An unmanned ship for ocean observation with a high-precision connection structure

Abstract

The present invention discloses an unmanned boat for ocean observation with a high-precision connection structure, which relates to the technical field of sailboats for marine environment observation. The unmanned boat for ocean observation with a high-precision connection structure comprises an outer hull, a groove is opened inside the outer hull, a deployable solar panel structure is arranged on the upper front side of the outer hull, and a hull positioning and moving structure is arranged in the groove of the outer hull. The present invention uses the deployable solar panel structure to accurately supply energy with dual servo motors, etc., the connecting rod sliding sleeve and the protective support plate remain stable, the expandable connection operation structure is flexibly adapted by the fourth servo motor, etc., the buffer linkage and the adaptation structure operate stably, the hull positioning and moving structure is accurately controlled by the fifth and sixth servo motors, etc., the bevel gear transmission and the limit slide rod improve reliable navigation, and the three cooperate to make the unmanned boat have long endurance, strong task adaptability, and accurate navigation control in marine operations, thereby providing strong support for marine observation, etc.

Description

Technical Field

[0001] The invention relates to the technical field of marine environment observation sailboats, and in particular to an unmanned marine observation boat with a high-precision connection structure. Background Art

[0002] Existing unmanned ships for ocean observation are powerful assistants in the field of ocean monitoring. They usually have a small and flexible hull with a length ranging from several meters to more than ten meters. They are built with lightweight and corrosion-resistant materials to adapt to the harsh ocean environment. Their power systems are mostly electric drive or a mixture of fuel and electricity to ensure efficient and stable navigation and reduce noise interference. They are equipped with high-precision positioning systems such as GPS and Beidou, which can accurately determine their own position and route. Various advanced ocean sensors are core components, such as temperature, salinity and depth sensors that can detect seawater temperature, salinity and depth; acoustic Doppler current profilers that can measure ocean current speed and direction; and optical sensors for monitoring marine life, chlorophyll concentration, etc. The data transmission system can transmit the observation data back to the land control center in real time, and the control center can remotely control the navigation path and operation tasks of the unmanned ship, playing an extremely important role in marine resource exploration, environmental monitoring, meteorological research and other aspects.

[0003] Although the existing mechanical seals have many advantages when installed and used, they still have obvious shortcomings in actual ocean observations. In terms of endurance, the battery capacity is limited and it is difficult to operate continuously for a long time. Often, they need to be manually recovered and recharged after running for a period of time, which not only interrupts the observation process, but also consumes a lot of manpower and material resources. For example, in long-term monitoring tasks in some remote sea areas, frequent recovery and charging seriously affect the continuity and integrity of the data. Moreover, due to the complexity and uncontrollability of ocean currents, unmanned ships are easily swept away by ocean currents during observation. Even if equipped with a positioning system, they may gradually deviate from the preset target observation area. Once out of the target area, the data obtained will deviate from the research focus, resulting in a significant reduction in the detection and observation effect of a specific sea area. It is impossible to accurately and comprehensively grasp the dynamic changes of the marine environment in the target area, which is not conducive to in-depth marine scientific research and resource development and utilization and other related work, and has brought certain adverse effects on people's use process. In order to solve the shortcomings of the existing technology, we propose an unmanned ship for ocean observation with a high-precision connection structure. Summary of the invention

[0004] The main purpose of the present invention is to provide an unmanned ship for ocean observation with a high-precision connection structure, which can effectively solve the problems in the background technology.

[0005] To achieve the above object, the technical solution adopted by the present invention is:

[0006] An unmanned ship for ocean observation with a high-precision connection structure comprises an outer hull, a groove is provided inside the outer hull, a deployable solar panel structure is provided on the front upper part of the outer hull, a hull positioning and moving structure is provided in the groove of the outer hull, and an expandable connection operation structure is provided on the upper surface of one side of the outer hull close to the hull positioning and moving structure;

[0007] The deployable solar panel structure includes a mounting frame installed on the upper surface of the outer hull, wherein a first servo motor is provided on one side of the mounting frame, a first worm gear is detachably mounted on the rotor of the first servo motor, a second servo motor is fixedly mounted on the upper surface of the mounting frame on a side away from the first servo motor, a second worm gear is detachably mounted on the rotor of the second servo motor, a first worm gear is meshedly connected to a first worm gear on a side of the first worm gear close to the second worm gear, a second worm gear is meshedly connected to a second worm gear on a side of the second worm gear close to the first worm gear, a first supporting frame is fixedly mounted on a side of the first supporting frame away from the first worm gear, a first bevel gear is fixedly mounted on an end of the first rotating rod away from the second worm gear, a second bevel gear is meshedly connected to a second bevel gear on a side of the first bevel gear away from the second worm gear, a positioning rotating rod is fixedly mounted on the middle axis of the second bevel gear, and a deflection support rod is provided on an outer wall of the positioning rotating rod;

[0008] The expandable connection operation structure includes a fourth servo motor installed inside the outer hull, a rotating disk is detachably installed at the rotor of the fourth servo motor, a threaded groove rod is fixedly installed at the rotating disk away from the axis of the fourth servo motor, a lower base is arranged on the outer wall of the threaded groove rod near the rotor of the fourth servo motor, four buffer return springs are equidistantly installed on the surface of the side of the lower base away from the rotating disk, an upper base is detachably installed on one end of the buffer return spring away from the lower base, and placement grooves are equidistantly provided around the lower base and the upper base;

[0009] The hull positioning and moving structure includes an external fixed frame installed in a middle groove of the outer hull, a first linkage rod is rotatably installed on an outer wall of one side of the external fixed frame, a third bevel gear is fixedly installed on one end of the first linkage rod, two groups of fourth bevel gears are meshed and connected on the side of the third bevel gear away from the first linkage rod, cylindrical blocks are fixedly installed on the sides of the two groups of fourth bevel gears away from each other, a rectangular frame is slidably installed on the side of the cylindrical block away from the fourth bevel gear, a first cylindrical connecting rod is fixedly installed on the outer wall of the rectangular frame away from the third bevel gear, first annular sleeves are fixedly installed on both sides of the first cylindrical connecting rod, and the middle part of the first annular sleeves are movable A first deflection ball is installed, a second cylindrical connecting rod is fixedly installed at the axis center of the first deflection ball, a second annular sleeve is fixedly installed at the end of the second cylindrical connecting rod away from the first deflection ball, a second deflection ball is movably installed at the middle part of the second annular sleeve, a second swing rod is fixedly installed at the axis center of the second deflection ball, a second linkage rod is fixedly installed on the side of the second swing rod away from the second deflection ball, a paddle is fixedly installed on the side of the second linkage rod away from the second swing rod, two third limiting sliding rods are fixedly installed on the side of the first cylindrical connecting rod away from the fourth bevel gear, and third limiting grooves are provided on the upper and lower sides of the external fixer.

[0010] Preferably, the first worm gear and the second worm gear are horizontally arranged up and down, and their positions correspond to each other, the side of the first rotating rod away from the first bevel gear is fixedly connected to the axis of the side of the first worm gear close to the second worm gear, and the positions of the first servo motor and the first worm and the second worm and the second servo motor are opposite to each other.

[0011] Preferably, the deflection support rod is fixedly installed with a first positioning base at one end away from the positioning rotating rod, and a third servo motor is fixedly installed on the upper surface of the first positioning base on the side away from the deflection support rod, and a first swing rod is detachably installed at the rotor of the third servo motor, and a first positioning block is fixedly installed on the surface of the first positioning base on the side close to the third servo motor, a first limiting groove is provided on the side of the first positioning block away from the first positioning base, a first limiting slide rod is slidably installed in the first limiting groove, a sliding block is fixedly installed on one end of the first limiting slide rod, a second limiting slide rod is fixedly installed on the side of the sliding block away from the first positioning base, and a second limiting groove is provided in the middle part of the first swing rod, a first pulling frame is rotatably installed on the side of the sliding block away from the third servo motor, and a second pulling frame is rotatably installed on the side of the sliding block close to the first pulling frame, a fixing column is fixedly installed on the side of the first swing rod away from the third servo motor, a first deflection sliding sleeve is rotatably installed on the side of the fixing column close to the first swing rod, and a second deflection sliding sleeve is rotatably installed on the side of the fixing column close to the first deflection sliding sleeve.

[0012] Preferably, the first limiting slide bar slides in the second limiting groove, the sliding block is L-shaped, the second pulling frame and the first pulling frame are horizontally arranged up and down, and are oriented opposite to each other, the first deflection slide sleeve and the second deflection slide sleeve are horizontally arranged up and down, and are oriented opposite to each other, the first deflection slide sleeve and the second deflection slide sleeve are fixedly installed with a solar folding panel on the side away from the first swing rod, and a protective support plate is fixedly installed on the outer wall of the solar folding panel on the side away from the first swing rod.

[0013] Preferably, a round block is fixedly installed on one side of the upper base close to the lower base, and the round block slides in the threaded groove of the threaded groove rod, and a first connecting rod is rotatably installed on the inner wall of the upper receiving groove, and a second connecting rod is rotatably installed on the inner wall of the lower receiving groove, and a clip frame is rotatably installed on the side of the second connecting rod away from the lower base, and the side of the clip frame away from the second connecting rod is rotatably installed with the side of the first connecting rod away from the upper base, and a cylindrical groove is provided in the middle of the upper base, and the cylindrical groove and the threaded groove rod are adapted to each other and their positions correspond to each other, and a second positioning block is fixedly installed on the outer walls around the lower base, and a third limiting sliding groove is provided on the side of the second positioning block close to the lower base, and a clamping arm is slidably installed in the third limiting sliding groove, and a spiral groove is provided on the outer wall of the rotating disk on the side close to the threaded groove rod, and the spiral groove of the rotating disk is adapted to the lower side of the clamping arm.

[0014] Preferably, the third limit sliding rod slides in the third limit groove, and a rotating column is provided at the junction of the second swing rod and the second linkage rod, and the rotating column rotates on the side of the external fixed frame away from the first linkage rod, the first cylindrical connecting rod is T-shaped, and the second swing rod is U-shaped, the first annular sleeve, the first deflection ball, the second cylindrical connecting rod, the second annular sleeve, and the second deflection ball are set as a group, and a total of four groups are set, and the two groups on the same side are a large group, the fourth bevel gear, the cylindrical block, the rectangular frame, and the first cylindrical connecting rod are set as a group, and a total of two groups are set, and they are mirror-symmetrically arranged with the third bevel gear as the axis, and the two cylindrical blocks are staggered with each other.

[0015] Preferably, a second synchronous wheel is fixedly installed on a side of the first linkage rod away from the third bevel gear, and the first synchronous wheel is installed on the second synchronous wheel through a transmission belt, a fifth servo motor is detachably installed on an axis of one side of the first synchronous wheel, a first universal joint is fixedly installed on an axis of the side of the second synchronous wheel away from the first linkage rod, a long rod is fixedly installed on a side of the first universal joint away from the second synchronous wheel, a third worm gear is provided on an outer wall of the long rod, a third worm gear is meshedly connected to an outer wall of one side of the third worm gear, a sixth servo motor is detachably installed on one end of the third worm gear, a swing sleeve is fixedly installed on a side of the third worm gear away from the first universal joint, a sleeve groove is provided inside the swing sleeve, a second universal joint is fixedly installed on one end of the long rod away from the first universal joint, and a tail wheel is fixedly installed on one end of the second universal joint away from the long rod.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. In the present invention, firstly, by driving the meshing transmission of the worm and the worm gear through the dual servo motor, the unfolding and folding action of the solar folding panel can be accurately controlled, ensuring that under different lighting conditions and operation requirements, the solar panel can be quickly adjusted to the optimal state, efficiently absorb solar energy, provide stable guarantee for the energy supply of the unmanned ship, extend the endurance time and reduce the dependence on traditional energy. Secondly, the unique connecting rod and sliding sleeve structure design, with the help of the coordinated operation of the first swing rod, the limit slide rod, the pulling frame and other components, makes the unfolding and folding process of the solar folding panel smooth and reliable, effectively avoids component damage caused by mechanical movement impact, reduces the equipment failure rate, and improves the overall service life. Furthermore, the setting of the protective support plate provides reliable protection for the solar folding panel in the harsh marine environment, resists the impact of wind and waves, seawater erosion and foreign body collision, reduces the performance degradation and structural damage caused by environmental factors, ensures that the solar panel always maintains a good working state, continuously and stably provides clean energy support for the operation of the unmanned ship, and improves the adaptability and reliability of the unmanned ship in the marine observation mission.

[0018] 2. In the present invention, the position and spacing of the clamping arm can be precisely controlled by the ingenious combination of the fourth servo motor driving the rotating disk and the threaded groove rod. Whether it is a working tool or a detection equipment of different sizes or shapes, it can achieve stable and accurate clamping and release, greatly enhancing the adaptability and flexibility of the unmanned ship to various task requirements, and effectively improving the work efficiency and quality. At the same time, the unique buffer reset spring and connecting rod buckle frame linkage design between the upper and lower bases can not only automatically adapt and clamp when placing the detection tool, ensuring the stability of the equipment during navigation and operation, and avoiding the displacement or falling of the tool due to bumps and shaking, but also when the tool needs to be replaced or adjusted, the connection structure can be easily expanded or contracted, which is easy and efficient to operate, significantly reducing the operation conversion time and labor costs. In addition, the adaptation structure of the round block, the cylindrical groove and the threaded groove rod, as well as the reasonable fixation of the lower base by the second positioning block, together ensure the smoothness and accuracy of the movement of the entire connection operation structure in a complex marine environment, effectively resist the influence of adverse factors such as seawater impact and vibration, reduce component wear and the probability of failure, extend the service life of the equipment, and provide a solid and reliable connection foundation and technical guarantee for the unmanned ship to perform marine observation tasks in a long-term and stable manner.

[0019] 3. In the present invention, through the coordinated operation of the fifth servo motor and the first synchronous wheel, the second synchronous wheel and the universal joint and other components, the power can be accurately transmitted to the first linkage rod, thereby driving the meshing transmission of the third bevel gear and the fourth bevel gear, realizing the reverse movement of the two sets of cylindrical blocks and the subsequent connecting rod structure, driving the paddle to swing to change the force of the water flow, thereby achieving precise control of the steering action of the unmanned ship. This not only enables the unmanned ship to flexibly adjust its course in a complex and changeable marine environment and accurately approach the target observation area, but also responds quickly when encountering sudden water flow or obstacles, effectively avoiding the risk of collision and improving navigation safety. At the same time, the sliding mechanism of the third limit slide bar of the first cylindrical connecting rod in the third limit groove effectively guarantees the stability and accuracy of the entire transmission and movement process, reduces the power loss and control error caused by shaking or deviation, and improves the reliability and sensitivity of steering control. In addition, the sixth servo motor drives the meshing rotation of the third worm and the third worm wheel, prompting the swing sleeve to drive the long rod, the second universal joint and the tail wheel to move, and cooperate with the above-mentioned steering structure to further realize the all-round and precise control of the position and posture of the unmanned ship. Whether it is to maintain a stable sailing posture in open sea areas with strong winds and waves, or to make fine position adjustments in narrow waterways or near-shore areas, this structure can optimize the overall motion state of the unmanned ship in real time according to different marine environments and operational requirements, ensure that the observation equipment is in the best working position, and obtain high-quality marine observation data, which greatly enhances the adaptability and operational efficiency of unmanned ships in marine observation tasks, and provides solid technical support and guarantee for marine scientific research, resource exploration and other work. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 is a schematic cross-sectional view of the structure of the outer hull of the present invention;

[0022] Figure 3 It is a structural schematic diagram of a partially deployable solar panel structure of the present invention;

[0023] Figure 4 is a schematic cross-sectional view of the structure of the mounting frame of the present invention;

[0024] Figure 5 It is a structural schematic diagram of the second pulling frame of the present invention;

[0025] Figure 6 is a structural schematic diagram of a first position-limiting sliding rod of the present invention;

[0026] Figure 7 is a schematic diagram of the unfolded structure of the second deflection sleeve of the present invention;

[0027] Figure 8 It is a structural schematic diagram of the first pulling frame of the present invention;

[0028] Fig. 9 It is a structural schematic diagram of the expandable connection operation structure of the present invention;

[0029] Fig.10 It is a schematic diagram of the structural decomposition of the expandable connection operation structure of the present invention;

[0030] Fig.11 is a schematic structural diagram of a first cylindrical connecting rod of the present invention;

[0031] Fig.12 It is a structural schematic diagram of the expandable connection operation structure of the present invention;

[0032] Fig.13 is a schematic structural diagram of a fourth servo motor of the present invention;

[0033] Fig.14 It is a structural enlarged schematic diagram of the expandable connection operation structure of the present invention;

[0034] Fig.15 It is a schematic cross-sectional view of the structure of the cylindrical groove of the present invention.

[0035] In the figure: 1. outer hull;

[0036] 2. Expandable solar panel structure; 21. Mounting frame; 22. First servo motor; 23. First worm; 24. Second servo motor; 25. Second worm; 26. First worm gear; 27. Second worm gear; 28. First support frame; 29. ​​First rotating rod; 210. First bevel gear; 211. Second bevel gear; 212. Positioning rotating rod; 213. Deflection support rod; 214. First positioning base; 215. Third servo motor; 216. First swinging rod; 217. First positioning block; 218. First limiting groove; 219. First limiting sliding rod; 220. Sliding block; 221. Second limiting groove; 222. Second limiting sliding rod; 223. Fixed column; 224. First deflection sliding sleeve; 225. Second deflection sliding sleeve; 226. First pulling frame; 227. Second pulling frame; 228. Solar folding panel; 229. Protective support plate;

[0037] 3. Expandable connection operation structure; 31. Fourth servo motor; 32. Rotating disk; 33. Threaded groove rod; 34. Second positioning block; 35. Clamping arm; 36. Third limit slide groove; 37. Lower base; 38. Buffer return spring; 39. Upper base; 310. Placement groove; 311. Buckle frame; 312. First connecting rod; 313. Second connecting rod; 314. Cylindrical groove; 315. Round block;

[0038] 4. Ship hull positioning and moving structure; 41. Fifth servo motor; 42. First synchronous wheel; 43. Second synchronous wheel; 44. External fixing frame; 45. First linkage rod; 46. Third bevel gear; 47. Fourth bevel gear; 48. Cylindrical block; 49. Rectangular frame; 410. First cylindrical connecting rod; 411. First annular sleeve; 412. First deflection ball; 413. Second cylindrical connecting rod; 414. Second annular sleeve; 415 , second deflection ball; 416, second swing rod; 417, second linkage rod; 418, shift paddle; 419, third limit slot; 420, third limit slide rod; 421, first universal joint; 422, sixth servo motor; 423, third worm; 424, third worm wheel; 425, swing sleeve; 426, sleeve slot; 427, second universal joint; 428, tail wheel; 429, rotating column; 430, long rod. DETAILED DESCRIPTION

[0039] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0040] Embodiment 1, as Figure 1-Figure 6As shown, the first servo motor 22 installed on one side of the mounting frame 21 on the upper surface of the outer hull 1 is started, and the first worm 23 at its rotor rotates accordingly. At the same time, the second servo motor 24 on the upper surface of the other side of the mounting frame 21 drives the second worm 25 to rotate, the first worm 23 is meshed with the first worm gear 26, the second worm 25 is meshed with the second worm gear 27, and the first worm gear 26 and the second worm gear 27 are horizontally corresponding. Under the drive of the motor, the two produce corresponding rotation and drive the structure connected thereto to move. When the second worm gear 27 rotates, it drives the first support frame 28 on one side to move, and the first rotating rod 29 in the middle of the first support frame 28 rotates accordingly. The first bevel gear 210 at one end of the first rotating rod 29 is meshed with the second bevel gear 211, so that the positioning rotating rod 212 rotates, and the deflection support rod 213 on the positioning rotating rod 212 drives the first positioning base 214 to move. After the third servo motor 215 on the first positioning base 214 is started, the first swing rod 2 16 starts to swing, the second limiting groove 221 in the middle of the first swing rod 216 cooperates with the first limiting slide bar 219, and the first limiting slide bar 219 slides in the first limiting groove 218 and the second limiting groove 221 of the first positioning block 217, driving the L-shaped sliding block 220 to move, and the second limiting slide bar 222 on one side of the sliding block 220 also slides accordingly, and the first pulling frame 226 and the second pulling frame 227 that are respectively rotatably connected at both ends of the sliding block 220 pull the first deflection sliding sleeve 224 and the second deflection sliding sleeve 225 on the fixed column 223 during the movement of the sliding block 220. Since the first deflection sliding sleeve 224 and the second deflection sliding sleeve 225 are horizontally arranged up and down and face opposite directions, under the pulling action, the two drive the solar folding panel 228 connected thereto to unfold or fold, and the protective support plate 229 on the outer side of the solar folding panel 228 plays a protective role. Through the coordinated operation of various components, the flexible control and function of the deployable solar panel structure 2 are realized.

[0041] Embodiment 2, as Figure 10-13As shown, after the fourth servo motor 31 inside the outer hull 1 is started, the rotating disk 32 at its rotor starts to rotate, thereby driving the threaded groove rod 33 at the axis to rotate, and the spiral groove on the outer wall of one side of the rotating disk 32 interacts with the lower side of the clamping arm 35, so that the clamping arm 35 slides in the third limiting slide groove 36 of the second positioning block 34, so as to adjust the spacing and position of the clamping arm 35, thereby achieving accurate clamping or releasing operations on the working tool or other related components, and the lower base 37 is located on the outer wall of the threaded groove rod 33, fixed by the second positioning blocks 34 around it, and does not contact the rotating disk 32, and is connected to the upper base 39 by a buffer reset spring 38. When the marine detection tool is placed on the upper base 39, the upper base 39 is pressed The upper base 39 is moved toward the side close to the lower base 37 by applying pressure. During the movement, the second connecting rod 313 in the groove 310 around the lower base 37 and the upper base 39 is linked with the first connecting rod 312 by means of the snap frame 311, driving the entire connection structure to expand or contract, thereby clamping the detection tool. The round block 315 on the side of the upper base 39 close to the lower base 37 slides in the threaded groove of the threaded groove rod 33, and the cylindrical groove 314 in the middle of the upper base 39 is adapted to the threaded groove rod 33, thereby jointly ensuring the stability and accuracy of the structural movement. Through the coordinated cooperation of various components, the expandable connection operation structure 3 can flexibly change the connection device according to the requirements of the operation task, and complete a variety of ocean observation operation tasks.

[0042] Embodiment three, as Figure 7-Figure 9As shown, the fifth servo motor 41 in the middle groove of the outer hull 1 is started, and the first synchronous wheel 42 at the rotor drives the second synchronous wheel 43 to rotate through the transmission belt, and the first universal joint 421 at the axis of the second synchronous wheel 43 rotates accordingly, and at the same time, the second synchronous wheel 43 drives the first linkage rod 45 to rotate, and the third bevel gear 46 at one end of the first linkage rod 45 meshes with the two sets of fourth bevel gears 47, so that the two sets of fourth bevel gears 47 rotate in opposite directions, thereby driving the cylindrical block 48 to rotate, and the rectangular frame 49 on the cylindrical block 48 drives the first cylindrical connecting rod 410 to move, and the first annular sleeves 411 on both sides of the first cylindrical connecting rod 410 cooperate with the first deflection ball 412, the second cylindrical connecting rod 413, the second annular sleeve 414, and the second deflection ball 415 to make the second swing rod 416 rotate. The corresponding deflection movement is generated, and the second swing rod 416 drives the paddle 418 to swing through the second linkage rod 417, thereby changing the force of the water flow on the paddle 418, and realizing the turning of the unmanned boat and other actions. The third limiting slide rod 420 of the first cylindrical connecting rod 410 slides in the third limiting groove 419 to ensure the stability and accuracy of the movement. In addition, the sixth servo motor 422 is started to drive the third worm 423 to rotate, and the third worm 423 is engaged with the third worm wheel 424 to rotate the swing sleeve 425, and the long rod 430 in the swing sleeve 425 and the second universal joint 427 and the tail wheel 428 at one end thereof move accordingly, and cooperate with the above-mentioned structure to complete the precise control of the position and posture of the unmanned boat by the hull positioning moving structure 4 to adapt to different marine environments and operation requirements.

[0043] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An unmanned ship for ocean observation with a high-precision connection structure, comprising an outer hull (1), characterized in that: A groove is provided inside the outer hull (1); a deployable solar panel structure (2) is provided on the front upper portion of the outer hull (1); a hull positioning and moving structure (4) is provided in the groove of the outer hull (1); and an expandable connection operation structure (3) is provided on the upper surface of a side of the outer hull (1) close to the hull positioning and moving structure (4); The deployable solar panel structure (2) comprises a mounting frame (21) mounted on the upper surface of the outer hull (1); a first servo motor (22) is disposed on one side of the mounting frame (21); a first worm (23) is detachably mounted on the rotor of the first servo motor (22); a second servo motor (24) is fixedly mounted on the upper surface of a side of the mounting frame (21) away from the first servo motor (22); a second worm (25) is detachably mounted on the rotor of the second servo motor (24); a first worm wheel (26) is meshedly connected to a side of the first worm (23) close to the second worm (25); and the second worm (25) close to the first worm (23) is connected to the first worm wheel (26). A second worm gear (27) is meshedly connected to one side of the first worm gear (26); a first support frame (28) is fixedly mounted on a side of the second worm gear (27) away from the first worm gear (26); a first rotating rod (29) is rotatably mounted on the middle of the first support frame (28); a first bevel gear (210) is fixedly mounted on one end of the first rotating rod (29) away from the second worm gear (27); a second bevel gear (211) is meshedly connected to the side of the first bevel gear (210) away from the second worm gear (27); a positioning rotating rod (212) is fixedly mounted on the middle axis of the second bevel gear (211); a deflection support rod (213) is provided on the outer wall of the positioning rotating rod (212); The expandable connection operation structure (3) comprises a fourth servo motor (31) installed inside the outer hull (1); a rotating disk (32) is detachably installed at the rotor of the fourth servo motor (31); a threaded groove rod (33) is fixedly installed at the axis of the rotating disk (32) away from the fourth servo motor (31); a lower base (37) is arranged on the outer wall of the threaded groove rod (33) near the rotor of the fourth servo motor (31); four buffer return springs (38) are equidistantly installed on the surface of one side of the lower base (37) away from the rotating disk (32); an upper base (39) is detachably installed at one end of the buffer return spring (38) away from the lower base (37); and placement grooves (310) are equidistantly provided around the lower base (37) and the upper base (39); The hull positioning and moving structure (4) comprises an external fixing frame (44) installed in a groove in the middle of the outer hull (1); a first linkage rod (45) is rotatably installed on an outer wall of one side of the external fixing frame (44); a third bevel gear (46) is fixedly installed on one end of the first linkage rod (45); two groups of fourth bevel gears (47) are meshingly connected on a side of the third bevel gear (46) away from the first linkage rod (45); a cylindrical block (48) is fixedly installed on a side of the two groups of fourth bevel gears (47) away from each other; a rectangular frame (49) is slidably installed on a side of the cylindrical block (48) away from the fourth bevel gear (47); a first cylindrical connecting rod (410) is fixedly installed on an outer wall of a side of the rectangular frame (49) away from the third bevel gear (46); first annular sleeves (411) are fixedly installed on both sides of the first cylindrical connecting rod (410); and a first deflection ball (411) is movably installed in the middle of the first annular sleeve (411). 412), a second cylindrical connecting rod (413) is fixedly mounted at the axis of the first deflection ball (412), a second annular sleeve (414) is fixedly mounted at one end of the second cylindrical connecting rod (413) away from the first deflection ball (412), a second deflection ball (415) is movably mounted in the middle of the second annular sleeve (414), a second swinging rod (416) is fixedly mounted at the axis of the second deflection ball (415), a second linkage rod (417) is fixedly mounted on the side of the second swinging rod (416) away from the second deflection ball (415), a paddle (418) is fixedly mounted on the side of the second linkage rod (417) away from the second swinging rod (416), two third limiting sliding rods (420) are fixedly mounted on the side of the first cylindrical connecting rod (410) away from the fourth bevel gear (47), and third limiting grooves (419) are provided on the upper and lower sides of the external fixing frame (44).

2. The unmanned ship for ocean observation with a high-precision connection structure according to claim 1, characterized in that: The first worm gear (26) and the second worm gear (27) are arranged horizontally up and down and their positions correspond to each other. The side of the first rotating rod (29) away from the first bevel gear (210) is fixedly connected to the axis of the side of the first worm gear (26) close to the second worm gear (27). The positions of the first servo motor (22) and the first worm (23) and the second worm (25) and the second servo motor (24) are opposite to each other.

3. The unmanned ship for ocean observation with a high-precision connection structure according to claim 2, characterized in that: A first positioning base (214) is fixedly mounted on one end of the deflection support rod (213) away from the positioning rotating rod (212); a third servo motor (215) is fixedly mounted on the upper surface of the first positioning base (214) away from the deflection support rod (213); a first swinging rod (216) is detachably mounted on the rotor of the third servo motor (215); a first positioning block (217) is fixedly mounted on the surface of the first positioning base (214) on one side close to the third servo motor (215); a first limiting groove (218) is provided on the side of the first positioning block (217) away from the first positioning base (214); a first limiting sliding rod (219) is slidably mounted in the first limiting groove (218); a sliding block (220) is fixedly mounted on one end of the first limiting sliding rod (219); and the sliding block (220) is fixedly mounted on one end of the first limiting sliding rod (219). A second limiting slide bar (222) is fixedly mounted on a side of the block (220) away from the first positioning base (214); a second limiting groove (221) is opened in the middle of the first swinging rod (216); a first pulling frame (226) is rotatably mounted on a side of the sliding block (220) away from the third servo motor (215); a second pulling frame (227) is rotatably mounted on a side of the sliding block (220) close to the first pulling frame (226); a fixing column (223) is fixedly mounted on a side of the first swinging rod (216) away from the third servo motor (215); a first deflection sleeve (224) is rotatably mounted on a side of the fixing column (223) close to the first swinging rod (216); and a second deflection sleeve (225) is rotatably mounted on a side of the fixing column (223) close to the first deflection sleeve (224).

4. The unmanned ship for ocean observation with a high-precision connection structure according to claim 3 is characterized in that: The first limiting slide bar (219) slides in the second limiting groove (221), the sliding block (220) is L-shaped, the second pulling frame (227) and the first pulling frame (226) are arranged horizontally up and down, and face oppositely to each other, the first deflection sliding sleeve (224) and the second deflection sliding sleeve (225) are arranged horizontally up and down, and face oppositely to each other, the first deflection sliding sleeve (224) and the second deflection sliding sleeve (225) are both fixedly mounted with a solar folding panel (228) on one side away from the first swinging rod (216), and the outer wall of the solar folding panel (228) on one side away from the first swinging rod (216) is fixedly mounted with a protective support plate (229).

5. The unmanned ship for ocean observation with a high-precision connection structure according to claim 1, characterized in that: A round block (315) is fixedly mounted on one side of the upper base (39) close to the lower base (37); the round block (315) slides in the threaded groove of the threaded groove rod (33); a first connecting rod (312) is rotatably mounted on the inner wall of the upper placement groove (310); a second connecting rod (313) is rotatably mounted on the inner wall of the lower placement groove (310); a buckle frame (311) is rotatably mounted on the side of the second connecting rod (313) away from the lower base (37); a side of the buckle frame (311) away from the second connecting rod (313) is rotatably mounted on a side of the first connecting rod (312) away from the upper base (39); A cylindrical groove (314) is provided in the middle of the upper base (39), and the cylindrical groove (314) and the threaded groove rod (33) are adapted to each other and their positions correspond to each other. Second positioning blocks (34) are fixedly mounted on the outer walls around the lower base (37), and a third limiting sliding groove (36) is provided on a side of the second positioning block (34) close to the lower base (37), and a clamping arm (35) is slidably mounted in the third limiting sliding groove (36). A spiral groove is provided on the outer wall of a side of the rotating disk (32) close to the threaded groove rod (33), and the spiral groove of the rotating disk (32) is adapted to the lower side of the clamping arm (35).

6. The unmanned ship for ocean observation with a high-precision connection structure according to claim 1, characterized in that: The third limiting slide bar (420) slides in the third limiting groove (419). A rotating column (429) is provided at the intersection of the second swing bar (416) and the second linkage bar (417). The rotating column (429) rotates on the side of the external fixing frame (44) away from the first linkage bar (45). The first cylindrical connecting rod (410) is T-shaped, and the second swing bar (416) is U-shaped. The first annular sleeve (411), the first deflection ball (412), the second cylindrical connecting rod (413), the second annular sleeve (414), and the second deflection ball (415) are arranged as a group, and a total of four groups are arranged, and two groups on the same side are a large group. The fourth bevel gear (47), the cylindrical block (48), the rectangular frame (49), and the first cylindrical connecting rod (410) are arranged as a group, and a total of two groups are arranged. They are arranged in a mirror-symmetrical manner with the third bevel gear (46) as the axis, and the two cylindrical blocks (48) are arranged in a staggered manner.

7. The unmanned ship for ocean observation with a high-precision connection structure according to claim 6, characterized in that: A second synchronous wheel (43) is fixedly mounted on a side of the first linkage rod (45) away from the third bevel gear (46); the second synchronous wheel (43) is mounted with a first synchronous wheel (42) through a transmission belt drive; a fifth servo motor (41) is detachably mounted on an axis of one side of the first synchronous wheel (42); a first universal joint (421) is fixedly mounted on an axis of a side of the second synchronous wheel (43) away from the first linkage rod (45); a long rod (430) is fixedly mounted on a side of the first universal joint (421) away from the second synchronous wheel (43); and a third worm gear (42) is disposed on an outer wall of the long rod (430). 4), a third worm (423) is meshedly connected to an outer wall of one side of the third worm gear (424), a sixth servo motor (422) is detachably mounted on one end of the third worm gear (423), a swing sleeve (425) is fixedly mounted on a side of the third worm gear (424) away from the first universal joint (421), a sleeve groove (426) is provided inside the swing sleeve (425), a second universal joint (427) is fixedly mounted on one end of the long rod (430) away from the first universal joint (421), and a tail wheel (428) is fixedly mounted on one end of the second universal joint (427) away from the long rod (430).

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