivalent arrangements, improvements, etc., within the spirit and principles of the present invention.
Claims (10)
1. The utility model provides a monomer binary formula switching formula unmanned ship which characterized in that includes: the ship comprises a ship body shell (1), a controller, a first ship body (2) and a second ship body (3) which are positioned below the ship body shell (1) and are symmetrical to each other, and a folding mechanism (4) which is arranged at the bottom of the ship body shell (1) and is used for driving the first ship body (2) and the second ship body (3) to be away from or close to each other, wherein propelling pieces (5) for driving the ship bodies to move are respectively arranged on the first ship body (2) and the second ship body (3);
the ship body shell (1) is provided with a detection piece (6) for detecting wind speed and wind direction, and the first ship body (2), the folding and unfolding mechanism (4), the propulsion piece (5) and the detection piece (6) are respectively in communication connection with the controller;
the controller enables the folding and unfolding mechanism (4) to drive the first hull (2) and the second hull (3) to be converted between a single unmanned ship structure and a double unmanned ship structure through wind speed signals transmitted by the detection piece (6).
2. The single-body double-body switching unmanned boat according to claim 1, wherein the folding and unfolding mechanism (4) comprises a T-shaped connecting block (41), a driving component (42) connected on a T-shaped tail part (411) of the T-shaped connecting block (41), a driven component (43) connected on the T-shaped tail part (411) in a sliding manner, and a folding and unfolding component (44) connected between the driven component (43) and a T-shaped head part (412) of the T-shaped connecting block (41), wherein the T-shaped head part (412) of the T-shaped connecting block (41) is connected with the bottom of the hull shell (1) in a matching manner, and the driving component (42) is connected with the controller in a communication manner;
the first ship body (2) and the second ship body (3) are symmetrically provided with L-shaped sliding rods (7) which are in sliding fit with the T-shaped heads (412), and the two L-shaped sliding rods (7) are respectively connected with the folding and unfolding assembly (44) in a matching manner;
the driving assembly (42) drives the driven assembly (43) to slide along the T-shaped tail part (411), the driven assembly (43) further drives the folding and unfolding assembly (44) to drive the two L-shaped sliding rods (7) to slide along the T-shaped head part (412), and the first ship body (2) and the second ship body (3) are far away from each other or close to each other.
3. The single-body double-body switching unmanned boat according to claim 2, wherein the folding and unfolding assembly (44) comprises a first connecting rod (441) and a second connecting rod (442) which are respectively in rotating fit with the driven assembly (43), a first rotating rod (443) rotatably connected with the end part of the first connecting rod (441) far away from the driven assembly (43), and a second rotating rod (444) rotatably connected with the end part of the second connecting rod (442) far away from the driven assembly (43), wherein the first connecting rod (441) and the second connecting rod (442) are arranged in an up-down staggered way;
the T-shaped head (412) of the T-shaped connecting block (41) is provided with a first sliding groove (413) which is matched with the L-shaped sliding rod (7) along the axial direction, the first rotating rod (443) is matched and connected with the L-shaped sliding rod (7) on the first ship body (2), and the second rotating rod (444) is matched and connected with the L-shaped sliding rod (7) on the second ship body (3).
4. A single-body double-body switching unmanned ship according to claim 3, wherein the first rotating rod (443) and the second rotating rod (444) are respectively provided with a first sliding block (445) which is in sliding fit with the first sliding groove (413), the first sliding block (445) is in contact with the end part of the L-shaped sliding rod (7), and the two L-shaped sliding rods (7) are respectively provided with connecting sheets (71) which are in rotating fit with the first rotating rod (443) and the second rotating rod (444).
5. A single-body double-body switching unmanned boat according to claim 3, wherein the driving assembly (42) comprises a fixed plate (421), a supporting plate (422) connected to the fixed plate (421), a motor (423) connected to the supporting plate (422), and a driving gear (424) cooperatively connected to the output end of the motor (423), the fixed plate (421) is cooperatively connected to the rear outer wall of the T-shaped tail (411) of the T-shaped connecting block (41), and the motor (423) is in communication connection with the controller.
6. The single-body double-body switching unmanned ship according to claim 5, wherein the T-shaped tail (411) of the T-shaped connecting block (41) is provided with a second chute (414) along the axial direction;
the driven assembly (43) comprises a second sliding block (431) in sliding fit with the second sliding groove (414), a third rotating rod (432) connected to the second sliding block (431), and a rack (433) connected to the second sliding block (431), and the driving gear (424) is meshed with the rack (433);
the first connecting rod (441) and the second connecting rod (442) are respectively in rotary fit with the third rotating rod (432).
7. The single-body double-body switching unmanned boat according to any one of claims 2 to 6, wherein the hull casing (1) comprises a shell (11) and a diagonal rod (12) arranged at the bottom of the shell (11), and the bottom end of the diagonal rod (12) is connected with a T-shaped head (412) of the T-shaped connecting block (41).
8. The single-body double-body switching unmanned ship according to claim 7, wherein the housing (11) has a truncated cone-shaped structure, and the detecting member (6) is connected to the middle part of the top end of the housing (11) and is in communication connection with the controller.
9. The single-body double-body switching unmanned ship according to claim 7, wherein the shell (11) is provided with a mounting groove (13), the mounting groove (13) is provided with an obstacle avoidance member (8), and the obstacle avoidance member (8) is in communication connection with the controller.
10. The single-body double-body switching unmanned ship according to claim 9, wherein the first ship body (2) comprises a box body (21), a battery arranged in the box body (21) and an illuminating lamp (22) arranged on the box body (21), the controller is arranged in the box body (21), and the battery is respectively electrically connected with the controller, the illuminating lamp (22), the detecting piece (6), the obstacle avoidance piece (8), the folding and unfolding mechanism (4) and the propelling piece (5), and the illuminating lamp (22) is electrically connected with the controller.
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| CN202311119570.8A CN117048785A (en) | 2023-08-31 | 2023-08-31 | Monomer double-body switching unmanned ship |
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