CN212766708U - Seat type unmanned mechanical arm device for boat-driving - Google Patents
Seat type unmanned mechanical arm device for boat-driving Download PDFInfo
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- CN212766708U CN212766708U CN202021626008.6U CN202021626008U CN212766708U CN 212766708 U CN212766708 U CN 212766708U CN 202021626008 U CN202021626008 U CN 202021626008U CN 212766708 U CN212766708 U CN 212766708U
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Abstract
The utility model relates to a seat type unmanned mechanical arm device for a boat, which comprises a stool, wherein a supporting component is fixedly arranged on the stool, and a steering arm component and a propelling arm component are respectively arranged at two sides of the supporting component; a buckling claw in the steering arm assembly is fixedly connected with the steering wheel of the boat in the circumferential direction, and the buckling claw rotates the steering wheel under the driving of the motor; the tail end of the propelling arm component is rotatably connected with a control component of the boat, and the propelling arm component pushes a control lever in the control component to enable the control lever to swing relative to a control seat; the utility model can use the seat of the prior naval vessel as a supporting base, directly control the steering wheel to rotate through the steering arm component, and directly control the accelerator control lever and the reversing control lever through the propelling arm component, thereby realizing unmanned driving under the condition of not changing the prior driving boat control device; the utility model discloses simple structure, compactness, ingenious satisfy in unmanned driving demand through minimum engineering volume, install, demolish convenient and fast, the practicality is good.
Description
Technical Field
The utility model belongs to the technical field of the unmanned device technique of boat of driving and specifically relates to a seat formula is driven unmanned robotic arm device of boat.
Background
A surface vessel refers to a vessel that travels, operates and battles on the surface of water, and is different from a submarine that travels and battles under the surface of water.
In the prior art, a surface naval vessel is mostly operated by a driver to realize surface navigation, when the surface naval vessel needs to drive to a specified course and a specified navigation point, the driver needs to control the direction steering and the accelerator in the whole process, and the driving intelligence degree is low; on the other hand, the naval vessel is controlled by the driver to sail in the whole course, so that the operation is complicated, and the stability and the proficiency of the operation are related to the driving experience and skill and are uncontrollable.
SUMMERY OF THE UTILITY MODEL
The applicant provides a seat formula of driving a ship unmanned mechanical arm device rational in infrastructure to shortcoming among the above-mentioned prior production technique to satisfy in the unmanned demand of current naval vessel through the minimum engineering volume, install, demolish convenient and fast, the practicality is good, and the intellectuality of helping hand in promoting naval vessel driving greatly.
The utility model discloses the technical scheme who adopts as follows:
a seat type boat-driving unmanned mechanical arm device comprises a stool, wherein a supporting assembly is fixedly arranged on the stool, and a steering arm assembly and a propelling arm assembly are respectively arranged on two sides of the supporting assembly; a buckling claw in the steering arm assembly is fixedly connected with the steering wheel of the boat in the circumferential direction, and the buckling claw rotates the steering wheel under the driving of the motor; the propulsion arm assembly is pivotally connected at a distal end thereof to a steering assembly of the boat, and the propulsion arm assembly pushes a steering lever of the steering assembly to cause the steering lever to swing relative to the steering base.
As a further improvement of the above technical solution:
the structure of the steering arm assembly is as follows: the steering mechanism comprises a steering arm, wherein the rear end of the steering arm is fixedly mounted with a supporting assembly, a gear box is mounted at the front end of the steering arm, a motor is fixedly mounted on the outer wall surface of the gear box, the output end of the motor extends into the gear box, and a gear assembly is mounted at the end part of the output end of the motor positioned in the gear box; the gear box is characterized by also comprising a buckling claw box positioned outside the side wall of the gear box, wherein the buckling claw box is connected with the output end of the gear assembly through a connecting shaft, and the connecting shaft and the gear box are rotatably arranged; two groups of buckling claws are symmetrically arranged on the side surface of the buckling claw box, and the two groups of buckling claws jointly grab the steering wheel.
The structure of the steering arm is as follows: the humerus supporting device comprises a transverse pipe I fixedly mounted with a supporting component, connecting rods are symmetrically sleeved on the transverse pipe I at intervals to form a humerus segment, and an ulna segment is mounted at the end of the humerus segment.
One end of the transverse pipe positioned on the outer side surface of the connecting rod is provided with a first conical structure, and the first transverse pipe is inserted into the side surface of the supporting column of the supporting component through the first conical structure.
One end of the buckling claw extends into the buckling claw box and is fixedly connected with the buckling claw box, and the other end of the buckling claw bends towards the direction of the steering wheel and extends into a hook shape; the buckling claw box is positioned in the middle of the side face of the steering wheel, and the hook-shaped end parts of the two groups of buckling claws jointly grab the steering wheel from the circumferential direction.
The propelling arm component is structurally characterized in that: the device comprises a transverse pipe II fixedly mounted with a supporting component, wherein one or two groups of push rod components are sleeved on the transverse pipe II;
the structure of the single group of push rod components is as follows: the single rotating seat is provided with an electric driving push rod through one rotating shaft in a rotating way; the tail end of the electric driving push rod is rotatably connected with the rotating seat, and the output end of the electric driving push rod is rotatably connected with the end part of the operating rod of the operating assembly through a second rotating shaft.
The control assembly comprises a control seat, two control levers are arranged on the control seat in parallel, one control lever is used for reversing control, and the other control lever is used for controlling the accelerator; two electric driving push rods in the single group of push rod assemblies are respectively connected with the reversing and throttle control lever in a rotating way.
The end of the second transverse pipe is of a conical structure II, and the second transverse pipe is inserted into the side face of the supporting column of the supporting assembly through the conical structure II.
The structure of the supporting component is as follows: the device comprises a vertically arranged supporting column, the lower part of the supporting column is pressed on the side surface of a stool through supporting plates arranged at intervals, the upper part of the supporting column is provided with a first sleeve hole and a second sleeve hole at intervals along the axial direction, and the axial direction of the first sleeve hole and the axial direction of the second sleeve hole are along the diameter direction of the supporting column; the supporting column is fixedly mounted with the pushing arm assembly through the first sleeve pipe hole, and the supporting column is fixedly mounted with the steering arm assembly through the second sleeve pipe hole.
The supporting column is of a hollow structure, and the circumferential wall surface of the supporting column is also provided with a wire inlet pipe in a penetrating way; the support plate is fixedly arranged on the side wall surface of the stool through a fastener.
The utility model has the advantages as follows:
the utility model has the advantages of compact and reasonable structure, convenient operation to the bench of current naval vessel is the supporting base, rotates through steering arm subassembly direct control steering wheel, through advancing arm subassembly direct control throttle control rod and switching-over control rod, thereby realize unmanned under the condition of unchangeable current ship controlling device of driving, satisfy in unmanned driving demand through minimum engineering volume, convenient and fast is demolishd in the installation, helping hand greatly in the promotion of naval vessel driving intelligent degree, the reliability is high, the practicality is good.
The utility model discloses still include following advantage:
the motor works, the gear assembly in the gear box drives the buckling claw box to rotate, and the buckling claw box drives the steering wheel to rotate through the buckling claw, so that the intelligent operation of the rotation of the naval vessel steering wheel is realized; when the electric driving push rod works, the output end of the electric driving push rod extends out to push the operating rod forwards, or the output end retracts to pull the operating rod backwards, so that the intelligent operation of the ship accelerator operation and the reversing operation is realized; the structure is simple, ingenious and reasonable;
the steering arm is composed of a humerus section and an ulna section, and the steering arm assembly is more flexible to mount and is suitable for mounting and using in different driving spaces by adjusting and fixing the relative angle between the humerus section and the ulna section.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural diagram of the steering arm assembly of the present invention.
Fig. 3 is a schematic structural diagram of the propulsion arm assembly of the present invention.
Fig. 4 is a schematic structural diagram of the support assembly of the present invention.
Wherein: 1. a stool; 2. a steering arm assembly; 3. a support assembly; 4. a propulsion arm assembly; 5. a steering assembly; 6. a steering wheel; 21. a first transverse pipe; 211. a first conical structure; 22. a humeral segment; 23. an ulnar section; 24. a motor; 25. a gear case; 26. a pawl buckling box; 27. buckling claws; 31. a support plate; 32. a support column; 33. a wire inlet pipe; 34. sleeving a first pipe hole; 35. sleeving a second pipe hole; 41. a horizontal pipe II; 411. a second conical structure; 42. a rotating seat; 43. a first rotating shaft; 44. electrically driving the push rod; 45. a second rotating shaft; 51. an operation seat; 52. a joystick.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1, the unmanned mechanical arm device for the seat-type boat-driving of the present embodiment includes a stool 1, a supporting assembly 3 is fixedly mounted on the stool 1, and a steering arm assembly 2 and a propelling arm assembly 4 are respectively mounted on two sides of the supporting assembly 3; a buckling claw 27 in the steering arm assembly 2 is circumferentially and fixedly connected with a steering wheel 6 of a boat, and the buckling claw 27 is driven by a motor 24 to rotate the steering wheel 6; the end of the propulsion arm assembly 4 is rotatably connected with the steering assembly 5 of the boat, the propulsion arm assembly 4 pushes the steering rod 52 in the steering assembly 5, so that the steering rod 52 swings relative to the steering seat 51; the seat 1 of the existing naval vessel is used as a supporting base, the steering wheel 6 is directly controlled to rotate through the steering arm component 2, and the accelerator and the reversing control lever 52 are directly controlled through the propelling arm component 4, so that unmanned driving is realized under the condition that the existing driving boat control device is not changed, and the unmanned driving requirement is met through the minimum engineering quantity.
As shown in fig. 2, the steering arm assembly 2 is structured as follows: the steering mechanism comprises a steering arm, wherein the rear end of the steering arm is fixedly mounted with a supporting component 3, a gear box 25 is mounted at the front end of the steering arm, a motor 24 is fixedly mounted on the outer wall surface of the gear box 25, the output end of the motor 24 extends into the gear box 25, and a gear component is mounted at the end part of the output end of the motor 24 positioned in the gear box 25; the locking mechanism further comprises a buckling claw box 26 positioned outside the side wall of the gear box 25, the buckling claw box 26 is connected with the output end of the gear assembly through a connecting shaft, and the connecting shaft and the gear box 25 are rotatably installed; two groups of buckling claws 27 are symmetrically arranged on the side surface of the buckling claw box 26, and the two groups of buckling claws 27 jointly grab the steering wheel 6; the motor 24 works, the gear assembly in the gear box 25 drives the buckling claw box 26 to rotate, and the buckling claw box 26 drives the steering wheel 6 to rotate through the buckling claw 27, so that the intelligent operation of the rotation of the naval vessel steering wheel 6 is realized.
The structure of the steering arm is as follows: the humerus supporting device comprises a transverse pipe I21 fixedly mounted with a supporting component 3, connecting rods are symmetrically sleeved on the transverse pipe I21 at intervals to form a humerus section 22, and an ulna section 23 is mounted at the end part of the humerus section 22; the steering arm consists of a humerus segment 22 and an ulna segment 23, and the humerus segment 22 and the transverse pipe I21 are connected in a sleeved mode to form a rotating joint; a rotary joint is formed between the humerus segment 22 and the ulna segment 23, a rotary joint is formed between the ulna segment 23 and the gear box 25, and the relative angle between the humerus segment 22 and the ulna segment 23 can be adjusted and fixed by adjusting and fixing the rotary joint, so that the steering arm assembly 2 is more flexibly mounted, is suitable for mounting and using in different driving spaces, and is good in applicability.
The end of the transverse pipe I21 positioned on the outer side face of the connecting rod is provided with a conical structure I211, the transverse pipe I21 is inserted into a sleeve hole II 35 on the side face of the supporting column 32 of the supporting component 3 through the conical structure I211, and the conical surface of the conical structure I211 is used for realizing fixed connection.
One end of the buckling claw 27 extends into the buckling claw box 26 and is fixedly connected, and the other end of the buckling claw 27 bends and extends to the direction of the steering wheel 6 to form a hook shape; the pawl magazine 26 is located in the middle of the side of the steering wheel 6, and the hook-shaped ends of the two sets of pawls 27 grip the steering wheel 6 together from the circumferential direction.
As shown in fig. 3, the propulsion arm assembly 4 is constructed as follows: comprises a horizontal tube II 41 fixedly mounted with the supporting component 3, and one group or two groups of push rod components are sleeved on the horizontal tube II 41;
the structure of the single group of push rod components is as follows: the device comprises rotating seats 42 sleeved on a second transverse pipe 41 at intervals, and electric driving push rods 44 are rotatably arranged on the single rotating seats 42 through first rotating shafts 43; the tail end of the electric driving push rod 44 is rotatably connected with the rotating seat 42, and the output end of the electric driving push rod 44 is rotatably connected with the end of the operating rod 52 of the operating assembly 5 through a second rotating shaft 45; the electrically driven push rod 44 is operated, and the output end of the electrically driven push rod is extended to push the operating rod 52 forwards, or the output end of the electrically driven push rod is retracted to pull the operating rod 52 backwards, so that the intelligent operation of the throttle control and reversing control of the naval vessel is realized.
The operating assembly 5 comprises an operating base 51, two operating levers 52 are arranged on the operating base 51 in parallel, one operating lever 52 is used for reversing operation, and the other operating lever 52 is used for throttle operation; two electrically driven push rods 44 of the single set of push rod assemblies are rotatably engaged with a reversing and throttle control lever 52, respectively.
For a single-diesel engine single-water-injection-pump configuration working boat, the operation components 5 are in a group, and only one group of push rod components are needed to be configured in the corresponding propulsion arm component 4; for a boat with a double-machine double-pump configuration, the operating assemblies 5 are two groups, and two groups of push rod assemblies need to be configured in the corresponding propelling arm assemblies 4.
The end of the second transverse pipe 41 is set as a second conical structure 411, and the second transverse pipe 41 is inserted into the side of the support column 32 of the support assembly 3 through the second conical structure 411.
As shown in fig. 4, the support assembly 3 has a structure in which: the seat comprises a vertically arranged supporting column 32, the lower part of the supporting column 32 is pressed on the side surface of the seat 1 through a support plate 31 arranged at intervals, a first sleeve hole 34 and a second sleeve hole 35 are axially arranged at intervals on the upper part of the supporting column 32, and the axial direction of the first sleeve hole 34 and the axial direction of the second sleeve hole 35 are both along the diameter direction of the supporting column 32; the support column 32 is fixedly mounted with the propelling arm component 4 through a first sleeve hole 34, and the support column 32 is fixedly mounted with the steering arm component 2 through a second sleeve hole 35.
The supporting column 32 is of a hollow structure, the circumferential wall surface of the supporting column 32 is also provided with an inlet pipe 33 in a penetrating way, and the inlet pipe 33 is used for connecting, measuring and controlling the arrangement and routing of cables in the mechanical arm device; the support plate 31 is fixedly arranged on the side wall surface of the stool 1 through a fastener.
The utility model discloses a use-way does:
the supporting column 32 of the supporting component 3 is fixedly arranged on the side surface of the seat 1 of the naval vessel;
inserting the first conical structure 211 of the first transverse pipe 21 of the steering arm assembly 2 into the second sleeve hole 35 on the side wall surface of the support column 32, and fixedly connecting the two sleeve holes in an interference manner; adjusting three rotating joints of the steering arm to form a proper angle between the humerus segment 22 and the ulna segment 23 of the steering arm, accommodating the steering arm in a driving space of a naval vessel, and symmetrically holding the buckling claws 27 on the buckling claw boxes 26 at the periphery of the steering wheel 6;
inserting a second conical structure 411 of a second transverse pipe 41 of the propulsion arm assembly 4 into a first sleeve hole 34 on the side wall surface of the support column 32, and fixedly connecting the first conical structure with the second sleeve hole in an interference manner; the output end of the electric drive push rod 44 is rotatably arranged with the end of the operating rod 52 of the operating assembly 5; thereby completing the installation of the mechanical arm device on the prior naval vessel.
An external controller controls the motor 24 and the electric drive push rod 44 to work;
the motor 24 works, the gear assembly in the gear box 25 drives the buckling claw box 26 to rotate, and the buckling claw box 26 drives the steering wheel 6 to rotate through the buckling claw 27, so that the intelligent operation of the rotation of the naval vessel steering wheel 6 is realized;
the electrically driven push rod 44 is operated to extend its output end to push the operating lever 52 forward or retract its output end to pull the operating lever 52 backward, thereby realizing intelligent operation of throttle and reverse operation of the vessel.
The utility model discloses the structure is ingenious, reasonable, and easy operation satisfies in unmanned driving demand through minimum engineering volume, and convenient and fast is demolishd in the installation, and the helping hand is driven intelligent degree's promotion in the naval vessel greatly, and the reliability is high, and the practicality is good.
The above description is for the purpose of explanation and not limitation of the invention, which is defined in the claims, and any modifications may be made within the scope of the invention.
Claims (10)
1. The utility model provides a seat formula is driven boat unmanned mechanical arm device, includes bench (1), its characterized in that: a supporting assembly (3) is fixedly arranged on the stool (1), and a steering arm assembly (2) and a propelling arm assembly (4) are respectively arranged on two sides of the supporting assembly (3); a buckling claw (27) in the steering arm assembly (2) is fixedly connected with a steering wheel (6) of a driving boat in the circumferential direction, and the buckling claw (27) rotates the steering wheel (6) under the driving of a motor (24); the tail end of the propelling arm assembly (4) is rotatably connected with a steering assembly (5) of the boat, and the propelling arm assembly (4) pushes a control lever (52) in the steering assembly (5) so that the control lever (52) swings relative to a steering seat (51).
2. The unmanned arm unit of a boat rider of claim 1, wherein: the structure of the steering arm assembly (2) is as follows: the steering mechanism comprises a steering arm, wherein the rear end of the steering arm is fixedly mounted with a supporting component (3), a gear box (25) is mounted at the front end of the steering arm, a motor (24) is fixedly mounted on the outer wall surface of the gear box (25), the output end of the motor (24) extends into the gear box (25), and a gear component is mounted at the end part of the output end of the motor (24) positioned in the gear box (25); the gear box is characterized by further comprising a buckling claw box (26) positioned outside the side wall of the gear box (25), wherein the buckling claw box (26) is connected with the output end of the gear assembly through a connecting shaft, and the connecting shaft and the gear box (25) are rotatably arranged; two groups of buckling claws (27) are symmetrically arranged on the side surface of the buckling claw box (26), and the two groups of buckling claws (27) grasp the steering wheel (6) together.
3. The unmanned arm unit of a boat rider of claim 2, wherein: the structure of the steering arm is as follows: the humerus supporting device comprises a transverse pipe I (21) fixedly mounted with a supporting component (3), connecting rods are sleeved on the transverse pipe I (21) symmetrically at intervals to form a humerus segment (22), and an ulna segment (23) is mounted at the end of the humerus segment (22).
4. The unmanned arm unit of a boat rider of claim 3, wherein: the end of a first transverse pipe (21) positioned on the outer side face of the connecting rod is provided with a first conical structure (211), and the first transverse pipe (21) is inserted into the side face of a supporting column (32) of the supporting component (3) through the first conical structure (211).
5. The unmanned arm unit of a boat rider of claim 2, wherein: one end of the buckling claw (27) extends into the buckling claw box (26) and is fixedly connected, and the other end of the buckling claw (27) bends towards the direction of the steering wheel (6) and extends into a hook shape; the buckling claw box (26) is positioned in the middle of the side face of the steering wheel (6), and the hook-shaped end parts of the two groups of buckling claws (27) jointly grab the steering wheel (6) from the circumferential direction.
6. The unmanned arm unit of a boat rider of claim 1, wherein: the propelling arm component (4) is structurally characterized in that: comprises a second transverse pipe (41) fixedly arranged with the supporting component (3), wherein one or two groups of push rod components are sleeved on the second transverse pipe (41);
the structure of the single group of push rod components is as follows: the device comprises rotating seats (42) sleeved on a second transverse pipe (41) at intervals, wherein electric driving push rods (44) are rotatably arranged on the single rotating seats (42) through first rotating shafts (43); the tail end of the electric drive push rod (44) is rotatably connected with the rotating seat (42), and the output end of the electric drive push rod (44) is rotatably connected with the end part of the operating rod (52) of the operating component (5) through a second rotating shaft (45).
7. The unmanned arm unit of a boat rider of claim 6, wherein: the operating assembly (5) comprises an operating base (51), two operating levers (52) are arranged on the operating base (51) in parallel, one operating lever (52) is used for reversing operation, and the other operating lever (52) is used for accelerator operation; two electric driving push rods (44) in the single group of push rod components are respectively connected with a reversing and throttle control lever (52) in a rotating way.
8. The unmanned arm unit of a boat rider of claim 6, wherein: the end of the second transverse pipe (41) is set to be a second conical structure (411), and the second transverse pipe (41) is inserted into the side face of the support column (32) of the support component (3) through the second conical structure (411).
9. The unmanned arm unit of a boat rider of claim 1, wherein: the structure of the supporting component (3) is as follows: the seat comprises a vertically arranged supporting column (32), the lower part of the supporting column (32) is pressed on the side surface of the seat (1) through supporting plates (31) arranged at intervals, a first sleeve hole (34) and a second sleeve hole (35) are formed in the upper part of the supporting column (32) at intervals along the axial direction, and the axial direction of the first sleeve hole (34) and the axial direction of the second sleeve hole (35) are along the diameter direction of the supporting column (32); the supporting column (32) is fixedly mounted with the propelling arm assembly (4) through the first sleeve hole (34), and the supporting column (32) is fixedly mounted with the steering arm assembly (2) through the second sleeve hole (35).
10. The unmanned arm unit of a boat rider of claim 9, wherein: the supporting column (32) is of a hollow structure, and the circumferential wall surface of the supporting column (32) is also provided with a line inlet pipe (33) in a penetrating way; the support plate (31) is fixedly arranged on the side wall surface of the stool (1) through a fastener.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021626008.6U CN212766708U (en) | 2020-08-06 | 2020-08-06 | Seat type unmanned mechanical arm device for boat-driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021626008.6U CN212766708U (en) | 2020-08-06 | 2020-08-06 | Seat type unmanned mechanical arm device for boat-driving |
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| Publication Number | Publication Date |
|---|---|
| CN212766708U true CN212766708U (en) | 2021-03-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202021626008.6U Active CN212766708U (en) | 2020-08-06 | 2020-08-06 | Seat type unmanned mechanical arm device for boat-driving |
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| CN (1) | CN212766708U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114132443A (en) * | 2021-12-08 | 2022-03-04 | 无锡市鸿声船用玻璃钢有限公司 | Unmanned equipment transportation naval vessel and navigation use mode thereof |
-
2020
- 2020-08-06 CN CN202021626008.6U patent/CN212766708U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114132443A (en) * | 2021-12-08 | 2022-03-04 | 无锡市鸿声船用玻璃钢有限公司 | Unmanned equipment transportation naval vessel and navigation use mode thereof |
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