CN211568242U

CN211568242U - Unmanned sailing boat for marine environment observation

Info

Publication number: CN211568242U
Application number: CN202020162250.6U
Authority: CN
Inventors: 俞建成; 孙朝阳; 赵文涛; 黄琰; 安洋
Original assignee: Shenyang Institute of Automation of CAS
Current assignee: Shenyang Institute of Automation of CAS
Priority date: 2020-02-11
Filing date: 2020-02-11
Publication date: 2020-09-25
Anticipated expiration: 2030-02-11

Abstract

The utility model relates to an unmanned sailing boat for marine environment observation, the deck of hull is installed bow portion equipment fixing base, preceding equipment hatch cover, back equipment hatch cover and stern portion hatch seat respectively by the front to back, installs detachable stern portion equipment fixing base on the stern portion hatch seat, installs radio antenna and iridium communication antenna on the stern portion equipment fixing base respectively, and radio antenna and iridium communication antenna link to each other with the controller respectively; the output end of the sail device penetrates out of the deck and is connected with the wing sail, a power source in the sail device is connected with the controller, and the wing sail is driven to rotate by the sail device; the output end of the rudder driving device penetrates out of the bottom of the ship body and then is connected with the rudder sheet to drive the rudder sheet to rotate, and a driving motor in the rudder driving device is connected with the controller. The utility model discloses can be used to the long-time on a large scale autonomic observation of sea air interface marine environment key element, be convenient for moreover transport, deploy and maintain.

Description

Unmanned sailing boat for marine environment observation

Technical Field

The utility model relates to a marine environment independently removes observation platform, specifically speaking is an unmanned sailing boat for marine environment surveys.

Background

The sea-air interface is a very important interface through which the material and energy exchange process between the sea and the atmosphere is performed, and the change in the interior of the sea is partially expressed through the interface. With the continuous and deep exploration of the sea by human beings, the material and energy exchange process of the sea-air interface needs to be understood more and more. At present, in-situ observation cannot be realized by a space-based observation technology based on satellite remote sensing, traditional submerged buoy and buoy do not have autonomous mobile observation capability, and unmanned ships driven by diesel and electricity and the like are limited by energy supply and cannot realize long-time large-range observation.

An unmanned sailing boat is a novel sea-air interface mobile observation platform driven by ocean renewable energy. The unmanned sailing boat converts wind energy in the natural environment into sailing driving force through the sail, converts solar energy into electric energy through the solar cell panel and supplies the electric energy to the controller, the sensor, the motor and the like, so that self-sufficiency of energy can be realized, and long-time and large-range observation of sea-air interface environment elements can be completed.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an unmanned sailing boat for marine environment surveys for long-time large-scale sea air interface environment key element is surveyd.

Another object of the present invention is to provide an unmanned sailing boat for marine environment observation. This an unmanned sailing boat for marine environment surveys adopts two fulcrum modularized sail devices, has improved sail device and unmanned sailing boat's installation fastness and installation maintenance convenience.

The purpose of the utility model is realized through the following technical scheme:

the utility model discloses a hull, wing sail, radio antenna, iridium star communication antenna, rudder piece and install respectively in inside sail device, controller, the rudder drive arrangement of hull, wherein install bow equipment fixing base and stern hatch seat respectively at the deck bow stern both ends of hull, install respectively on the deck between this bow equipment fixing base and the stern hatch seat and can open and shut preceding equipment cabin cover and after equipment cabin cover, install detachable stern equipment fixing base on the stern hatch seat, install radio antenna and iridium star communication antenna on this stern equipment fixing base respectively, radio antenna and iridium star communication antenna link to each other with the controller respectively; the output end of the sail rotating device penetrates out of the deck and is connected with a wing sail, a power source in the sail rotating device is connected with the controller, and the wing sail is driven to rotate by the sail rotating device; the output end of the rudder driving device penetrates out of the bottom of the ship body and then is connected with the rudder sheet to drive the rudder sheet to rotate, and a driving motor in the rudder driving device is connected with the controller.

Wherein: the interior of the ship body is divided into a fore peak cabin, a front equipment cabin, a rear equipment cabin and a stern peak cabin which are mutually independent through a plurality of transverse bulkheads, the fore peak cabin is correspondingly arranged below the fore equipment fixing seat, the front equipment cabin is correspondingly arranged below the front equipment cabin cover, the rear equipment cabin is correspondingly arranged below the rear equipment cabin cover, and the stern peak cabin is correspondingly arranged below the stern hatch seat; and hand hole covers which can be unscrewed or screwed are respectively arranged on the decks corresponding to the stem tip cabin and the rear equipment cabin, and a sail driving shaft penetrating hole for the output end of the sail device to penetrate is arranged on the deck corresponding to the front equipment cabin.

The radio antenna and the iridium communication antenna are respectively arranged on the stern device fixing seat, and the sound-light alarm connected with the controller is also arranged on the stern device fixing seat.

A flexible solar cell panel is laid on a deck of the ship body and connected with a storage battery pack arranged in a power box inside the ship body, and the storage battery pack is connected with the controller and provides power supply for the unmanned sailing ship.

The sensor comprises a ship body, a direction stabilizing plate mounting seat, a direction stabilizing plate, a flange and a sensor, wherein the direction stabilizing plate mounting seat is mounted at the bottom in the ship body, the direction stabilizing plate is arranged on the outer side of the bottom of the ship body, the upper end of the direction stabilizing plate is detachably connected with the flange, which penetrates out of the outer side of the bottom of the ship body, of the direction stabilizing plate mounting seat, and the lower end of the; the position that is close to on the hull and wears out hull bottom outside flange is sealed to be installed and is had the watertight connector, the electric cable of sensor passes through the watertight connector and introduces inside the hull, and with the controller is connected.

The base is arranged on a sail-turning device mounting base fixed at the bottom in the ship body to form a pivot of the sail-turning device and the ship body; the power source is arranged in the base, the worm shaft is rotatably arranged in the base, an output shaft of the power source is connected with one end of the worm shaft through the transmission assembly and drives the worm shaft to rotate, and the worm shaft is provided with a linkage worm; one end of the worm wheel shaft is inserted into the base and is rotationally connected with the base, the other end of the worm wheel shaft penetrates out of the base and a deck of the ship body and is connected with the wing sail, the worm wheel is positioned in the base, the worm wheel is arranged on the worm wheel shaft and is linked with the worm wheel shaft, and the worm wheel is meshed with the worm; the part of the worm wheel shaft, which is positioned outside the base, is sleeved with a worm wheel shaft protective sleeve, the worm wheel shaft is rotatably connected with the worm wheel shaft protective sleeve, one end of the worm wheel shaft protective sleeve is arranged on the base, the other end of the worm wheel shaft protective sleeve is provided with a tensioning plate component positioned inside a deck of the ship body, the gland is sleeved outside the worm wheel shaft and pressed on the deck of the ship body, the gland is connected with the tensioning plate component, and the deck of the ship body is clamped between the gland and the tensioning plate component to form another fulcrum of the sail turning device and the ship body.

The tensioning plate component comprises a tensioning plate and an auxiliary tensioning plate, the other end of the worm wheel shaft protective sleeve is of a boss structure, and the tensioning plate is clamped at the bottom of the boss and connected with the gland to realize the limiting and fixing of the worm wheel shaft protective sleeve; the auxiliary tensioning plate is arranged on the tensioning plate.

The end face of the other end of the worm wheel shaft protective sleeve penetrates through a deck of the ship body and then is coplanar with the upper surface of the deck, and the lower surface of the gland is provided with a flange which extends downwards along the axial direction; the worm wheel shaft is rotationally connected with a boss structure at the other end of the worm wheel shaft protective sleeve through an angular contact bearing, the flange is located inside the boss structure and is abutted against the upper surface of the outer ring of the angular contact bearing, and the axial limiting of the angular contact bearing is achieved together with the boss structure.

The bottom of the base is provided with a bottom bearing seat, and one end of the worm wheel shaft is inserted into the bottom bearing seat and is rotationally connected with the bottom bearing seat through an angular contact bearing; one end of the worm wheel shaft is sleeved with a worm wheel seat, the worm wheel seat is clamped between the worm wheel and the inner ring of the angular contact bearing, and the worm wheel realizes axial limiting through the worm wheel seat and a shaft shoulder on the worm wheel shaft above the worm wheel.

The other end of the worm shaft extends out of the base and is connected with a small gear, a potentiometer mounting frame is fixed on the outer surface of the base at the other end, a rotary potentiometer is fixedly connected onto the potentiometer mounting frame and is connected with the controller, a rotating shaft of the rotary potentiometer is connected with a large gear, the large gear is in meshing transmission with the small gear, and the rotating angle of the worm is measured through the rotary potentiometer.

The transmission assembly comprises an equal-diameter spur gear A and an equal-diameter spur gear B which are respectively positioned outside the base, the equal-diameter spur gear A is connected to an output shaft of the power source, and the equal-diameter spur gear B is connected with one end of the worm shaft and is in meshing transmission with the equal-diameter spur gear A.

The base is divided into a base part A and a base part B which are of a left-right combined structure, the base part A is divided into an upper base part A and a lower base part A which are of an upper-lower combined structure, and the upper base part A, the lower base part A and the base part B are connected into a base of the sail device through bolts.

The utility model discloses an advantage does with positive effect:

1. the utility model discloses can be used to the long-time on a large scale autonomic observation of sea air interface marine environment key element, be convenient for moreover transport, deploy and maintain.

2. The utility model discloses a flexible solar cell panel lays on the deck of hull, can customize into required arbitrary shape according to the deck plane, effectively utilizes the area on the deck, and then acquires bigger solar cell panel area, acquires more electric energy.

3. The utility model discloses a sail device and hull upper and lower difference fixed connection provide two stable fulcrums for unmanned sailing's sail device, help unmanned sailing fixed reliability and stability of sail device.

4. The sail rotating device of the utility model can effectively realize positive and negative rotation, even if the rotation of the wing sail in the left and right directions is controlled, the sail rotating device meets the requirement of the unmanned sailing boat in the actual use process; in addition, because the worm wheel and the worm have better self-locking characteristics, after the worm wheel and the worm rotate to an expected angle, the power supply of the motor can be cut off, the limitation is realized by the mechanical self-locking of the worm wheel and the worm, and the control energy consumption is effectively reduced.

5. The utility model discloses a sail device compact structure is an solitary independent module, is convenient for install and maintain.

Drawings

Fig. 1 is a schematic perspective view of the hull of the present invention;

FIG. 2 is a schematic structural view of the inside of the hull of the present invention;

FIG. 3 is a schematic view of the overall three-dimensional structure of the present invention;

FIG. 4 is a schematic view of the overall internal structure of the present invention;

FIG. 5 is a schematic structural view of the direction-stabilizing plate mounting base of the present invention;

fig. 6 is a schematic perspective view of a sail turning device according to the present invention;

fig. 7 is a second schematic perspective view of the sail device of the present invention;

fig. 8 is a three-dimensional structural cross-sectional view of the sail turning device of the present invention;

FIG. 9 is an exploded view of a base in a sail apparatus of the present invention;

wherein: 1 is a ship body, 2 is a bow equipment fixing seat, 3 is a handhole cover, 4 is a front equipment hatch cover, 5 is a sail driving shaft penetrating hole, 6 is a rear equipment hatch cover, 7 is a stern hatch seat, 8 is a stern equipment fixing seat, 9 is a sail device mounting base, 10 is a steering plate mounting base, 11 is a rudder driving device fixing base, 12 is a navigation positioning unit, 13 is a meteorological station, 14 is a sail, 15 is a flexible solar cell panel, 16 is an audible and visual alarm, 17 is a radio antenna, 18 is an iridium communication antenna, 19 is a rudder sheet, 20 is a steering plate, 21 is a sail device, 2101 is a lower base part A, 2102 is an upper base part A, 2103 is a base part B, 2104 is a worm wheel shaft protective sleeve, 2105 is a gland, 2106 is a worm wheel shaft, 2107 is a switching flange seat, 2108 is a tensioning plate, 2109 is an auxiliary tensioning plate, 2110 is a potentiometer mounting frame, 2111 is a rotary potentiometer, 2112 is a bull gear, 2113 is a pinion, 2114 is a drive motor and reducer module, 2115 is a worm, 2116 is a thrust bearing, 2117 is a deep groove ball bearing, 2118 is an equal diameter spur gear A, 2119 is a worm shaft, 2120 is an equal diameter spur gear B, 2121 is a worm wheel, 2122 is an angular contact bearing, 2123 is a worm wheel seat, 2124 is a bottom bearing seat, 2125 is a bearing cover plate, 2126 is a flange, 2127 is a bearing groove, 2128 is a flange, 2129 is a radial seal groove, 2130 is a fastening screw, 2131 is a shaft shoulder, 2132 is a side flange, 22 is a watertight connector, 23 is a control box, 24 is a power box, 25 is a rudder drive device, 26 is a watertight connector penetrating base, 27 is a through hole, 28 is a threaded hole, 29 is a transverse bulkhead, 30 is a fore equipment cabin, 31 is a front equipment cabin, 32 is a rear equipment cabin, and 33 is a stern cabin.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings.

As shown in fig. 1-5, the utility model discloses a hull 1, wing sail 14, radio antenna 17, iridium satellite communication antenna 18, rudder piece 19 and install respectively in inside commentaries on classics sail device 21 of hull 1, controller, rudder drive arrangement 25, wherein hull 1 is the glass steel hull, bow equipment fixing base 2 and stern hatch seat 7 are installed respectively to the deck bow stern both ends of hull 1, install respectively on the deck between this bow equipment fixing base 2 and the stern hatch seat 7 and can open and shut preceding equipment cabin cover 4 and back equipment cabin cover 6, install detachable stern hatch seat 8 on the stern hatch seat 7, equipment fixing base 8 is the fixing base of multiple antenna support pole, is the apron of stern hatch seat 7 again; the stern device fixing seat 8 is respectively provided with a radio antenna 17 and an iridium communication antenna 18, the radio antenna 17 and the iridium communication antenna 18 are respectively connected with a controller, and the controller is arranged in a control box 23 fixed in the hull 1. The output end of the sail device 21 penetrates out of the deck and is connected with the wing sail 14, a power source in the sail device 21 is connected with a controller, and the wing sail 14 is driven to rotate by the sail device 21. The output end of the rudder driving device 25 penetrates through the bottom of the ship body 1 and then is connected with the rudder sheet 19 to drive the rudder sheet 19 to rotate, and a driving motor in the rudder driving device 25 is connected with the controller.

The inside of the hull 1 of this embodiment is divided into four independent compartments by a plurality of (three in this embodiment) transverse bulkheads 29, a stem apex 30, a front equipment bay 31, a rear equipment bay 32 and a stern apex 33 are respectively arranged from the front (bow) to the rear (stern), the stem apex 30 is correspondingly arranged below the bow equipment fixing seat 2, the front equipment bay 31 is correspondingly arranged below the front equipment bay cover 4, the rear equipment bay 32 is correspondingly arranged below the rear equipment bay cover 6, and the stern apex 33 is correspondingly arranged below the stern equipment bay seat 7. The bow equipment fixing seat 2 at the upper part of the bow tip cabin 30 is fixed on the deck through bolts and can penetrate through the cabin. The upper deck corresponding to the fore peak 30 is provided with a handhole cover 3, the upper deck corresponding to the rear equipment compartment 32 is provided with two handhole covers 3, and the handhole covers 3 can be unscrewed and screwed, so that the hands can be conveniently stretched into the compartments for operation. A sail driving shaft penetrating hole 5 for the output end of the sail rotating device 21 to penetrate is formed in a deck corresponding to the front equipment cabin 31. The bottom of the front equipment cabin 31 is fixedly provided with a sail device mounting base 9 in a pre-buried mode, and a front equipment cabin cover 4 arranged on a corresponding deck above the front equipment cabin 31 can be opened and closed, so that the sail device 21 can be conveniently detached. The front equipment compartment 31 is also internally provided with a direction stabilizing plate mounting seat 10, the vertical part of the direction stabilizing plate mounting seat 10 is fixedly connected with a transverse bulkhead 29 between the front equipment compartment 31 and the rear equipment compartment 32 through bolts, and the transverse bulkhead 29 is a partition wall surface of the front equipment compartment 31 and the rear equipment compartment 32; the horizontal part of the direction stabilizing plate mounting seat 10 is fixedly connected with the bottom of the ship body 1 in a pre-embedded mode, and a flange seat used for connecting the direction stabilizing plate at the bottom of the direction stabilizing plate mounting seat 10 penetrates out of the bottom of the ship body 1. The rear equipment compartment cover 6 arranged on the corresponding deck above the rear equipment compartment 32 can be opened and closed, so that the control box 23 and the power box 24 can be conveniently disassembled and assembled. The rudder driving device fixing base 11 is installed at the bottom of the rear side of the stern peak cabin 33 of the ship body 1 in a pre-embedded mode, a stern cabin opening seat 7 is installed on a corresponding deck above the stern peak cabin 33 in a pre-embedded mode, the stern cabin opening seat 7 is of an open structure, and a stern device fixing seat 8 on the stern cabin opening seat 7 can be fixedly connected with the stern cabin opening seat 7 and can also be detached, so that the rudder driving device 25 installed in the stern peak cabin 33 can be conveniently installed and debugged and the like.

The navigation positioning unit 12 is installed at the forefront of the deck of the hull 1 of the embodiment, and the navigation positioning unit 12 is used for navigation and positioning of the unmanned sailing boat; the rear side of the navigation positioning unit 12 is provided with a weather station 13, the weather station 13 is used as a scientific load for sensing environmental information such as pressure, temperature, humidity, wind direction and wind speed of the sea air interface atmosphere on one hand, and transmits the sensed environmental information, especially wind direction information, to the controller on the other hand, so that the unmanned sailing boat can determine the attack angle of the wing sail (the rotation angle of the wing sail) according to the surrounding wind direction information, and the unmanned sailing boat can provide the maximum propelling force under the current state. The navigation positioning unit 12 and the weather station 13 are both fixedly connected with the bow equipment fixing seat 2 through supporting rods and are respectively connected with the controller; the navigation positioning unit 12 and the weather station 13 of the present embodiment are both commercially available products, and the navigation positioning unit 12 is purchased from hemisphere, canada, with the model number V104; the weather station 13 is available from air corporation, U.S. model number 200 WX. The rotating shaft of the wing sail 14 is connected with the output end of the sail rotating device 21, and the wing sail 14 can convert wind energy into driving force for sailing the unmanned sailing ship to push the unmanned sailing ship to sail. An audible and visual alarm 16 is arranged at the tail part of a deck of the ship body 1, and the audible and visual alarm 16 is used for giving an alarm when the unmanned sailing ship breaks down; the audible and visual alarm 16 is fixedly connected with the stern device fixing seat 8 through a support rod and is connected with the controller. The audible and visual alarm 16 of the present embodiment is a commercially available product, available from Hosiden Besson, UK, as model number Banshee Excel Lite 110 dB. The radio antenna 17 and the iridium communication antenna 18 of the present embodiment are also connected to the stern device fixing base 8 through respective support rods, the radio antenna 17 is first connected to a radio module, and the radio module is then connected to a controller; the iridium communication antenna 18 is firstly connected with an iridium module, and the iridium module is connected with the controller; the radio module and the iridium module are both installed in the control box 23. A rudder piece 19 is installed at the rear end of the bottom of the hull 1 and functions to control the sailing direction of the unmanned sailing boat. The rudder drive device 25 of the present embodiment is conventional, and therefore, will not be described in detail. The bottom of the hull 1 of the present embodiment is further provided with a directional stabilizer plate 20, and the directional stabilizer plate 20 can be used as a ballast to provide a restoring moment for the unmanned sailing boat on one hand, and can counteract the lateral force of the hull through hydrodynamic force on the other hand.

The deck of the ship body 1 is paved with the flexible solar cell panel 15, the flexible solar cell panel 15 is connected with a storage battery pack arranged in a power box 24 inside the ship body 1, the storage battery pack is connected with a controller, and the flexible solar cell panel 15 can convert solar energy into electric energy to be supplied to the controller, the motor, the sensor and the like of the unmanned sailing ship to provide power supply. The flexible solar panel 15 of this embodiment is first connected to a solar charging controller, which is mounted inside the power box 24, and then connected to the battery pack. The main function of the solar charging controller is to make the electric energy obtained by the flexible solar cell panel 15 input into the storage battery pack uniformly and stably with optimal efficiency. Because the deck of the ship body 1 is provided with the front equipment hatch cover 4, the rear equipment hatch cover 6 and the handhole cover 3, the original complete and continuous plane of the deck is split, and if the traditional hard solar cell panel is used, the effective area for installing the solar cell panel is small. Therefore, this embodiment uses flexible solar cell panel 15, and this flexible solar cell panel thickness is 3mm, can customize into required shape, just so can utilize the area on the deck effectively, acquires bigger flexible solar cell panel 15 area, acquires more electric energy. The flexible solar panel 15 is fixed to the deck by means of bonding.

The front equipment cabin 31 of the embodiment is internally provided with the sail device 21, the sail device 21 is a core component for driving the unmanned sailing boat wing sail to rotate, and is fixedly connected with a sail device mounting base 9 arranged at the bottom in the boat body 1 through a bolt, and the output end of the sail device 21 is connected with the rotating shaft of the wing sail 14 after penetrating out of a sail driving shaft penetrating hole on a deck, so that the wing sail can be driven to rotate. The hull 1 is provided at its bottom with a watertight connector 22 for introducing external sensors into the cabin. A control box 23 and a power supply box 24 are respectively arranged in the rear equipment cabin 32 of the unmanned sailing boat, and electronic components such as a controller, a motor driver, a radio receiving module and the like for automatic navigation control of the unmanned sailing boat are arranged in the control box 23; the power box 24 is loaded with a storage battery pack, on one hand, the storage of electric energy obtained by the flexible solar cell panel 15 can be realized, and on the other hand, the power supply can be provided for the ship-wide electric facilities. The power supply box 24 and the control box 23 are connected by a power supply cable. The rudder driving device 25 in the stern pointed cabin 33 is fixedly connected to the rudder driving device fixing base 11, and the output shaft of the driving motor in the rudder driving device 25 penetrates out of the bottom of the ship body 1 and then is connected with the rudder blade 19 so as to drive the rudder blade to rotate; the modularized design method of the sail turning device 21, the control box 23, the power supply box 24 and the rudder driving device 25 is convenient for installation and debugging and later maintenance of the unmanned sailing boat.

The direction stabilizing plate 20 of this embodiment is arranged at the outer side of the bottom of the hull 1, and a flange at the upper end of the direction stabilizing plate 20 can penetrate through the flange at the outer side of the bottom of the hull 1 through the bolt and the direction stabilizing plate mounting seat 10 and can also be conveniently detached during transportation. The direction stabilizing plate 20 is a symmetrical wing type in NACA (national aviation council), a longitudinal row of through holes 27 are formed in the rear edge of the direction stabilizing plate 20, and two threaded holes 28 are preset in the lower end of the direction stabilizing plate 20 and used for mounting sensors. The bottom of the ship body 1 is positioned at the rear side of the direction stabilizing plate mounting seat 10, a watertight connector penetrating base 26 is pre-embedded, a dissolved oxygen sensor, a chlorophyll sensor, a nitrate sensor, a temperature and salt depth sensor and the like for marine environment observation can be fixedly connected through a threaded hole 28 at the lower end of the direction stabilizing plate 20, an electric cable corresponding to the sensor is connected with a watertight connector 22, the watertight connector 22 penetrates through the watertight connector penetrating base 26 and then is led into the ship body 1, and watertight is achieved. The cables of the sensors are routed along the rear edge of the direction-stabilizing plate 20 after being led out from the sensors, and the cables are bound on the through holes 27 on the rear side of the direction-stabilizing plate 20 through a binding belt.

As shown in fig. 6 to 9, the sail device 21 of the present embodiment includes a base, a worm wheel shaft protective sleeve 2104, a gland 2105, a worm wheel shaft 2106, a tension plate assembly, a power source, a worm 2115, a transmission assembly, a worm shaft 2119 and a worm wheel 2121, wherein the base is mounted on a sail device mounting base 9 fixed at the bottom inside the hull 1 to form a pivot of the sail device 21 and the hull 1; the power source is arranged in the base, the worm shaft 2119 is rotationally arranged in the base, the output shaft of the power source is connected with one end of the worm shaft 2119 through the transmission assembly to drive the worm shaft 2119 to rotate, and the worm shaft 2119 is provided with a linked worm 2115; one end of a worm wheel shaft 2106 is inserted into the base and is rotatably connected with the base, the other end of the worm wheel shaft penetrates out of a rotary sail driving shaft penetrating hole 5 formed in the deck of the hull 1 and the base, and is fixedly connected with an adapter flange seat 2107, the adapter flange seat 2107 is connected with a rotating shaft of a wing sail 14, a worm wheel 2121 is positioned in the base, the worm wheel 2121 is arranged on the worm wheel shaft 2106 and is linked with the worm wheel shaft 2106, and the worm wheel 2121 is meshed with a worm 2115; the part of the worm wheel shaft 2106 outside the base is sleeved with a worm wheel shaft protective sleeve 2104, the worm wheel shaft 2106 is rotatably connected with the worm wheel shaft protective sleeve 2104, one end of the worm wheel shaft protective sleeve 2104 is installed on the base, the other end of the worm wheel shaft protective sleeve 2104 is provided with a tension plate assembly located inside a deck of the ship body 1, the gland 2105 is sleeved outside the worm wheel shaft 2106 and pressed on the deck of the ship body 1, the gland 2105 is connected with the tension plate assembly, the deck of the ship body 1 is clamped between the gland 2105 and the tension plate assembly, and another supporting point of the sail rotating device 21 and the ship body 1 is formed.

The power source of this embodiment is driving motor and reduction gear module 2114, and this driving motor and reduction gear module 2114 is the composite module among the prior art, and direct current motor and the direct combination of planetary gear reduction gear are a modular unit together promptly, and the afterbody is direct current motor, and the head is the reduction gear output shaft, has the screw hole that is used for fixing on reduction gear box terminal surface of reduction gear output shaft one side, and driving motor and reduction gear module 2114 pass through this screw hole to be fixed on side flange 2132 of base. The driving motor in the dc motor and rudder driving device 25 of this embodiment is connected to the motor driver in the control box 23, and the motor driver is further connected to the controller.

The transmission assembly of the present embodiment includes a constant diameter spur gear a2118 and a constant diameter spur gear B2120 respectively located at the outer side of the base, the constant diameter spur gear a2118 is connected to the output shaft of the driving motor and reducer module 2114, the constant diameter spur gear B2120 is connected to one end of the worm shaft 2119 and is in mesh transmission with the constant diameter spur gear a2118, that is, the force and motion output by the driving motor and reducer module 2114 are transmitted to the worm shaft 2119 through a pair of constant diameter spur gears. The worm shaft 2119 of the present embodiment is positioned above the drive motor and reducer module 2114, and the axial center line of the worm shaft 2119 is parallel to the axial center line of the output shaft of the drive motor and reducer module 2114. In this embodiment, the other end of the worm shaft 2119 extends from the other side of the base, and is connected to a pinion 2113, a potentiometer mounting rack 2110 is fixed to the outer surface of the base at the other end, the rotary potentiometer 2111 is fixedly connected to the potentiometer mounting rack 2110 and is connected to the controller, a large gear 2112 is connected to the rotary shaft of the rotary potentiometer 2111, the large gear 2112 and the pinion 2113 mounted at the other end of the worm shaft 2119 are in meshing transmission, the rotary angle of the worm 2115 is measured by the rotary potentiometer 2111, and the rotary angle of the worm shaft 2106, that is, the rotary angle and the rotary speed of the wing sail 14, are obtained. The rotary potentiometer 2111 of the present embodiment is a conventional one.

In this embodiment, each end of the worm shaft 2119 is provided with a deep groove ball bearing 2117 and a thrust bearing 2116, that is, the worm shaft 2119 is provided with an equal-diameter spur gear B2120, a deep groove ball bearing 2117, a thrust bearing 2116, a worm 2115, a thrust bearing 2116, a deep groove ball bearing 2117 and a pinion 2113 in sequence from left (one end) to right (the other end); deep groove ball bearings 2117 at two ends of the worm shaft 2119 are arranged in bearing mounting grooves formed on the base, the thrust bearings 2116 are positioned in the base, the two thrust bearings 2116 are respectively positioned at the left side and the right side of the worm 2115, and the inner side and the outer side of the thrust bearings 2116 are respectively abutted against the end surface of the worm 2115 and the inner wall surface of the base. On the side close to the pinion 2113, there is a bearing cover 2125 for limiting the axial movement of the deep groove ball bearing 2117, and the bearing cover 2125 is fixed to the base by bolts.

The axis of the worm shaft 2106 of the present embodiment is perpendicular to the space of the axis of the worm shaft 2119. The bottom of the base is provided with a bottom bearing block 2124 in a manner that a connecting flange is arranged on the bottom bearing block 2124, and the bottom bearing block 2124 is fixed at the bottom of the base through bolts; one end (lower end) of the worm wheel shaft 2106 is inserted into the bottom bearing block 2124 and is rotatably connected to the bottom bearing block 2124 via an angular contact bearing 2122; the angular contact bearing 2122 is supported and retained by a spigot on the inside of the bottom housing 2124. A worm wheel holder 2123 is fitted to one end (lower end) of the worm wheel 2106, and after the worm wheel 2121 is mounted on the worm wheel shaft 2106, the worm wheel holder 2123 is sandwiched between the worm wheel 2121 and the inner ring of the angular contact bearing 2122, and the worm wheel 2121 is axially restrained by the worm wheel holder 2123 and a shoulder 2131 on the worm wheel shaft 2106 above the worm wheel 2121.

One end (lower end) of the worm-wheel shaft protective sleeve 2104 of the embodiment is provided with a flange, the worm-wheel shaft protective sleeve 2104 is fixedly installed on the upper surface of the base through bolts, the other end (upper end) of the worm-wheel shaft protective sleeve 2104 is of a boss structure, and the end face of the other end of the worm-wheel shaft protective sleeve 2104 penetrates through the deck of the ship body 1 and then is coplanar with the upper surface of the deck. The worm gear shaft 2106 is rotatably connected with the boss structure at the other end of the worm gear shaft protective sleeve 2104 through an angular contact bearing 2122, and the two angular contact bearings 2122 at the upper end and the lower end of the worm gear shaft 2106 jointly support the worm gear shaft 2106. The tension plate assembly of the embodiment comprises a tension plate 2108 and an auxiliary tension plate 2109, the upper end of the worm-wheel shaft protective sleeve 2104 is of a boss structure, the tension plate 2108 is clamped at the bottom of the boss and is connected with the gland 2105, and the limit and fixation of the worm-wheel shaft protective sleeve 2104 are realized; an auxiliary tension plate 2109 is mounted on the tension plate 2108 and is connected to the gland 2105. The tensioning plate 2108 of this embodiment is a circular ring structure with a U-shaped notch, the auxiliary tensioning plate 2109 is a quarter circular ring structure, two ends of the auxiliary tensioning plate 2109 are fixedly connected with two ends of the U-shaped notch on the tensioning plate 2108, the tensioning plate 2108 and the auxiliary tensioning plate 2109 are installed in a matched manner to form a complete circular ring, and the inner diameter of the complete circular ring is equal to the outer diameter of the middle part between two ends of the worm-gear shaft protective sleeve 2104 and is smaller than the outer diameter of the boss structure. The tension plate 2108 and the auxiliary tension plate 2109 clamp a boss structure at the upper part of the worm-wheel shaft protective sleeve 2104, the gland 2105 presses on a deck of the ship body 1, the gland 2105 is coaxially matched with the worm-wheel shaft protective sleeve 2104, the tension plate 2108 and the auxiliary tension plate 2109 are fixedly connected together through the fastening screw 2130, and meanwhile, the deck of the ship body 1 is clamped between the gland 2105 and the tension plate 2108 and the auxiliary tension plate 2109; in this way, a fixed connection to the deck of the hull 1 is achieved, corresponding to the upper part of the sail means 21, forming another reliable and firm fulcrum. The lower surface of the gland 2105 is provided with a flange 2128 extending axially downward, the flange 2128 is located inside the boss structure and abuts against the upper surface of the outer ring of the angular contact bearing 2122 inside the boss structure, and the axial limit of the angular contact bearing 2122 inside the boss structure is realized together with the boss structure. The base is fixedly connected with a sail device mounting base 9 at the bottom in the hull 1 through bolts at the lower part of the sail device 21, so that a reliable and firm pivot is formed; this forms the fulcrum of the two reefing devices 21 and strongly ensures the stability of the fixation of the reefing devices 21.

A radial seal groove 2129 is arranged on the worm wheel shaft 2106 inside the gland 2105 in this embodiment, an O-shaped seal ring is installed in the radial seal groove 2129, and the O-shaped seal ring and the inner wall of the gland 2105 realize radial dynamic seal.

As shown in fig. 6 to 9, the base of the present embodiment is divided into a base member a and a base member B2103 having a left-right combination structure, the base member a is divided into an upper base member a2102 and a lower base member a2101 having an upper-lower combination structure, and the upper base member a2102 and the lower base member a2101 are fixedly connected to each other by long bolts and screw holes formed in the side surface of the base member B2103. Semi-circular grooves are formed in two opposite sides of the lower base component A2101 and the upper base component A2102, and after the lower base component A2101 and the upper base component A2102 are connected, the two semi-circular grooves form a bearing groove 2127 for mounting a deep groove ball bearing 2117. Note that, after the lower base member a2101 and the upper base member a2102 are connected, the bearing groove on the left side is a stepped groove, and the bearing groove on the right side is an equal-diameter aperture. That is, the bearing groove on the left side abuts against the outer ring side wall of the deep groove ball bearing 2117 in the side bearing groove by the step of the groove; this design is for ease of installation. Since the bearing groove on the right side is an equal-diameter unthreaded hole, and in order to realize the axial limit of the deep groove ball bearing 2117 in the bearing groove on the right side, a bearing cover plate 2125 is arranged, the bearing cover plate 2125 is fixedly installed across the side walls of the lower base component A2101 and the upper base component A2102, a flange on the bearing cover plate 2125 faces the inside of the base, and the flange abuts against the outer ring side wall of the deep groove ball bearing 2117 in the bearing groove on the right side, so that the axial limit of the deep groove ball bearing 2117 on the side is realized, and the function of connecting the lower base component A2101 and the upper base component A2102 is also realized; the worm-wheel shaft protective sleeve 2104 spans over the upper base part a2102 and the base part B2103, and when the worm-wheel shaft protective sleeve 2104 is bolted over the bases, the fixation of the upper base part a2102 and the base part B2103 is also achieved; bottom bearing block 2124 spans lower base block A2101 and base block B2103, also effecting securement of lower base block A2101 and base block B2103 when bolted to lower base block bottom bearing block 2124; namely, the lower base part a2101, the upper base part a2102 and the base part B2103 are finally bolted into a solid whole to form the base of the sail device 21; adopt split type structure on the one hand for the convenience of processing, on the other hand also is for the convenience of installation maintenance.

The utility model discloses a theory of operation does:

the wind direction information is sensed by the weather station 13 and transmitted to the controller, the controller controls the driving motor and the reducer module 2114 through the motor driver, so that the driving motor and the reducer module 2114 drives the equal-diameter spur gear A2118 to rotate, the equal-diameter spur gear A2118 transmits motion and force to the equal-diameter spur gear B2120 meshed with the equal-diameter spur gear A2118, and the equal-diameter spur gear B2120 transmits the motion and force to the worm 2115 through the worm shaft 2119; the worm 2115 is engaged with the worm wheel 2121 to thereby drive the worm wheel 2121 to rotate, and the worm wheel shaft 2106, which is connected to the worm wheel 2121 through a key, rotates in accordance with the rotation of the worm wheel 2121. The adapter flange seat 2107 fixedly connected to the top of the worm gear shaft 2106 is finally connected to the rotating shaft of the wing sail 14, i.e. the wing sail 14 is finally driven to rotate. In the rotation process of the wing sail 14, a pinion 2113 arranged at the other end of the worm shaft 2119 and a bull gear arranged on a rotary potentiometer 2111 are meshed with each other for transmission, namely, a rotation angle of a worm wheel shaft 2106, namely, a rotation angle of the wing sail 14 is obtained through the rotary potentiometer 2111 and then transmitted to a controller, the rotation of the wing sail 14 is controlled through the controller, an optimal included angle between the wing sail 14 and the wind direction is adjusted, the wing sail 14 is controlled to work under the included angle, and optimal propelling force is provided for the unmanned sailing boat.

The rudder drive device 25 drives the rudder piece 19 to rotate, thereby controlling the sailing direction of the unmanned sailing ship.

Claims

1. An unmanned sailing vessel for marine environment observation, characterized in that: comprises a ship body (1), a wing sail (14), a radio antenna (17), an iridium communication antenna (18), a rudder sheet (19), a sail turning device (21), a controller and a rudder driving device (25) which are respectively arranged inside the ship body (1), wherein, the two ends of the deck bow and stern of the hull (1) are respectively provided with a bow device fixing seat (2) and a stern hatch seat (7), a front equipment hatch cover (4) and a rear equipment hatch cover (6) which can be opened and closed are respectively arranged on a deck between the bow equipment fixing seat (2) and the stern part hatch seat (7), a detachable stern device fixing seat (8) is arranged on the stern hatch seat (7), the stern device fixing seat (8) is respectively provided with a radio antenna (17) and an iridium communication antenna (18), the radio antenna (17) and the iridium communication antenna (18) are respectively connected with a controller; the output end of the sail rotating device (21) penetrates out of the deck and then is connected with the wing sail (14), a power source in the sail rotating device (21) is connected with the controller, and the wing sail (14) is driven to rotate by the sail rotating device (21); the output end of the rudder driving device (25) penetrates out of the bottom of the ship body (1) and then is connected with the rudder sheet (19) to drive the rudder sheet (19) to rotate, and a driving motor in the rudder driving device (25) is connected with the controller.

2. The unmanned sailboat for marine environmental observations as claimed in claim 1, wherein: the interior of the ship body (1) is divided into a fore peak cabin (30), a front equipment cabin (31), a rear equipment cabin (32) and a stern peak cabin (33) which are mutually independent through a plurality of transverse bulkheads (29), the fore peak cabin (30) is correspondingly arranged below the fore equipment fixing seat (2), the front equipment cabin (31) is correspondingly arranged below the front equipment cabin cover (4), the rear equipment cabin (32) is correspondingly arranged below the rear equipment cabin cover (6), and the stern peak cabin (33) is correspondingly arranged below the stern peak cabin mouth seat (7); and hand hole covers (3) which can be unscrewed or screwed are respectively arranged on decks corresponding to the stem tip cabin (30) and the rear equipment cabin (32), and a sail driving shaft penetrating hole (5) for penetrating out of the output end of the sail device (21) is arranged on the deck corresponding to the front equipment cabin (31).

3. The unmanned sailboat for marine environmental observations as claimed in claim 1, wherein: the device comprises a bow equipment fixing seat (2), a navigation positioning unit (12) and a meteorological station (13) which are connected with a controller are respectively installed on the bow equipment fixing seat (2), a radio antenna (17) and an iridium communication antenna (18) are respectively installed on a stern equipment fixing seat (8), and an audible and visual alarm (16) connected with the controller is further installed on the stern equipment fixing seat (8).

4. The unmanned sailboat for marine environmental observations as claimed in claim 1, wherein: a flexible solar cell panel (15) is laid on a deck of the ship body (1), the flexible solar cell panel (15) is connected with a storage battery pack arranged in a power box (24) inside the ship body (1), and the storage battery pack is connected with the controller and provides power supply for the unmanned sailing ship.

5. The unmanned sailboat for marine environmental observations as claimed in claim 1, wherein: a direction stabilizing plate mounting seat (10) is mounted at the bottom in the ship body (1), a direction stabilizing plate (20) is arranged on the outer side of the bottom of the ship body (1), the upper end of the direction stabilizing plate (20) is detachably connected with a flange, penetrating out of the outer side of the bottom of the ship body (1), of the direction stabilizing plate mounting seat (10), and a threaded hole (28) for mounting a sensor is formed in the lower end of the direction stabilizing plate (20); the position that is close to on hull (1) and wears out hull (1) bottom outside flange is sealed to be installed and is had watertight connector (22) to steady board mount pad (10), the electric cable of sensor passes through inside watertight connector (22) introduction hull (1), and with the controller is connected.

6. The unmanned sailboat for marine environmental observations as claimed in claim 1, wherein: the sail rotating device (21) comprises a base, a worm wheel shaft protective sleeve (2104), a pressing cover (2105), a worm wheel shaft (2106), a tensioning plate component, a power source, a worm (2115), a transmission component, a worm shaft (2119) and a worm wheel (2121), wherein the base is arranged on a sail rotating device mounting base (9) fixed at the bottom in the ship body (1) to form a fulcrum of the sail rotating device (21) and the ship body (1); the power source is arranged in the base, the worm shaft (2119) is rotatably arranged in the base, an output shaft of the power source is connected with one end of the worm shaft (2119) through the transmission assembly and drives the worm shaft (2119) to rotate, and the worm shaft (2119) is provided with a linked worm (2115); one end of the worm wheel shaft (2106) is inserted into the base and is rotatably connected with the base, the other end of the worm wheel shaft penetrates out of the base and a deck of the ship body (1) and is connected with the wing sail (14), the worm wheel (2121) is positioned in the base, the worm wheel (2121) is arranged on the worm wheel shaft (2106) and is linked with the worm wheel shaft (2106), and the worm wheel (2121) is meshed with the worm (2115); the part of the worm wheel shaft (2106) outside the base is sleeved with a worm wheel shaft protective sleeve (2104), the worm wheel shaft (2106) is rotatably connected with the worm wheel shaft protective sleeve (2104), one end of the worm wheel shaft protective sleeve (2104) is installed on the base, the other end of the worm wheel shaft protective sleeve (2104) is provided with a tensioning plate component located inside a deck of the ship body (1), the gland (2105) is sleeved outside the worm wheel shaft (2106) and pressed on the deck of the ship body (1), the gland (2105) is connected with the tensioning plate component, the deck of the ship body (1) is clamped between the gland (2105) and the tensioning plate component, and another fulcrum of the sail rotating device (21) and the ship body (1) is formed.

7. The unmanned sailboat for marine environmental observations as claimed in claim 6, wherein: the tensioning plate assembly comprises a tensioning plate (2108) and an auxiliary tensioning plate (2109), the other end of the worm wheel shaft protective sleeve (2104) is of a boss structure, the tensioning plate (2108) is clamped at the bottom of the boss and connected with the gland (2105) to realize the limiting and fixing of the worm wheel shaft protective sleeve (2104); the auxiliary tension plate (2109) is mounted on the tension plate (2108).

8. The unmanned sailboat for marine environmental observations as claimed in claim 6, wherein: the end face of the other end of the worm wheel shaft protective sleeve (2104) penetrates through a deck of the ship body (1) and then is coplanar with the upper surface of the deck, and a flange (2128) formed by extending downwards along the axial direction is arranged on the lower surface of the gland (2105); the worm wheel shaft (2106) is rotationally connected with a boss structure at the other end of the worm wheel shaft protective sleeve (2104) through an angular contact bearing (2122), the flange (2128) is located inside the boss structure and abuts against the upper surface of the outer ring of the angular contact bearing (2122), and the axial limiting of the angular contact bearing (2122) is achieved together with the boss structure.

9. The unmanned sailboat for marine environmental observations as claimed in claim 6, wherein: the bottom of the base is provided with a bottom bearing seat (2124), one end of the worm wheel shaft (2106) is inserted into the bottom bearing seat (2124) and is rotationally connected with the bottom bearing seat (2124) through an angular contact bearing (2122); one end of the worm wheel shaft (2106) is sleeved with a worm wheel seat (2123), the worm wheel seat (2123) is clamped between the worm wheel (2121) and the inner ring of the angular contact bearing (2122), and the worm wheel (2121) realizes axial limiting through the worm wheel seat (2123) and a shaft shoulder (2131) on the worm wheel shaft (2106) above the worm wheel (2121).

10. The unmanned sailboat for marine environmental observations as claimed in claim 6, wherein: the other end of the worm shaft (2119) extends out of the base and is connected with a pinion (2113), a potentiometer mounting frame (2110) is fixed on the outer surface of the base at the other end, a rotary potentiometer (2111) is fixedly connected to the potentiometer mounting frame (2110) and is connected with the controller, a rotating shaft of the rotary potentiometer (2111) is connected with a large gear (2112), the large gear (2112) is in meshing transmission with the pinion (2113), and the rotating angle of the worm (2115) is measured through the rotary potentiometer (2111).

11. The unmanned sailboat for marine environmental observations as claimed in claim 6, wherein: the transmission assembly comprises an equal-diameter spur gear A (2118) and an equal-diameter spur gear B (2120) which are respectively positioned outside the base, the equal-diameter spur gear A (2118) is connected to an output shaft of the power source, and the equal-diameter spur gear B (2120) is connected with one end of the worm shaft (2119) and is in meshed transmission with the equal-diameter spur gear A (2118).

12. The unmanned sailboat for marine environmental observations as claimed in claim 6, wherein: the base is divided into a base part A and a base part B (2103) with a left-right combined structure, the base part A is divided into an upper base part A (2102) and a lower base part A (2101) with an up-down combined structure, and the upper base part A (2102), the lower base part A (2101) and the base part B (2103) are connected into the base of the rotary sail device through bolts.