CN206826897U - A kind of unmanned boat system for maritime minelaying - Google Patents
A kind of unmanned boat system for maritime minelaying Download PDFInfo
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- CN206826897U CN206826897U CN201720668739.9U CN201720668739U CN206826897U CN 206826897 U CN206826897 U CN 206826897U CN 201720668739 U CN201720668739 U CN 201720668739U CN 206826897 U CN206826897 U CN 206826897U
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- unmanned boat
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- boat system
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Abstract
A kind of unmanned boat system for maritime minelaying is the utility model is related to, including：Header travel mechanism, the frame provided with X guide rails, solution suspension mechanism, control device, header travel mechanism is by being flexibly connected the first drive mechanism with X guide rails, being assemblied in crossbeam of first drive mechanism provided with Y guide rail, formed with the second drive mechanism of Y guide rail flexible connection, the cantilever beam, the clamping device that are connected the second drive mechanism.Solution suspension mechanism is formed by solving the frock of suspender, telescoping mechanism, rotating mechanism in outstanding header.Unmanned boat technology is applied to maritime minelaying by the utility model, realizes maritime minelaying operation automation.
Description
Technical field
Ship mine-planting equipment technical field is the utility model is related to, it particularly relates to a kind of nothing for maritime minelaying
People's boat system.
Background technology
Submarine mine is that one kind is laid in water, for blocking sea area, navigation channel, standby strike enemy warship ship or blocking its action；
Available for destroy a bridge, in harbour, water building etc. facility a kind of weapons.Submarine mine can be by surface ship, submarine, aircraft and fire
Arrow or the delivery of other instruments are laid, and form thunder barrier.
For the submarine mine laid by surface vessel.This submarine mine typically has the delivery of thunder car, before mine-laying, had by folder rail and fixed
In orbit, during mine-laying, solution system folder rail tool, by submarine mine to be manually pushed into the mine-laying swash plate of stern, voluntarily water is slipped into down.Traditional
Minelayer need to set crewman living space, reduce bullet-loading capacity, and crewman need to rest or the reason such as sea situation can not uninterrupted mine-laying.
Unmanned boat be it is a kind of by precise satellite positioning and control system can according to preset task surface navigation and from
The Full-automatic water surface robot of main operation.As national defence and civilian demand develop, in various waters (such as national defence marine site and interior
River environmental protection etc.) in there is increasing unmanned boat running and undertaking task.In order to realize coastal waters or deep-sea automatically navigation and from
Dynamic mine attack, it is necessary to introduce unmanned boat system and carry out from dynamic auxiliary mine-laying operation.
The content of the invention
Technical problem to be solved in the utility model is to provide a kind of unmanned boat system for maritime minelaying.
The technical solution of the utility model can be realized by following technical measures：A kind of nobody for maritime minelaying
Boat system, it is made up of header travel mechanism, the frame provided with X guide rails, solution suspension mechanism, control device；Frame is to be arranged on nobody
Row frame parallel to each other in ship；Header is placed positioned at the side of plane where frame, submarine mine is hanging in collecting by suspender
At positioning hole on case；The opposite side of plane where frame sets solution suspension mechanism, and solution suspension mechanism is provided with the outstanding header of solution and hung
The frock of part；The Liang Zu headers travel mechanism being parallel to each other perpendicular to frame installation, header travel mechanism are to pass through between frame
Self-powered or external power supply automatically walk travel mechanism, by being flexibly connected the first drive mechanism with X guide rails, being assemblied in first
Crossbeam of the drive mechanism provided with Y guide rail, the second drive mechanism being flexibly connected with Y guide rail, it is connected the outstanding of the second drive mechanism
Arm beam, clamping device composition；Control device, be installed in the unmanned boat, for control header travel mechanism walking and
Submarine mine in lifting and the outstanding header of control solution.
Preferably, the suspender is the solid through the positioning hole in header, or is more than positioning by screw rod and diameter
The nut composition of bore dia.
Further, the solution suspension mechanism is installed on the pedestal parallel to plane where frame, and pedestal is provided with basal disc,
Telescoping mechanism is connected between frock and basal disc, the frock is provided with the groove matched with suspender, between the basal disc and pedestal
Be provided with can 360 ° rotation rotating mechanisms, rotating mechanism connect the 3rd stepper motor.
Further, the telescoping mechanism include fixed single-acting cylinder, connection piston rod head and cylinder spring and
Control the reciprocating ratio solenoid electric valve of cylinder
Preferably, the header travel mechanism also includes the first stepper motor, the installation being arranged in the first drive mechanism
The second stepper motor in the second drive mechanism, is connected with elevating mechanism, lift between the crossbeam and the first drive mechanism
Structure is electric hydaulic top, and the cantilever beam is doorframe shape, and cantilever beam root connects two the second travel mechanisms parallel to each other, institute
State clamping device and be assemblied in cantilever beam top margin.
Further, the clamping device is positional cylinder.
Preferably, the groove that the header side matches with positional cylinder cylinder head.
Preferably, the control device includes being installed on the first camera of the frock side, is installed on the second driving
The second camera of mechanism side, the communication equipment being connected with the camera by connection and with the communication equipment
The Surveillance center of connection, the Surveillance center are connected with a controller.
Further, the controller and the first stepper motor, the second stepper motor, the 3rd stepper motor, ratio electromagnetism
Control valve, electric hydaulic top, the connection of positional cylinder signal.
The beneficial effects of the utility model are：Unmanned boat technology is applied into submarine mine to lay automatically, reduced to crewman
Living space adds bullet-loading capacity and the activity duration of mine-laying ship, while improve sea to the occupancy of the mine-laying ship confined space
The efficiency of mine-laying.
Brief description of the drawings
Using accompanying drawing, the utility model is described in further detail, but the embodiment in accompanying drawing is not formed to of the present utility model
Any restrictions.
Fig. 1 is a kind of front view structure signal of the unmanned boat system for maritime minelaying of the utility model in fig. 2 at B-B
Figure；
Fig. 2 is that a kind of unmanned boat system for maritime minelaying of the utility model in Fig. 1 illustrate at A-A by plan structure
Figure.
Fig. 3 is a kind of unmanned boat system for maritime minelaying of the utility model enlarged drawing at C in Fig. 1.
Fig. 4 is the left view of header travel mechanism in a kind of unmanned boat system for maritime minelaying of the utility model.
Fig. 5 is the structural representation of telescoping mechanism in a kind of unmanned boat system for maritime minelaying of the utility model.
Fig. 6 is controling device structure diagram in a kind of unmanned boat system for maritime minelaying of the utility model.
Fig. 7 is that control system communicates to connect schematic diagram in a kind of unmanned boat system for maritime minelaying of the utility model.
Embodiment
To make the utility model easier to understand, specific embodiment of the utility model is further illustrated below.
As Figure 1-5, a kind of unmanned boat system for maritime minelaying, by header travel mechanism 200, provided with X guide rails
130 frame 120, solution suspension mechanism 300, control device 400 form；Frame 120 is parallel to each other in unmanned boat 100 to be arranged on
Row frame；Header 500 is placed positioned at the side of plane where frame, submarine mine 600 is hanging in header by suspender 310
At positioning hole 510；The opposite side of plane where frame sets solution suspension mechanism 300, and solution suspension mechanism is provided with the outstanding header of solution and hung
The frock 320 of part；The Liang Zu headers travel mechanism 200 being parallel to each other perpendicular to frame installation, header travel mechanism are in frame
Between by self-powered or external power supply automatically walk travel mechanism, by being flexibly connected the first drive mechanism with X guide rails 130
131st, the second drive mechanism for be assemblied in crossbeam 150 of first drive mechanism provided with Y guide rail 140, being flexibly connected with Y guide rail
141st, cantilever beam 160, the structure of clamping machine 170 composition of the second drive mechanism are connected；Control device, it is installed in the unmanned boat,
For controlling the header travel mechanism to walk and lifting and control the submarine mine in the outstanding header of solution.
Preferably, the suspender 310 is the solid through the positioning hole 510 in header 500, or by being assemblied in screw rod
Diameter is more than the nut 312 of positioning bore dia on 311 and screw rod 311 forms, and further, the bottom of screw rod 311 is worn for cuboid
The positioning hole 510 matched with rectangular shape is crossed, screw rod top sets threaded position diameter and is less than positioning hole, and head diameter is big
In positioning hole.
Further, the solution suspension mechanism is installed on the pedestal 330 parallel to plane where frame, and pedestal is provided with base
Disk 340, telescoping mechanism 350 is connected between frock 320 and basal disc, the frock is provided with the groove 321 matched with suspender, described
Be provided between basal disc and pedestal can 360 ° rotation rotating mechanisms 341, rotating mechanism connect the 3rd stepper motor 342.
Further, the telescoping mechanism includes fixed single-acting cylinder 351, connection piston rod head 352 and cylinder 351
Spring 354 and control the reciprocating ratio solenoid electric valve 355 of cylinder, the ratio solenoid electric valve is middle enclosed three
The logical proportion directional control valve in position five.
Preferably, the header travel mechanism 200 also includes the first stepper motor being arranged in the first drive mechanism 131
132nd, the second stepper motor 142 in the second drive mechanism 141, connect between the drive mechanism of crossbeam 150 and first
There is elevating mechanism 180, elevating mechanism is electric hydaulic top, and the cantilever beam 160 is doorframe shape, and cantilever beam root 161 connects mutually
Two parallel the second travel mechanisms, the clamping device 170 are assemblied in cantilever beam top margin.
Further, the clamping device 170 is positional cylinder.
Preferably, the groove 512 that the header side matches with positional cylinder cylinder head.
Preferably, as shown in fig. 6, the control device 400 includes the first camera for being installed on the frock side
401st, it is installed on the second camera 402 of the second drive mechanism side, the communication being connected with the camera by connection is set
Standby 700 and the Surveillance center 800 that is connected with the communication equipment, the Surveillance center be connected with a controller 403.Communication
Equipment includes, and figure conducts electricity platform and digital radio station, and controller is that TMS320LF2407A customizes dsp chip.
Further, as shown in fig. 7, the controller and the first stepper motor 132, the second stepper motor 142, the 3rd step
Stepper motor 342, ratio solenoid electric valve 355, electric hydaulic top 180, the connection of the signal of positional cylinder 170.
In summary, a kind of unmanned boat system for maritime minelaying of the utility model：
1, realize that header travel mechanism is in unmanned cabin inner plane using drive mechanism is installed in X guide rails, Y guide rail
Move freely；
2, elevating mechanism is installed using in the first drive mechanism, clamping device is installed in cantilever beam top margin, realizes header
Travel mechanism space in the unmanned cabin moves up and down；
3, suspension of the submarine mine in header is released using the solution suspension mechanism of Telescopic rotary, realizes and is discharged water from the marine cloth of trend
Thunder；
4, drive header travel mechanism to conciliate suspension mechanism using dsp controller and realize automated job, realize unmanned boat sea
Upper automatic mine-laying operation；
5, unmanned boat automatically according to predetermined point complete by navigation to specified mine-laying waters, dsp controller control mine-laying system
Mine-laying operation.
Finally, it should be noted that above example is only illustrating the technical solution of the utility model rather than to this reality
With the limitation of novel protected scope, although being explained in detail with reference to preferred embodiment to the utility model, this area it is common
It will be appreciated by the skilled person that the technical solution of the utility model can be modified or equivalent substitution, without departing from this reality
With the spirit and scope of new technique scheme.
Claims (9)
- A kind of 1. unmanned boat system for maritime minelaying, it is characterised in that the unmanned boat by header travel mechanism, provided with X The frame of guide rail, solution suspension mechanism, control device composition；Frame is to be arranged on row frame parallel to each other in unmanned boat；Header is placed positioned at the side of plane where frame, submarine mine is hanging in by suspender at the positioning hole in header；The opposite side of plane where frame sets solution suspension mechanism, and solution suspension mechanism is provided with the frock of suspender in the outstanding header of solution；Perpendicular to the Liang Zu headers travel mechanism that is parallel to each other of frame installation, header travel mechanism is by from powered between frame Source or the travel mechanism of external power supply automatically walk, by being flexibly connected the first drive mechanism with X guide rails, being assemblied in the first driving machine Structure is provided with crossbeam, the second drive mechanism being flexibly connected with Y guide rail, the cantilever beam for being connected the second drive mechanism, the folder of Y guide rail Hold mechanism composition；Control device, it is installed in the unmanned boat, for controlling the header travel mechanism to walk and lifting and control solution outstanding Submarine mine in header.
- 2. unmanned boat system according to claim 1, it is characterised in that the suspender is through the positioning hole in header Solid, or be more than by screw rod and diameter the nut of positioning bore dia and form.
- 3. unmanned boat system according to claim 1, it is characterised in that the solution suspension mechanism is installed on parallel to frame institute On the pedestal of plane, pedestal is provided with basal disc, and telescoping mechanism is connected between frock and basal disc, and the frock is provided with and suspender The groove of matching, be provided between the basal disc and pedestal can 360 ° rotation rotating mechanisms, rotating mechanism connect the 3rd stepping Motor.
- 4. unmanned boat system according to claim 3, it is characterised in that the telescoping mechanism includes fixed single-acting gas Cylinder, the spring of connection piston rod head and cylinder and the control reciprocating ratio solenoid electric valve of cylinder.
- 5. unmanned boat system according to claim 1, it is characterised in that the header travel mechanism also includes being arranged on the The first stepper motor in one drive mechanism, the second stepper motor in the second drive mechanism, the crossbeam and first Elevating mechanism is connected between drive mechanism, elevating mechanism is electric hydaulic top, and the cantilever beam is doorframe shape, and cantilever beam root connects Two the second travel mechanisms parallel to each other are met, the clamping device is assemblied in cantilever beam top margin.
- 6. unmanned boat system according to claim 5, it is characterised in that the clamping device is positional cylinder.
- 7. the unmanned boat system according to claim 1 or 6, it is characterised in that the header side and positional cylinder cylinder head The groove of matching.
- 8. unmanned boat system according to claim 1, it is characterised in that the control device includes being installed on the frock First camera of side, the second camera for being installed on the second drive mechanism side, connected by connection with the camera The communication equipment connect and the Surveillance center being connected with the communication equipment, the Surveillance center are connected with a controller.
- 9. unmanned boat system according to claim 8, it is characterised in that the controller and the first stepper motor, second Stepper motor, the 3rd stepper motor, ratio solenoid electric valve, electric hydaulic top, the connection of positional cylinder signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720668739.9U CN206826897U (en) | 2017-06-09 | 2017-06-09 | A kind of unmanned boat system for maritime minelaying |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720668739.9U CN206826897U (en) | 2017-06-09 | 2017-06-09 | A kind of unmanned boat system for maritime minelaying |
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| Publication Number | Publication Date |
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| CN206826897U true CN206826897U (en) | 2018-01-02 |
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| CN201720668739.9U Active CN206826897U (en) | 2017-06-09 | 2017-06-09 | A kind of unmanned boat system for maritime minelaying |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109720523A (en) * | 2018-11-30 | 2019-05-07 | 上海大学 | A kind of method that unmanned boat intelligently lays mooring mine device and its carries out mine-laying |
| CN110091975A (en) * | 2019-05-16 | 2019-08-06 | 上海大学 | A kind of unmanned boat intelligence cloth Mine Neutralization System and its control method |
-
2017
- 2017-06-09 CN CN201720668739.9U patent/CN206826897U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109720523A (en) * | 2018-11-30 | 2019-05-07 | 上海大学 | A kind of method that unmanned boat intelligently lays mooring mine device and its carries out mine-laying |
| CN110091975A (en) * | 2019-05-16 | 2019-08-06 | 上海大学 | A kind of unmanned boat intelligence cloth Mine Neutralization System and its control method |
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