Underwater self-propelled multifunctional performance boat

Abstract

The invention discloses an underwater self-propelled multifunctional performance boat which comprises a boat body, a walking device, a sail lifting device, a main mast rotating device, a mast dumping device, a boat position breaking device and a burst point quick opening device. The walking device is used for achieving movement and steering of the ship body. The sail lifting device is used for lifting sails on the main mast and the rear mast; the main mast rotation device is used for realizing rotation of the main mast; the mast dumping device is used for realizing fracture dumping of the front mast and the rear mast; the stern breaking device is used for achieving the performance effect that the stern is broken and swatted into water. The burst point quick opening device is used for achieving the performance effect that the ship body cracks after being subjected to bombardment. The device has the advantage of solving the problems of high-power safe mobile power supply and communication of ship equipment. The problem that the performance effect cannot be met due to too low mast fracture toppling speed is solved. The problem that the live-action performance effect of being shot into water cannot be achieved when the stern is broken is solved. And the performance effect that the hull is cracked after being shot can be simulated.

Description

Technical Field

[0001] The present invention relates to the technical field of performance boats, in particular to an underwater self-propelled multifunctional performance boat. Background Art

[0002] In existing water shows with historical and cultural themes, various performance boats frequently appear as props or installations. Wooden merchant ships from the early 19th century, particularly, are essential to water shows because they represent the Age of Exploration. These performances often involve merchant ships under fire. This requires that the boats, in addition to normal walking movements, also possess the ability to perform after being bombarded. Current performance boats offer maneuvers such as walking, raising and lowering the mainsail, raising and lowering the jib, turning the mainmast, toppling the foremast, toppling the mizzenmast, and even breaking the stern.

[0003] However, existing performance boats have the following problems and technical difficulties in dealing with the above-mentioned actions:

[0004] There are three main types of performance boat movement methods. The first type involves a dry area with water at the front and rear, and a weir separating the movement area. The second type involves the boat moving in the water, with the entire hull floating on the surface like a real ship. The third type involves the boat moving along a fixed track in the water.

[0005] (a) The performance boat's walking area is a dry area. This has the advantage of easy layout of power supply and control cables, and its electrical equipment can easily and fully meet the power needs of the movement mechanisms on the hull. However, its disadvantages are also obvious: 1) There are obvious flaws at the cofferdam, and this performance method can easily distract the audience from the performance itself during close-up performances, resulting in a relatively poor performance effect in real scenes; 2) The interaction between the performance on the boat and the performance in the water is poor, and it is impossible to achieve real interaction in the water.

[0006] (b) The performance boat floats on the water, which has the following problems: 1) The movement mechanism and dynamic load on the hull are limited by the boat's displacement; 2) The movement trajectory of the performance boat cannot be completely consistent for each performance, which is inconvenient to control for standardized performances; 3) The movement and posture of the performance boat are greatly affected by the water flow, which is not conducive to the performance.

[0007] (c) The performance boat moves along a fixed track in the water. In this solution, there are two safe power supply and communication methods for the onboard movement mechanism: (1) power supply by onboard battery and control by wireless communication; (2) power supply and communication by DC mobile power supply system under safe voltage. The main problems with these two solutions are: 1) due to the limitation of battery or low safety voltage, the power of the onboard movement mechanism often cannot meet the use requirements, especially the large-scale movements on large performance boats cannot be realized; 2) the technology of wireless communication products is immature, and communication is often poor, which affects the normal operation of equipment during the performance, causing performance accidents and equipment failures.

[0008] 2. The mast is a long cantilever structure, and the overturning moment when simulating a break and fall is very large. Existing technologies mostly use hydraulic or electric cylinders with large load capacities. The disadvantages of this solution are: 1) The heavy-loaded hydraulic or electric cylinders are very slow, generally below 80mm / s, which cannot realistically reproduce the scene of a mast break and fall, resulting in a poor viewing experience; 2) The center of rotation of the tipping mechanism is subject to high forces, making the structure bulky.

[0009] There are two existing technologies for stern fracture: one uses a winch to swing the stern around a hinged axis to fracture and reset the stern; the other uses a winch to swing the stern around a hinged axis to fracture and reset the stern. While both solutions achieve the desired stern fracture effect, they are limited by the speed of the equipment and cannot realistically replicate the effect of the hull being struck by artillery fire and the stern being weightless and slamming into the water. Summary of the Invention

[0010] The object of the present invention is to provide a self-propelled multifunctional underwater performance boat, thereby solving the above-mentioned problems existing in the prior art.

[0011] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0012] A self-propelled multifunctional underwater performance boat comprises a boat body, a running device, a sail lifting device, a main mast rotating device, a mast dumping device, a ship position breaking device and a blast point rapid opening device; the running device is used to realize the movement and steering of the boat body; the sail lifting device is used to realize the raising and lowering of the sails on the main mast and the mizzen mast; the main mast rotating device is used to realize the rotation of the main mast; the mast dumping device is used to realize the breaking and dumping of the foremast and the mizzen mast; the stern breaking device is used to realize the performance effect of the stern breaking and hitting the water; the blast point rapid opening device is used to realize the performance effect of the boat body being cracked by artillery fire.

[0013] Preferably, the stern breaking device comprises a main steel frame, a reset winch, a fracture hinge seat, an electric push rod, a double pin, a front pin seat, a rear pin seat, a safety hanging ring, a hanging ring seat, a reset spring and a spring pull rod; the main steel frame is rotatably connected to the ship body via the fracture hinge seat, and the reset winch is installed on the ship body and connected to the main steel frame; the electric push rod is installed on the ship body, the telescopic end of the electric push rod is connected to the double pin, and the end of the double pin away from the electric push rod is provided with a pressure plate, and a front pin seat and a rear pin seat are respectively provided on the ship body at the front and rear sides of the double pin moving direction, and a hook with a slope is provided on the front pin seat; a hanging ring seat is provided on the main steel frame, and the safety hanging ring is rotatably connected to the hanging ring seat; a spring pull rod is respectively provided on the safety hanging ring and the main steel frame, and the two ends of the reset spring are respectively connected to two spring pull rods;

[0014] Finally, the electric push rod drives the double pin to move forward, and the pressure plate presses on the safety ring, and finally disconnects the reset winch from the main steel frame, completing the reset action of the entire stern fracture device;

[0015] The upper and lower positions of the swing of the main steel frame are both provided with limit switches and extreme safety switches, and the driving action of the reset winch is interlocked with the switch stroke, that is, after the main steel frame swings to the reset position, the reset winch stops automatically; the front and rear positions of the double pins are both provided with limit switches and extreme safety switches, which are interlocked with the limit switches of the swing of the main steel frame, that is, the double pins are allowed to act only when the main steel frame is at the upper limit position.

[0016] Preferably, the explosive point quick opening device comprises a normally open electromagnet, a suction steel plate, an opening sealing plate and a welded hinge; the normally open electromagnet is mounted on the ship body, the suction steel plate is fixed to the opening sealing plate, and the lower end of the opening sealing plate is rotatably connected to the ship body via a welded hinge;

[0017] In the normal state, the normally open electromagnet is not energized, and the steel plate is attracted by magnetic force to keep the opening sealing plate in a closed state, corresponding to covering the explosion point; when the explosion point needs to be opened, the normally open electromagnet is quickly turned on and off once to lose its magnetism, and the opening sealing plate rotates downward around the welded hinge under its own gravity to open the explosion point.

[0018] Preferably, the traveling device includes a traveling drive device, a traveling steering pulley, a traveling wheel system, an underwater drag chain, a traveling wire rope and a traveling track; a foundation embedded part is provided on the underwater traveling path of the ship body, a traveling track is provided on the foundation embedded part, and a traveling steering pulley is provided on the foundation embedded parts at both ends of the traveling track; a plurality of traveling wheel systems are sequentially arranged at intervals on the lower side of the ship body along its traveling direction; a traveling wire rope connected to the traveling drive device passes around the traveling steering pulley and is connected to the end of the ship body;

[0019] The underwater drag chain is made of waterproof and anti-corrosion material, and the power supply and communication cables of the equipment on the performance boat and the cables of the running gear are all laid in the underwater drag chain.

[0020] Preferably, the travel drive device includes a mounting steel frame and a drive reducer, a drive motor and a drive drum arranged on the mounting steel frame; the mounting steel frame is fixed to the shore, the output end of the drive motor is connected to the input end of the drive reducer via a plum blossom elastic coupling, and the output end of the drive reducer is connected to the drive drum via a drum gear coupling; the travel wire rope is correspondingly wound around the drive drum;

[0021] A rotary micro switch is installed at the load end of the driving drum; and an incremental encoder is provided at the tail of the driving motor.

[0022] Preferably, the performance boat includes two sets of mast-tipping devices with the same structure, which are respectively used to realize the tilting of the foremast and the mizzen mast; the mast-tipping devices include a tilting winch, a tilting steering pulley, an eccentric counterweight, a seat bearing, an adjustment counterweight, and a tilting wire rope; the tilting winch is installed on the boat body, and the tilting wire rope connected to the tilting winch passes through the tilting steering pulley installed on the boat body and is connected to the eccentric counterweight through an adjustment screw mouth; one end of the eccentric counterweight is provided with a rotating shaft, the rotating shaft is connected to the seat bearing fixed to the boat body, and the foremast or the mizzen mast is fixedly connected to the rotating shaft; the adjustment counterweight is provided on the eccentric counterweight;

[0023] The tipping winch is equipped with a conductive plate device for detecting tangled ropes, and is provided with a rotary micro switch and an incremental encoder; a conductive wheel axle for detecting loose ropes is provided on the path of the tipping wire rope; limit switches are provided at the two extreme positions of the mast tipping device for tipping, and a limit block is provided at the maximum tipping position.

[0024] Preferably, the performance boat includes two sets of sail lifting devices with the same structure, which are respectively used to realize the raising and lowering of the sails on the main mast and the mizzen mast; the sail lifting devices include a lifting winch, a lifting wire rope, a lifting and steering pulley, a counterweight and a sail; the lifting winch is installed on the boat body, and a lifting and steering pulley is respectively provided on the top of the main mast or the mizzen mast and the boat body at the lower end; the lifting wire rope connected to the lifting winch passes through the two lifting and steering pulleys in sequence from top to bottom, and the lifting wire rope is provided with a counterweight near the lifting and steering pulley provided at the top of the main mast or the mizzen mast; the sail is connected to the lifting wire rope to realize lifting and lowering during the movement of the lifting wire rope;

[0025] The lifting winch is equipped with a conductive plate device for detecting tangled ropes, and is provided with a rotary micro switch and an incremental encoder; a conductive wheel shaft for detecting loose ropes is provided on the path of the lifting wire rope;

[0026] The main mast is provided with a diving platform, a main ladder, a lookout tower and a cross bar for hanging a safety ring; the rear mast is provided with a rear ladder.

[0027] Preferably, the main mast slewing device includes a slewing motor reducer, a driving gear and a slewing support; the slewing motor reducer is installed on the ship body, the output end of the slewing motor reducer is connected to the driving gear, the driving gear is fixedly connected to the outer ring of the slewing support, the outer ring and inner ring of the slewing support are respectively fixedly connected to the main mast and the ship body; an incremental encoder is provided at the tail of the slewing motor reducer.

[0028] Preferably, the sail lifting device of the main mast and the sail lifting device of the rear mast are interlocked with the status of the main mast rotating device and the mast tilting device of the rear mast respectively; the sail lifting device of the main mast is allowed to move only when the main mast hanging point is at the viewing side; the sail lifting device of the rear mast is allowed to move only when the rear mast is in a vertical position; the corresponding main mast rotating device or rear mast tilting device is allowed to rotate or tilt only when the counterweight hammer of the sail lifting device is at the highest position.

[0029] Preferably, a wind speed detector is provided at a high point of the external building, forming a chain control with the movement of the performance boat; when the wind speed is higher than level 6, the buzzer of the console will alarm, and the operator must switch the performance boat to a windproof posture, specifically including: a) the performance boat moves and docks in the windproof area; b) the sail lifting device needs to lower and remove the sail, and then only raise the counterweight hammer to the highest position; c) the front mast is tilted down; d) the rear mast is tilted and in a vertical state; e) the stern breaking device is in a non-broken reset state; f) the opening sealing plate of the explosion point quick opening device is in a closed state.

[0030] The beneficial effects of the present invention are as follows: 1. The performance boat moves along a fixed track in the water, the driving winch is set on the dry shore, and the driving motor is physically and electrically isolated from the mounting steel frame, eliminating the risk of leakage into the water. 2. The control cabinet of the action mechanism on the hull is arranged nearby in the cabin. This arrangement has two advantages: a) There are fewer power supply channels between the isolation transformer and the hull, resulting in a simple layout and a low failure rate; b) In addition to the power supply cable, only communication cables are arranged between the main electrical room and the hull, and there is no need to arrange signal cables for each action, resulting in a simple channel; c) The centralized power supply and communication on the hull simplifies the channel inside the mobile power supply underwater drag chain, and the cable specifications are large, making the cable safer and more reliable during mobile operation. 3. The mast-tilting device uses a winch to drive a mast with an eccentric counterweight to achieve the tilting and resetting of the mast. Compared with hydraulic cylinders and electric actuators, the winch drive method is easier to control and adjust in terms of speed and stroke, and the falling effect is more in line with the actual performance effect and performance requirements. The eccentric counterweight design offsets the large overturning moment caused by the excessive cantilever when the mast is too high and falls, greatly reducing the capacity and power requirements of the drive device. The entire mechanism also greatly reduces the stress on the intermediate rotating seat bearing, making it more economical. 4. The stern breaking device has the following advantages compared to the electric actuator and winch drive method: a) It utilizes a quick-opening mechanical structure to achieve the realistic breaking effect of the stern being weightless and hitting the water; b) The electric actuator of the quick-opening device only needs to open the safety pin, while the resetting winch can use the hoisting winch, which is more economical. 5. The explosion point quick opening device can realize the function of opening in seconds after power is turned on by the control of the electromagnet. Combined with the effect of water special effects, it can give the audience a more shocking and sudden viewing effect. On the other hand, the device has no power equipment, simple structure, strong practicality and good economy. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a main view of a multifunctional performance boat provided by an example of the present invention;

[0032] Figure 2 This is a top view of a multifunctional performance boat provided by an example of the present invention;

[0033] Figure 3 is a side view of a multifunctional performance boat provided by an example of the present invention;

[0034] Figure 4 This is a front view of the travel drive device provided by an embodiment of the present invention;

[0035] Figure 5 It is a side view of the travel drive device provided by an embodiment of the present invention;

[0036] Figure 6 This is a front view of the traveling gear train provided by an embodiment of the present invention;

[0037] Figure 7 1 is a side sectional view of a traveling gear train according to an embodiment of the present invention;

[0038] Figure 8 2 is a side sectional view of the traveling gear train provided by an embodiment of the present invention;

[0039] Figure 9 This is a front view of the main mast slewing device provided by an embodiment of the present invention;

[0040] Figure 10 is a side view of a main mast slewing device provided by an embodiment of the present invention;

[0041] Figure 11 This is a top view of the main mast ladder;

[0042] Figure 12 It is a front view of a tilting mast provided by an example of the present invention;

[0043] Figure 13 is a side view of a tilting mast provided by an example of the present invention;

[0044] Figure 14 It is a front view and a side view of a detailed diagram of a tilting mast provided by an example of the present invention;

[0045] Figure 15 This is a front view of a stern breaking device provided by an example of the present invention;

[0046] Figure 16 This is a top view of a stern breaking device provided by an example of the present invention;

[0047] Figure 17 This is a three-view diagram of a stern breakage quick opening mechanism provided by an example of the present invention;

[0048] Figure 18 This is a side view of the explosion point quick opening device provided in this example.

[0049] In the picture:

[0050] Traveling device: 1.1. Traveling drive device; 1.1.1. Driving reducer; 1.1.2. Driving motor; 1.1.3. Driving drum; 1.1.4. Rotary micro switch; 1.1.5. Mounting steel frame; 1.2. Traveling steering pulley; 1.3. Wire rope roller; 1.4. Traveling wheel train with rim; 1.4.1. Articulated seat; 1.4.2. Wheel seat; 1.4.3. Traveling wheel; 1.4.4. Axle; 1.5. Ship body; 1.6. Traveling wheel train without rim; 1.7. Underwater tow chain; 1.8. Traveling wire rope; 1.9. Traveling track.

[0051] Sail lifting device: 2.1. Lifting winch; 2.2. Lifting steering pulley; 2.3. Counterweight; 2.4. Sail.

[0052] Main mast slewing device: 4.1, slewing motor reducer; 4.2, driving gear; 4.3, slewing support; 4.4, main mast; 4.5, diving platform; 4.6, main ladder; 4.6.1, connecting plate; 4.6.2, step bar; 4.6.2, handrail; 4.7, cross bar; 4.8, observation tower.

[0053] Mast-tipping device: 6.1. Tipping winch; 6.2. Tipping steering pulley; 6.3. Adjusting turnbuckle; 6.4. Eccentric counterweight; 6.5. Pillow block bearing; 6.6. Rear mast; 6.7. Adjusting counterweight; 6.8. Tipping wire rope; 6.9. Rear ladder.

[0054] Stern breaking device: 7.1, main steel frame; 7.2, reset winch; 7.3, breaking articulated seat; 7.4, electric push rod; 7.5, double latch; 7.6, front latch seat; 7.7, rear latch seat; 7.8, safety hanging ring; 7.9, hanging ring seat; 7.10, reset spring; 7.11, spring pull rod.

[0055] Explosion point quick opening device: 8.1. Normally open electromagnet; 8.2. Suction steel plate; 8.3. Opening sealing plate; 8.4. Welded hinge. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0057] 1. Walking device

[0058] The travel drive unit 1.1 is concealed and fixed to the shore. The drive drum 1.1.3 features a double-grooved structure, each with a rope-holding plate at each end, allowing for a double-rope loop. The dual grooves create a double-loop of wire rope, which is retracted and released simultaneously at the same speed. The travel wire rope 1.8, after being diverted by the travel deflection pulley 1.2, is secured to the front and rear ends of the hull 1.5 via adjustable turnbuckles, two at the front and two at the rear, creating a loop drive effect. The travel diverting pulley 1.2 is fixed to the foundation embedded parts. To ensure that the travel wire rope 1.8 does not drag on the ground or scrape against other equipment due to the long distance during operation, wire rope rollers 1.3 are arranged along its path. These wire rope rollers 1.3 are fixed to the bottom foundation embedded parts of the performance boat's travel path, with a group of them approximately 5 meters apart. Two sets of rimmed travel gear trains 1.4 are rigidly fixed to the front and rear ends of the bottom of the boat body 1.5 (each set contains two travel gear trains, one on each side of the performance boat). They provide both guidance and support for the performance boat during travel. Two sets (four sets) of non-rimmed travel gear trains 1.6 are rigidly fixed to the middle section of the bottom of the boat body 1.5 (each set contains two non-rimmed travel gear trains, one on each side of the performance boat). The rimmed travel gear trains 1.4 and non-rimmed travel gear trains 1.6 are evenly arranged according to the performance boat's load, theoretically ensuring that each gear train is evenly stressed. Tracks 1.9 are fixed to the embedded foundation components, with a spacing of 3.4m between them. This spacing is required to verify the tipping moment of the entire hull under maximum wind load. The theoretical design is verified according to the local maximum wind load of 50 years, ensuring that the hull will not tip over even under maximum wind load when facing the wind. Underwater drag chain 1.7 is made of corrosion-resistant materials such as stainless steel or galvanized steel. Driven by the hull, the drag chain can be dragged back and forth. It houses power and communication cables for onboard equipment, including cables for underwater mobile equipment. Power and communication cables for special effects equipment onboard are also routed within underwater drag chain 1.7.

[0059] like Figure 4 and Figure 5As shown, the drive reducer 1.1.1, the drive motor 1.1.2, and the drive drum 1.1.3 are all fixedly mounted on the mounting steel frame 1.1.5. A non-conductive nylon plate is provided between the drive motor 1.1.2 and the drive steel frame, and non-metallic gaskets and sleeves are provided at the connecting bolts between the two to ensure absolute electrical isolation between the two. Drive reducer 1.1.1 and drive motor 1.1.2 are connected by a plum blossom elastic coupling (GB / T5272-2002). This coupling features a plum blossom-shaped, non-metallic rubber pad in the middle to transmit torque. Its advantages include: a) relieving excess stress caused by installation errors between drive reducer 1.1.1 and drive motor 1.1.2, ensuring safe and reliable torque transmission; and b) providing complete electrical isolation between drive reducer 1.1.1 and drive motor 1.1.2, preventing leakage from drive motor 1.1.2 from flowing into the hull and water, potentially causing safety accidents. Drive reducer 1.1.1 and drive drum 1.1.3 are connected by a drum gear coupling, transmitting torque to the drive drum 1.1.3, which in turn drives the drive drum 1.1.3 in both forward and reverse rotations. The rotary micro switch 1.1.4 is installed at the load end of the driving drum 1.1.3 and is used to limit the number of rotations of the drum. Four contacts are arranged inside it, which are used for the front and rear limit and front and rear extreme positions of the performance boat respectively.

[0060] Due to the larger travel distance (85m) in this example, the pitch diameter of the drive drum 1.1.3 provided in this example is 1.15m, and the height from the ground is 4.85m, so as to ensure that the rope angle between the drive drum 1.1.3 and the travel steering pulley 1.2 does not exceed the national standard of 2.5° during the entire travel.

[0061] In addition, an incremental encoder is provided at the tail of the driving motor 1.1.2 to realize speed control of the performance boat, and to detect and control the real-time position of the performance boat, thereby realizing positioning and stopping at any position, which is convenient for the director to arrange the program.

[0062] like Figures 6 to 8 As shown, for example, the flanged running gear train 1.4 has an articulated base 1.4.1 rigidly mounted to the bottom of the hull 1.5. An intermediate shaft and self-lubricating copper bushing connect the 1.4.1 articulated base and the 1.4.2 wheel seat, allowing them to pivot relative to each other and form an articulated connection. Two sets of running wheels 1.4.3 are mounted within the 1.4.2 wheel seat via the 1.4.4 axle and bearings. This design allows the entire flanged running gear train 1.4 to form a balanced, two-force bar structure with equal arms, ensuring that loads from the hull 1.5 are equally distributed through the articulated base to the two running wheels, thereby extending the service life of the 1.4.3 running wheels and their internal bearings.

[0063] The structure and principle of the running gear train 1.6 without rim are the same as those of the running gear train 1.4 with rim, except that the wheel structure has a flat tread and no rim.

[0064] 2. Sail lifting device

[0065] Due to the size and structure of the cabin, the rope-laying angle between the lifting winch 2.1 and the lifting steering pulley 2.2 cannot meet the national standard requirements, so a self-laying rope winch is used. The lifting winch 2.1 is a single-rope self-laying rope winch, fixedly installed on the hull 1.5. The lifting wire rope is wound around the lifting steering pulley 2.2 to the top of the main mast 4.4 or the rear mast 6.6. A counterweight 2.3 is provided at its end to ensure that in the absence of personnel or sail loads, the lifting winch 2.1 is prevented from being loose or tangled, thereby affecting the performance. The lifting winch 2.1 is equipped with a conductive plate device for detecting tangled ropes, and a conductive wheel shaft for detecting loose ropes is provided on the path of the lifting wire rope. A safety ring is provided at the bottom of the counterweight 2.3 to facilitate the rapid hanging of personnel or sails 2.4. A rotary micro switch 1.1.4 is provided at the reducer of the hoisting winch 2.1 for limiting the number of rotations of the hoisting winch 2.1. Four contacts are arranged inside the micro switch for respectively setting the upper and lower limits and the extreme position of the raising and lowering of the sail 2.4.

[0066] In addition, an incremental encoder is provided at the tail end of the motor of the lifting winch 2.1 to realize the speed control of the raising and lowering of the sail 2.4. It can also detect and control the real-time position of the sail 2.4, thereby realizing positioning and stopping at any position, which is convenient for the director to arrange the program.

[0067] 3. Main mast rotation device

[0068] like Figures 9 to 11As shown, the slewing motor reducer 4.1 is fixedly mounted on the hull 1.5, and the driving gear 4.2 is mounted on the output shaft of the slewing motor reducer 4.1. The inner ring of the slewing support 4.3 is fixedly mounted on the hull 1.5 via a base, while the outer ring is fixedly connected to the main mast 4.4. The diving platform 4.5, main ladder 4.6, crossbar 4.7, and observation platform 4.8 are fixedly mounted on the main mast 4.4. Multiple safety rings are provided on the crossbar 4.7 for cast and crew to hang safety ropes to prevent accidental falls. The main ladder 4.6 includes a connecting plate 4.6.1, a tread 4.6.2, and a handrail 4.6.3. The connecting plate 4.6.1 is rigidly welded to the main mast 4.4. The tread 4.6.2 and the handrail 4.6.3 are welded and fixed to the connecting plate 4.6.1. The distance between the two handrails 4.6.3 of the ladder is 0.3m, and the distance between two adjacent treads 4.6.2 is 0.3m. This structure makes it easy for people to adjust the position of the opening mobile safety buckle when climbing up and down. It is only necessary to adjust the opening width of the mobile safety buckle to be larger than the thickness of the connecting plate 4.6.1 and smaller than the diameter of the handrail 4.6.3. It should be noted that the outer diameter of the tread 4.6.2 and the handrail 4.6.3 of the main ladder 4.6 provided in this example is 20mm, and the thickness of the connecting plate 4.6.1 is 4mm.

[0069] The operating principle of the main mast slewing device provided in this example is as follows: the slewing motor reducer 4.1 drives the driving gear 4.2 to rotate, and through the gear meshing, drives the outer ring of the supporting slewing support 4.3 to rotate, thereby driving the main mast 4.4 and other accessories fixed thereon to rotate.

[0070] In addition, an incremental encoder is provided at the tail of the motor of the rotary motor reducer 4.1 to realize the rotation speed control of the main mast rotary device, and can also detect and control the real-time angular displacement of the main mast 4.4, thereby realizing positioning and stopping at any position, which is convenient for the director to arrange the program.

[0071] The main mast slewing device cannot rotate infinitely to prevent the wire rope used to raise and lower the top sail 2.4 from becoming tightened or loose due to infinite rotation, which is an unsafe factor. The rotation range of this embodiment is 0-360°. Two limit switches and two extreme safety switches are set at the corresponding positions of the maximum and minimum strokes at the bottom. The height of the diving platform 4.5 from the water surface cannot exceed 10m, which is 9.5m in this embodiment.

[0072] 4. Mast tipping device

[0073] like Figures 12 to 14As shown, taking the tilting of the aft mast 6.6 as an example, the tilting winch 6.1 is fixedly mounted on the hull 1.5, and the tilting wire rope 6.8 is connected to the eccentric counterweight 6.4 via the tilting diverting pulley 6.2 and the adjustment turnbuckle 6.3. The seat bearing 6.5 is rigidly fixed to the hull 1.5. The eccentric counterweight 6.4 has a rotating shaft at the hinge. The rotating shaft is installed in the seat bearing 6.5 and can rotate around the center of the seat bearing 6.5, creating a tilting effect. The aft mast 6.6 is rigidly fixed above the eccentric counterweight 6.4; the aft ladder 6.9 is rigidly fixed to the aft mast 6.6 and has the same structure as the main ladder 4.6. The adjustment counterweight 6.7 is a multi-piece structure fixed to the bottom of the eccentric counterweight 6.4 by a screw.

[0074] The tipping winch 6.1 can be equipped with either a double or single-rope output, depending on the height and load of the rear mast 6.6. In this example, a double-rope output is used. The tipping winch 6.1 is equipped with a conductive plate to detect rope tangles, and a conductive wheel axle is located along the path of the tipping wire rope 6.8 to detect loose ropes. Furthermore, an incremental encoder is installed at the rear of the motor of the tipping winch 6.1 to control the speed of the mast tipping mechanism and to detect and control its real-time swing position, enabling positioning and stopping at any desired position, facilitating the director's program planning.

[0075] The center of mass of the rear mast 6.6 moves downward due to the gravity of the eccentric counterweight 6.4. When designing the swinging body composed of the eccentric counterweight 6.4 and the rear mast 6.6 (including the rear ladder 6.9 and other structures fixedly installed on the rear mast 6.6 and the dancing scenery), the height difference between the center of mass and the center of rotation should be controlled at 1 / 4 of the total height of the rear mast 6.6. The horizontal distance from the center of rotation should be controlled at 1 / 10-1 / 15 of the total height of the rear mast 6.6, but the horizontal spacing generally does not exceed 1.5m.

[0076] Adjust the counterweight 6.7 on site according to the stage design and personnel load on the aftermast 6.6 to ensure that the overall tipping speed matches the speed of the tipping winch 6.1 to prevent loose ropes and tangled ropes.

[0077] The mast-tilting mechanism works by installing an eccentric counterweight 6.4, which lowers the center of mass of the entire swinging body but keeps it above its center of rotation and eccentric with it in the horizontal direction. This causes the rear mast 6.6 to tilt in one direction under its own weight. The tilting winch 6.1 then generates tension in the tilting wire rope 6.8, which in turn pulls the eccentric counterweight 6.4 to achieve the entire tilting mechanism's swinging motion.

[0078] Two sets of limit switches are set at the two extreme positions of the mast tipping device, which are used for the upper and lower limit switches and upper and lower limit safety switches of the mechanism respectively, exceeding the set stroke of the device. In addition, a physical limit block is set at the maximum position.

[0079] The upper foremast is also equipped with a mast tipping device, which works in the same way as the mast tipping device on the aft mast 6.6, except for the difference in height.

[0080] 5. Ship position breaking device

[0081] like Figure 16 and Figure 17 As shown, the main steel frame 7.1 is connected to the hull 1.5 by a breakaway hinge 7.3. The main steel frame 7.1 can rotate about the rotation center of the breakaway hinge 7.3. The reset winch 7.2 is fixedly mounted on the hull 1.5 (inside the cabin). Two front latches 7.6 and two rear latches 7.7 are fixedly mounted on the hull 1.5. The front ends of the two front latches 7.6 are equipped with double-slope hooks. The double latches 7.5 are H-shaped and can move forward and backward under the guidance of the front and rear latches 7.6 and 7.7. The front ends of the double latches 7.5 are equipped with a pressure plate. One end of the electric push rod 7.4 is fixed to the hull 1.5 through a base, and the other end is connected to the double latches 7.5, thereby driving the double latches 7.5 forward and backward. The hanging ring 7.9 is fixedly mounted on the main steel frame 7.1, and the safety hanging ring 7.8 is mounted on the hanging ring 7.9 and can rotate about the center. The spring pull rods 7.11 are divided into two groups, one group is fixedly mounted on the main steel frame 7.1, and the other group is fixedly mounted on the safety hanging ring 7.8. A reset spring 7.10 is provided between the two groups, so that the safety hanging ring 7.8 always swings to the lowest position when there is no external force, swings upward when there is an external force, and resets immediately after the external force is removed.

[0082] The operation process of the stern breaking device is as follows: a) in the normal state, the hook of the reset winch 7.2 hanging on the main steel frame 7.1 is removed to separate the two, and the safety ring 7.8 is hung on the front end hook of the front latch seat 7.6. The pressure plate at the front end of the double latch 7.5 restricts it from being separated from the hook on the front latch seat 7.6, thereby keeping the main steel frame 7.1 in the normal state; b) when the breaking action needs to be completed, the electric push rod 7.4 retracts, driving the double latch 7.5 to move backward, restricting the pressure plate of the safety ring 7.8 to retract backward, completing the opening action, and the safety ring 7.8 slides out of the hook of the front latch seat 7.6 along the slope under the action of the deadweight of the main steel frame 7.1, and after being completely separated, the reset spring 7.5 is released. Under the action of .10, the safety ring 7.8 is reset to its lowest position, and the main steel frame 7.1 continues to sink into the water in a weightless posture under the action of its own weight, completing the performance; c) The reset of the stern fracture is driven by the reset winch 7.2. The performer manually hooks the hook of the reset winch 7.2 on the main steel frame 7.1 and starts the reset winch 7.2 until the main steel frame 7.1 returns to its original position. The safety ring 7.8 has slid along the slope into the hook of the front latch seat 7.6. Finally, the electric push rod 7.4 drives the double latch 7.5 forward, and the pressure plate presses on the safety ring 7.8. Finally, the hook of the reset winch 7.2 is removed from the main steel frame 7.1, completing the reset action of the entire stern fracture device.

[0083] The upper and lower swing positions of the main steel frame 7.1 are both provided with limit switches and extreme safety switches. The driving action of the reset winch 7.2 is interlocked with the switch stroke, that is, after the main steel frame 7.1 swings to the reset position, the reset winch 7.2 stops automatically.

[0084] The front and rear positions of the double bolt 7.5 are both provided with limit switches and extreme safety switches, which are interlocked with the swing limit switches of the main steel frame 7.1, that is, the double bolt 7.5 is allowed to move only when the main steel frame 7.1 is at the upper limit position to prevent unsafe accidents.

[0085] 6. Explosion point quick opening device

[0086] like Figure 18 As shown, the normally open electromagnet 8.1 is fixedly mounted on the hull 1.5 with screws, the suction steel plate 8.2 is rigidly fixed on the opening sealing plate 8.3, and the opening sealing plate 8.3 is connected to the hull 1.5 with two sets of welded hinges 8.4 and can rotate freely around its rotation center.

[0087] The action process of the explosion point quick opening device is as follows: a) In the normal state, the normally open electromagnet 8.1 is not energized, and the suction steel plate 8.2 is firmly adsorbed by magnetic force, so that the opening sealing plate 8.3 is in a closed state; b) When quick opening is required, the normally open electromagnet 8.1 is quickly powered on and off once (i.e., a contact signal is given), the normally open electromagnet 8.1 loses its magnetism, and the opening sealing plate 8.3 is snapped down in a weightless posture under the action of its own weight because it has no adsorption force; c) The opening sealing plate 8.3 is manually operated, and a traction nylon rope is set on its back, which is manually pulled to the closed position. The normally open electromagnet 8.1 is in a power-off state, adsorbing the suction steel plate 8.2, and completing the reset action.

[0088] In this embodiment, the control cabinet of the action mechanism on the hull 1.5 is arranged nearby in the cabin. This arrangement has two advantages: a) there are fewer power supply channels between the isolation transformer and the hull, the layout is simple, and the failure rate is low; b) in addition to the power supply cable, only communication cables are arranged between the main electrical room and the hull, and there is no need to arrange signal cables for each action, so the channel is simple; c) the centralized power supply and communication on the hull makes the channel inside the mobile power supply underwater drag chain 1.7 simple, and the cable specifications are large, so the cable is safer and more reliable during mobile operation.

[0089] The power supply system on the hull 1.5 must be protected by an isolation transformer before entering the water to prevent leakage accidents from causing performance and safety accidents.

[0090] In this embodiment, the two sail hoisting devices are interlocked with the corresponding mainmast slewing device and the mizzen mast 6.6 tilting device during operation. The interlocking requirements are as follows: the mainmast slewing device only allows the attached sail 2.4 to be raised or lowered when its upper hanging point is on the audience side; the mizzen mast 6.6 tilting device only allows the attached sail 2.4 to be raised or lowered when its upper hanging point is in the vertical position; and the corresponding mainmast slewing device or mizzen mast 6.6 tilting device only allows the corresponding mainmast slewing device or mizzen mast 6.6 tilting device to be rotated or tilted when the sail hoisting device's counterweight 2.3 is in the highest position. This interlocking and operating condition is intended to ensure the safety of the equipment during operation and prevent unsafe accidents such as sail 2.4 scratching or colliding with performers.

[0091] A wind speed detector is installed at a high point on the external building, forming a chain control with the movement of the entire performance boat. When the wind speed is higher than level 6, the console buzzer alarms and the operator must switch the performance boat to a windproof posture: a) The performance boat moves and docks in the windproof area; b) The two sets of sail lifting devices need to lower and remove the sails 2.4, and then only raise the counterweight hammer 2.3 to the highest position; c) The front mast is tilted down; d) The rear mast 6.6 is tilted and in a vertical state; e) The stern breaking device is in a non-broken reset state; f) The opening sealing plate 8.3 of the explosion point quick opening device is in a closed state.

[0092] By adopting the above technical solution disclosed in the present invention, the following beneficial effects are obtained:

[0093] The present invention provides a self-propelled multifunctional underwater performance boat, which travels along a fixed track in the water. The driving winch is arranged on the dry shore, and the driving motor is physically and electrically isolated from the mounting steel frame, eliminating the risk of leakage into the water. The control cabinet of the action mechanism on the hull is arranged nearby in the cabin. This arrangement has two advantages: a) there are fewer power supply channels between the isolation transformer and the hull, resulting in a simple layout and a low failure rate; b) in addition to the power supply cable, only communication cables are arranged between the main electrical room and the hull, without the need to arrange signal cables for each action, resulting in a simple channel; c) the centralized power supply and communication on the hull simplifies the channel inside the mobile power supply underwater drag chain, and the cable specifications are large, making the cable safer and more reliable during mobile operation. The mast-tilting device uses a winch to drive a mast with an eccentric counterweight to achieve the tilting and resetting of the mast. Compared with hydraulic cylinders and electric actuators, the winch drive method is easier to control and adjust in terms of speed and stroke, and the falling effect is more in line with the actual performance effect and performance requirements. The eccentric counterweight design offsets the large overturning torque caused by the excessive cantilever when the mast is too high and falls, greatly reducing the capacity and power requirements of the drive device. The entire mechanism also greatly reduces the stress on the intermediate rotating seat bearing, which is more economical. The stern breaking device has the following advantages compared to the electric actuator and winch drive method: a) It utilizes a quick-opening mechanical structure to achieve the realistic breaking effect of the stern being weightless and slammed into the water; b) The electric actuator of the quick-opening device only needs to open the safety pin, while the resetting winch can use the hoisting winch, which is more economical. 5. The explosion point quick opening device can realize the function of opening in seconds after power is turned on by the control of the electromagnet. Combined with the effect of water special effects, it can give the audience a more shocking and sudden viewing effect. On the other hand, the device has no power equipment, simple structure, strong practicality and good economy.

[0094] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A self-propelled multifunctional underwater performance boat, characterized by: It includes a ship body, a running device, a sail lifting device, a main mast rotating device, a mast tipping device, a ship position breaking device and a blast point rapid opening device; the running device is used to realize the movement and steering of the ship body; the sail lifting device is used to realize the raising and lowering of the sails on the main mast and the mizzen mast; the main mast rotating device is used to realize the rotation of the main mast; the mast tipping device is used to realize the breaking and tipping of the foremast and the mizzen mast; the stern breaking device is used to realize the performance effect of the stern breaking and hitting the water; the blast point rapid opening device is used to realize the performance effect of the ship body being cracked by artillery fire.

2. The self-propelled multifunctional underwater performance boat according to claim 1, characterized in that: The stern breaking device comprises a main steel frame, a reset winch, a fracture hinge seat, an electric push rod, a double pin, a front pin seat, a rear pin seat, a safety hanging ring, a hanging ring seat, a reset spring and a spring pull rod; the main steel frame is rotatably connected to the ship body via the fracture hinge seat, and the reset winch is installed on the ship body and connected to the main steel frame; the electric push rod is installed on the ship body, the telescopic end of the electric push rod is connected to the double pin, and the end of the double pin away from the electric push rod is provided with a pressure plate, and a front pin seat and a rear pin seat are respectively provided on the ship body on the front and rear sides of the moving direction of the double pin, and a hook with a slope is provided on the front pin seat; a hanging ring seat is provided on the main steel frame, and the safety hanging ring is rotatably connected to the hanging ring seat; a spring pull rod is respectively provided on the safety hanging ring and the main steel frame, and the two ends of the reset spring are respectively connected to two spring pull rods; Finally, the electric push rod drives the double pin to move forward, and the pressure plate presses on the safety ring, and finally disconnects the reset winch from the main steel frame, completing the reset action of the entire stern fracture device; The upper and lower positions of the swing of the main steel frame are both provided with limit switches and extreme safety switches, and the driving action of the reset winch is interlocked with the switch stroke, that is, after the main steel frame swings to the reset position, the reset winch stops automatically; the front and rear positions of the double pins are both provided with limit switches and extreme safety switches, which are interlocked with the limit switches of the swing of the main steel frame, that is, the double pins are allowed to act only when the main steel frame is at the upper limit position.

3. The underwater self-propelled multifunctional performance boat according to claim 2, characterized in that: The explosive point quick opening device includes a normally open electromagnet, a suction steel plate, an opening sealing plate and a welded hinge; the normally open electromagnet is mounted on the ship body, the suction steel plate is fixed to the opening sealing plate, and the lower end of the opening sealing plate is rotatably connected to the ship body via a welded hinge; In the normal state, the normally open electromagnet is not energized, and the steel plate is attracted by magnetic force to keep the opening sealing plate in a closed state, corresponding to covering the explosion point; when the explosion point needs to be opened, the normally open electromagnet is quickly turned on and off once to lose its magnetism, and the opening sealing plate rotates downward around the welded hinge under its own gravity to open the explosion point.

4. The self-propelled multifunctional underwater performance boat according to claim 3, characterized in that: The traveling device includes a traveling drive device, a traveling steering pulley, a traveling wheel system, an underwater drag chain, a traveling wire rope and a traveling track; a foundation embedded part is provided on the underwater traveling path of the ship body, a traveling track is provided on the foundation embedded part, and a traveling steering pulley is provided on the foundation embedded parts at both ends of the traveling track; a plurality of traveling wheel systems are sequentially arranged at intervals on the lower side of the ship body along its traveling direction; a traveling wire rope connected to the traveling drive device passes around the traveling steering pulley and is connected to the end of the ship body; The underwater drag chain is made of waterproof and anti-corrosion material, and the power supply and communication cables of the equipment on the performance boat and the cables of the running gear are all laid in the underwater drag chain.

5. The self-propelled multifunctional underwater performance boat according to claim 4, characterized in that: The travel drive device includes a mounting steel frame and a drive reducer, a drive motor, and a drive drum arranged on the mounting steel frame; the mounting steel frame is fixed to the shore, the output end of the drive motor is connected to the input end of the drive reducer via a plum blossom elastic coupling, and the output end of the drive reducer is connected to the drive drum via a drum gear coupling; the travel wire rope is correspondingly wound around the drive drum; A rotary micro switch is installed at the load end of the driving drum; and an incremental encoder is provided at the tail of the driving motor.

6. The self-propelled multifunctional underwater performance boat according to claim 5, characterized in that: The performance boat includes two sets of mast-tipping devices with the same structure, which are used to realize the tilting of the foremast and the mizzen mast respectively; the mast-tipping devices include a tilting winch, a tilting diverting pulley, an eccentric counterweight, a bearing with a seat, an adjustment counterweight, and a tilting wire rope; the tilting winch is installed on the boat body, and the tilting wire rope connected to the tilting winch passes through the tilting diverting pulley installed on the boat body and is connected to the eccentric counterweight through an adjustment screw mouth; one end of the eccentric counterweight is provided with a rotating shaft, which is connected to the bearing with a seat fixed to the boat body, and the foremast or the mizzen mast is fixedly connected to the rotating shaft; the adjustment counterweight is provided on the eccentric counterweight; The tipping winch is equipped with a conductive plate device for detecting tangled ropes, and is provided with a rotary micro switch and an incremental encoder; a conductive wheel axle for detecting loose ropes is provided on the path of the tipping wire rope; limit switches are provided at the two extreme positions of the mast tipping device for tipping, and a limit block is provided at the maximum tipping position.

7. The self-propelled multifunctional underwater performance boat according to claim 6, characterized in that: The performance boat includes two sets of sail lifting devices with the same structure, which are used to realize the raising and lowering of the sails on the main mast and the mizzen mast respectively; the sail lifting devices include a lifting winch, a lifting wire rope, a lifting and steering pulley, a counterweight and a sail; the lifting winch is installed on the boat body, and a lifting and steering pulley is respectively provided on the top of the main mast or the mizzen mast and the boat body at the lower end; the lifting wire rope connected to the lifting winch passes through the two lifting and steering pulleys in sequence from top to bottom, and the lifting wire rope is provided with a counterweight near the lifting and steering pulley provided at the top of the main mast or the mizzen mast; the sail is connected to the lifting wire rope so as to be raised and lowered during the movement of the lifting wire rope; The lifting winch is equipped with a conductive plate device for detecting tangled ropes, and is provided with a rotary micro switch and an incremental encoder; a conductive wheel shaft for detecting loose ropes is provided on the path of the lifting wire rope; The main mast is provided with a diving platform, a main ladder, a lookout tower and a cross bar for hanging a safety ring; the rear mast is provided with a rear ladder.

8. The self-propelled multifunctional underwater performance boat according to claim 7, characterized in that: The main mast slewing device includes a slewing motor reducer, a driving gear and a slewing support; the slewing motor reducer is installed on the ship body, the output end of the slewing motor reducer is connected to the driving gear, the driving gear is fixedly connected to the outer ring of the slewing support, the outer ring and inner ring of the slewing support are respectively fixedly connected to the main mast and the ship body; an incremental encoder is provided at the tail of the slewing motor reducer.

9. The underwater self-propelled multifunctional performance boat according to claim 8, characterized in that: The sail lifting device of the main mast and the sail lifting device of the mizzen mast are interlocked with the status of the main mast rotating device and the mast tilting device of the mizzen mast respectively; the sail lifting device of the main mast is allowed to move only when the main mast hanging point is on the viewing side; the sail lifting device of the mizzen mast is allowed to move only when the mizzen mast is in a vertical position; the corresponding main mast rotating device or mizzen mast tilting device is allowed to rotate or tilt only when the counterweight hammer of the sail lifting device is at the highest position.

10. The underwater self-propelled multifunctional performance boat according to claim 9, characterized in that: A wind speed detector is installed at a high point on the external building, which forms a chain control with the movement of the performance boat; when the wind speed is higher than level 6, the console buzzer alarm will sound, and the operator must switch the performance boat to a windproof posture, including: a) the performance boat moves and docks in the windproof area; b) the sail lifting device needs to lower and remove the sail, and then only raise the counterweight hammer to the highest position; c) the front mast is tilted down; d) the rear mast is tilted and in a vertical state; e) the stern breaking device is in a non-broken reset state; f) the opening seal of the explosion point quick opening device is in a closed state.

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