Steering mechanism for ship and air cushion unmanned ship

Abstract

The utility model relates to the field of unmanned ships, in particular to a steering mechanism for a ship and an air cushion unmanned ship. The embodiment of the utility model provides a steering mechanism for a ship, which comprises a driving part, a linkage component and a rudder blade, and the driving part is arranged on a ship body of the ship; the linkage assembly comprises a first linkage piece, a flexible axis and a second linkage piece, the first linkage piece is connected between the driving part and one end of the flexible axis, and one end of the second linkage piece is connected with the other end of the flexible axis; the rudder blade is rotatably arranged on the ship body, and the rudder blade is connected with the other end of the second linkage piece so as to be driven by the driving part to swing. According to the steering mechanism for the boat, high-stability power transmission can be achieved, the manufacturing and mounting cost is reduced due to the simple structure, and the applicability is high.

Description

Technical Field

[0001] The utility model relates to the field of unmanned boats, in particular to a steering mechanism for boats and an air cushion unmanned boat. Background Art

[0002] A hovercraft is a vessel that uses air cushions for support, air propellers for propulsion, and air rudders for steering to achieve high-speed amphibious navigation. Due to its unique mode of operation, the design of the steering mechanism is crucial. With the development of technology, the air cushion unmanned boat, as a new type of unmanned boat, can not only operate in harsh sea conditions and shallow areas, but also perform search and rescue, environmental monitoring, marine exploration and other tasks. It is an important tool for modern marine and river operations.

[0003] The existing air cushion boat steering mechanism is complex in structure, high in cost, prone to failure, and cannot meet the operational requirements in terms of long-term reliability. In addition, the unmanned boat is unsupervised when working, so a high-stability and high-reliability steering mechanism is required to ensure the safety of the unmanned boat. Utility Model Content

[0004] The utility model provides a steering mechanism for boats and an air cushion unmanned boat, providing a steering structure with a simple structure to achieve high-stability power transmission, and the simple structure reduces the manufacturing and installation costs and has strong applicability.

[0005] In order to solve the above technical problems, an embodiment of the utility model provides a steering mechanism for a boat, including a driving part, a linkage assembly, and a rudder blade, wherein the driving part is arranged on the hull of the boat; the linkage assembly includes a first linkage member, a flexible axis line, and a second linkage member, the first linkage member is connected between the driving part and one end of the flexible axis line, and one end of the second linkage member is connected to the other end of the flexible axis line; the rudder blade is rotatably arranged on the hull, and the rudder blade is connected to the other end of the second linkage member so as to swing under the drive of the driving part.

[0006] In some embodiments of the present application, the driving part includes a driving body and a tiller handle, the driving body having a power output shaft; along the length direction of the tiller handle, the tiller handle has a first end and a second end, the first end is connected to the power output shaft, and the second end is connected to the first linkage member.

[0007] In some embodiments of the present application, the tiller handle is provided with a travel hole extending along the length direction of the tiller handle, and the first linkage member is provided with a travel pin slidably matched with the travel hole.

[0008] In some embodiments of the present application, the first linkage member includes a first connecting rod, a first joint bearing and a second joint bearing, the first joint bearing and the second joint bearing are respectively arranged at both ends of the first connecting rod in the length direction, the first joint bearing is connected to the driving part, and the second joint bearing is connected to the one end of the flexible axis.

[0009] In some embodiments of the present application, two ends of the first connecting rod are respectively threadedly matched with the first spherical bearing and the second spherical bearing, and two ends of the first connecting rod are respectively provided with threads with opposite rotation directions.

[0010] In some embodiments of the present application, the second linkage member includes a second connecting rod, a third joint bearing and a fourth joint bearing, the third joint bearing and the fourth joint bearing are respectively arranged at both ends of the second connecting rod in the length direction, the third joint bearing is connected to the rudder blade, and the fourth joint bearing is connected to the other end of the soft axis.

[0011] In some embodiments of the present application, both ends of the second connecting rod are respectively threadedly matched with the third spherical bearing and the fourth spherical bearing, and both ends of the second connecting rod are respectively provided with threads with opposite rotation directions.

[0012] In some embodiments of the present application, the second linkage member further includes a synchronization plate, which is connected to the third spherical bearing; the rudder blades are multiple and spaced apart from each other, and the multiple rudder blades are all connected to the synchronization plate.

[0013] In some embodiments of the present application, the steering mechanism further includes two fixing plates fixed to the hull, the two fixing plates are spaced apart along an extension direction of the rotation axis of the rudder blade, and the rudder blade is rotatably disposed on the two fixing plates.

[0014] The utility model also provides an air cushion unmanned boat, comprising a hull, a steering mechanism, and a processor and a controller arranged in the hull, wherein the processor is used to collect, process, and analyze environmental data, the controller is communicated with the processor, and issues control commands according to the signals transmitted by the processor; and the steering mechanism for the boat as described in any of the above embodiments, wherein the steering mechanism is arranged in the hull, the driving unit is communicated with the controller, and drives the rudder blade to swing according to the control command issued by the controller.

[0015] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0016] The utility model drives the first linkage part to move the flexible axis through the driving part, the flexible axis drives the second linkage part, the second linkage part drives the rudder blade to swing relative to the hull, and the torque is smoothly transmitted through the first linkage part-flexible axis line-second linkage part, so that when the steering mechanism of the utility model works, the purpose of stable power transmission is achieved, and the power transmission accuracy is improved. In addition, the steering mechanism has a simple structure, low manufacturing and installation costs, and is easy to repair and replace, and can simultaneously control the synchronous steering of multiple rudder blades. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 : It is a three-dimensional structural schematic diagram of the steering mechanism of the utility model for boats;

[0018] Figure 2 : It is a left view of the steering mechanism of the utility model for boats;

[0019] Figure 3 : It is a structural schematic diagram of the utility model air cushion unmanned boat.

[0020] The reference numerals of the drawings in the specification are as follows:

[0021] 2-driving part; 21-driving body; 22-power output shaft; 23-tiller; 231-travel hole; 232-first end; 233-second end; 4-linkage assembly; 41-first linkage member; 411-first connecting rod; 412-first joint bearing; 413 second joint bearing; 414-travel pin; 42-flexible axis line; 43-second linkage member; 431-second connecting rod; 432-third joint bearing; 433-fourth joint bearing; 44-bracket; 61-rudder blade; 62-synchronizing plate; 63-fixed plate; 100-hull. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0023] Please refer to Figures 1 to 3 A steering mechanism for a boat provided by an embodiment of the utility model includes a driving part 2, a linkage assembly 4, and a rudder blade 61.

[0024] The driving unit 2 is disposed on the hull 100 of the boat. The driving unit 2 may be a servo reduction motor or a stepping motor, preferably a servo reduction motor. The driving unit 2 is fixed inside the hull 100 through a motor bracket.

[0025] The linkage assembly 4 includes a first linkage member 41 , a flexible axis 42 and a second linkage member 43 . The first linkage member 41 is connected between the driving part 2 and one end of the flexible axis 42 , and one end of the second linkage member 43 is connected to the other end of the flexible axis 42 .

[0026] Specifically, the first linkage member 41 is connected to the driving unit 2, one end of the soft axis line 42 is connected to the first linkage member 41, and the other end of the soft axis line 42 is connected to one end 43 of the second linkage member 43. When the first linkage member 41 is driven by the driving unit 2 to move, the first linkage member 41 pulls the soft axis line 42 to move, and the soft axis line 42 drives the second linkage member 43 to move. The rudder blade 61 is rotatably provided on the hull 100, and the rudder blade 61 is connected to the other end of the second linkage member 43 to swing under the drive of the driving unit 2. The rudder blade 61 is rotatably provided on the hull 100, and the other end of the soft axis line 42 is connected to the rudder blade 61 through the second linkage member 43. The driving unit 2 drives the linkage assembly 4 to drive the rudder blade 61 to rotate.

[0027] It should be understood that when the rudder blade 61 is in the initial state, the plane where the rudder blade 61 is located is parallel to the length direction of the hull 100; when the rudder blade 61 rotates, the plane where the rudder blade 61 is located is at an angle to the length direction of the hull 100. The rudder blade 61 can be fixed to the hull 100 by hinges on the side of the rudder blade 61, and can rotate relative to the hull 100, or clamping columns can be provided on the top and bottom surfaces of the rudder blade 61, and a clamping groove is provided on the hull 100, and the clamping column on the rudder blade 61 is clamped in the clamping groove, and rotates relative to the hull 100.

[0028] During operation, the driving unit 2 drives the first linkage 41 to drive the flexible axis 42 to move, and the flexible axis 42 pulls the second linkage 43 to drive the rudder blade 61 to swing relative to the hull 100. The plane where the rudder blade 61 is located forms an angle with the length direction of the hull 100, and the reciprocating motion is performed, so that the steering mechanism realizes steering. The steering mechanism for boats has a simple structure, low manufacturing and installation costs, and is easy to repair and replace, and can simultaneously control the synchronous steering of the rudder blade 61.

[0029] When the soft axis 42 in the utility model is acted upon by the torque transmitted by the driving part 2, it absorbs the impact force of the torque and smoothly transmits the torque, thereby achieving the purpose of transmitting power, so that when the steering mechanism of the utility model works, the purpose of stable power transmission is achieved, and the power transmission accuracy is improved. In addition, the linkage assembly of the utility model adopts the linkage of the first linkage member 41, the soft axis 42 and the second linkage member 43 to achieve stable power transmission and achieve the purpose of steering. The structure is simple to set, easy to install and disassemble, and has high reliability during the steering process.

[0030] In some embodiments of the present application, reference Figure 2The driving part 2 includes a driving body 21 and a tiller 23. The driving body 21 has a power output shaft 22. Along the length direction of the tiller 23, the tiller 23 has a first end 232 and a second end 233. The first end 232 is connected to the power output shaft 22, and the second end 233 of the tiller is connected to the first linkage 41. The driving body 21 outputs power through the power output shaft 22, and the tiller 23 transmits the power to the first linkage 41. The first linkage 41 transmits the power to the rudder blade 61 through the flexible axis 42 and the second linkage 43, so that the rudder blade swings, thereby realizing the steering of the unmanned boat.

[0031] In some embodiments of the present application, the tiller 23 is provided with a stroke hole 231 extending along the length direction of the tiller 23, and the first linkage 41 is provided with a stroke pin 414 that slides with the stroke hole 231. That is, the first linkage 41 is slidably connected to the tiller through the stroke pin 414. The stroke hole 231 has an inner end and an outer end, the inner end is close to the power output shaft 22, and the end away from the power output shaft 22 is the outer end. When the driving body 21 drives the tiller 23 to rotate, the stroke pin 414 is displaced in the stroke hole 231, and when the first linkage 41 follows the stroke pin 414 to slide to the outermost end of the stroke hole 231, the rudder blade 61 can turn to the maximum angle, and when the linkage 41 follows the stroke pin 414 to slide to the innermost end of the stroke hole 231, the rudder blade 61 can return to the initial position. By setting the stroke hole 231 on the tiller 23, the swing angle of the rudder blade 61 is limited, and the steering controllable of the steering mechanism is realized.

[0032] In some embodiments of the present application, the first linkage 41 includes a first connecting rod 411, a first joint bearing 412 and a second joint bearing 413. The first joint bearing 412 and the second joint bearing 413 are respectively arranged at both ends of the first connecting rod 411 in the length direction. One end of the first joint bearing 412 is connected to the driving part 2, and one end of the second joint bearing 413 is connected to one end of the flexible axis 42.

[0033] Among them, the first joint bearing 412 can be a straight rod ball joint bearing, and the second joint bearing 413 can be a rod end joint bearing. The ball end of the first joint bearing 412 is connected to the stroke pin 414, and the rod end of the first joint bearing 412 is connected to one end of the first connecting rod 411; the ball end of the second joint bearing 413 is connected to the soft axis 42, and the rod end of the second joint bearing 413 is connected to the other end of the first connecting rod 411. The arrangement of the first joint bearing 412 and the second joint bearing 413 enables the first connecting rod 411 and the soft axis 42 to follow the driving part 2 to rotate at a small angle when the displacement of the first connecting rod 411 is driven by the driving part 2. The arrangement of the joint bearing of the utility model improves the degree of freedom of the first connecting rod 411 and the soft axis 42, and avoids the mechanical dead zone in the process of the driving part 2 driving the first linkage 41 to move. The first joint bearing 412 and the second joint bearing 413 can provide movement in multiple directions, improve the flexibility of the transmission mechanism, and help to evenly distribute the load and reduce stress concentration, which can extend the service life of the equipment.

[0034] In some embodiments of the present application, the two ends of the first connecting rod 411 are respectively threadedly matched with the first joint bearing 412 and the second joint bearing 413, and the two ends of the first connecting rod 411 are provided with threads with opposite rotation directions. When the first connecting rod 411 rotates, the first joint bearing 412 and the second joint bearing 413 are tightened or loosened at the same time.

[0035] Specifically, both ends of the first connecting rod 411 have external threads, the first joint bearing 412 has an internal thread that cooperates with one end of the first connecting rod 411, and the second joint bearing 413 has an internal thread that cooperates with the other end of the first connecting rod 411. This structural setting of the first linkage 41 has the advantages of simple structure, low cost, easy adjustment, stable length after adjustment, and high strength.

[0036] Furthermore, the external threads at both ends of the first connecting rod 411 have opposite rotation directions, and the corresponding internal threads of the first spherical bearing 412 and the second spherical bearing 413 also have opposite rotation directions, so that rotating the first connecting rod 411 in one direction can achieve simultaneous tightening or loosening of the threads at both ends.

[0037] That is to say, the external threads at both ends of the first connecting rod 411 have opposite rotation directions, and the internal threads of the first joint bearing 412 matched with one end of the first connecting rod 411 and the second joint bearing 413 matched with the other end of the first connecting rod 411 have opposite rotation directions, so that the first joint bearing 412 and the second joint bearing 413 can be unscrewed at the same time by rotating the first connecting rod 411 in one direction, and the spacing between the first joint bearing 412 and the second joint bearing 413 at both ends of the first linkage 41 can be increased; the first connecting rod 411 can be rotated in the other direction, and the first joint bearing 412 and the second joint bearing 413 can be tightened at the same time, so that the spacing between the first joint bearing 412 and the second joint bearing 413 at both ends of the first linkage 41 can be shortened, which increases the simplicity and rapidity of adjustment. It should be understood that the spacing between the first joint bearing 412 and the second joint bearing 413 can be adjusted by threaded connection with the first connecting rod 411, and it can also adapt to errors in the manufacturing and installation process, and has good adaptability.

[0038] In a specific embodiment, the ball end of the first joint bearing 412 is connected to the stroke hole 231 through the stroke pin 414, that is, one end of the stroke pin 414 is accommodated in the stroke hole 231, and the other end is accommodated in the ball end of the first joint bearing 412. The stroke hole 231 is arranged along the length direction of the tiller handle 23, and has an inner end and an outer end in the length direction perpendicular to the central axis of the stroke hole 231, the inner end is close to the power output shaft 22, and the end away from the power output shaft 22 is the outer end. When the servo reduction motor drives the tiller handle 23 to rotate, taking the clockwise rotation of the tiller handle 23 as an example, the initial position of the tiller handle 23 is vertically downward, the tiller handle 23 rotates 90° clockwise, the stroke pin 414 gradually moves from the outermost end of the stroke hole 231 to the outermost end of the stroke hole 231, the stroke pin 414 drives the first connecting rod 411 through the first joint bearing 412, the first connecting rod 411 drives the soft axis line 42 to be recovered through the second joint bearing 413, and the soft axis line 42 pulls the rudder blade 61 to rotate to the maximum angle; the rudder The handle 23 continues to rotate 90° clockwise, and the tiller handle 23 is vertically upward; the tiller handle 23 continues to rotate 90° clockwise, and the travel pin 414 moves to the innermost end of the travel hole 231, and the travel pin 414 drives the first connecting rod 411 through the first joint bearing 412, and the first connecting rod 411 drives the flexible axis 42 to gradually return to its original position through the second joint bearing 413, and the flexible axis 42 pushes the rudder blade 61 to rotate to the initial position, so that the rotation angle of the rudder blade 61 can be controlled, and then the steering of the unmanned boat can be controlled.

[0039] In some embodiments of the present application, the second linkage member 43 includes a second connecting rod 431, a third joint bearing 432 and a fourth joint bearing 433, the third joint bearing 432 and the fourth joint bearing 433 are respectively arranged at both ends of the second connecting rod 431 in the length direction, the third joint bearing 432 is connected to the rudder blade 61, and the fourth joint bearing 433 is connected to the other end of the soft axis 42. The second connecting rod 431 is arranged between the third joint bearing 432 and the fourth joint bearing 433. The second linkage rod 431, the third joint bearing 432 and the fourth joint bearing 433 are arranged between the soft axis 42 and the rudder blade 61, so that the power transmission is more stable and the reliability is higher. Among them, the third joint bearing 432 is a straight rod ball joint bearing, the fourth joint bearing 433 is a rod end joint bearing, the third joint bearing 432 has the same structure as the first joint bearing 412, and the fourth joint bearing 433 has the same structure as the second joint bearing 413, which will not be repeated here.

[0040] In some embodiments of the present application, the two ends of the second connecting rod 431 are respectively threadedly matched with the third joint bearing 432 and the fourth joint bearing 433, and the two ends of the second connecting rod 431 are respectively provided with threads with opposite rotation directions. The external threads at the two ends of the second connecting rod 431 have opposite rotation directions, and the corresponding internal threads of the third joint bearing 432 and the fourth joint bearing 433 also have opposite rotation directions, so that the threads at both ends can be tightened or loosened simultaneously by rotating the second connecting rod 431 in one direction. That is to say, the external threads at both ends of the second connecting rod 431 have opposite rotation directions, and the internal threads of the third joint bearing 432 matched with one end of the second connecting rod 431 and the fourth joint bearing 433 matched with the other end of the second connecting rod 431 have opposite rotation directions, so that the second connecting rod 431 can be rotated in one direction, and the third joint bearing 432 and the fourth joint bearing 433 are unscrewed at the same time, so that the distance between the third joint bearing 432 and the fourth joint bearing 433 at both ends of the second linkage 43 can be increased; the second connecting rod 431 can be rotated in another direction, and the third joint bearing 432 and the fourth joint bearing 433 are tightened at the same time, so that the distance between the third joint bearing 432 and the fourth joint bearing 433 at both ends of the second linkage 43 is shortened, which increases the simplicity and rapidity of adjustment. It should be understood that the third joint bearing 432 and the fourth joint bearing 433 can be adjusted by threaded connection with the second connecting rod 431 to adjust the distance between the two, and can also adapt to errors in the manufacturing and installation process, and have good adaptability. It should be understood that the second linkage member 43 has the same structure as the first linkage member 41 , and will not be described in detail herein.

[0041] In some embodiments of the present application, the second linkage 43 further includes a synchronization plate 62, which is connected to the third joint bearing 432. The rudder blades 61 are multiple and spaced apart from each other, and the multiple rudder blades 61 are all connected to the synchronization plate 62. The multiple rudder blades 61 are spaced apart on the synchronization plate 62, and the synchronization plate 62 is connected to the flexible axis 42. The multiple rudder blades 61 are spaced apart on the hull 100 and can rotate relative to the hull 100. The synchronization plate 62 is fixed on one side of the multiple rudder blades 61. It should be understood that the fixed plate 63 extends along the arrangement direction of the multiple rudder blades 61. Define the side where the rudder blade 61 is rotatably connected to the hull 100 as the side, then the synchronization plate 62 can be set on the top of the multiple rudder blades 61, can also be set at the bottom of the multiple rudder blades 61, or can be set on the other side of the multiple rudder blades 61. It should be understood that the multiple rudder blades 61 and the synchronization plate 62 can be fixedly connected or clamped. In an optional embodiment, the bottom of the rudder blade 61 may be provided with a plurality of grooves, and the synchronous sheet 62 may be provided with a plurality of clamping columns that cooperate with the grooves, as long as the rudder blade and the synchronous sheet can be connected and the synchronous sheet can drive the rudder blade to swing. In one embodiment, the number of the rudder blades 61 is at least three. The number of the rudder blades 61 may be determined according to specific usage conditions.

[0042] When the servo reduction motor drives the tiller to rotate, taking the clockwise rotation of the tiller 23 as an example, the initial position of the tiller 23 is vertically downward, the tiller 23 rotates 90° clockwise, the travel pin 414 gradually moves from the outermost end of the travel hole 231 to the outermost end of the travel hole 231, the travel pin 414 drives the first connecting rod 411 through the first joint bearing 412, the first connecting rod 411 drives the flexible axis 42 to be recovered through the second joint bearing 413, the flexible axis 42 pulls the synchronous plate 62 to move through the second linkage 43, and the synchronous plate 62 drives the rudder blade 61 to rotate to the maximum angle; the tiller 2 3 Continue to rotate clockwise 90°, the tiller 23 is vertically upward; the tiller 23 continues to rotate clockwise 90°, the travel pin 414 moves to the innermost end of the travel hole 231, the travel pin 414 drives the first connecting rod 411 through the first joint bearing 412, the first connecting rod 411 drives the flexible axis 42 to gradually return to the original position through the second joint bearing 413, the flexible axis 42 pushes the second linkage 43 to push the synchronous plate 62 to the initial position, the synchronous plate 62 drives the rudder blade 61 to rotate to the initial position, realizes the controllable rotation angle of the rudder blade 61, and then realizes the controllable steering of the unmanned boat. It should be understood that the initial position of the rudder blade 61 and the synchronous plate 62 is the position when the rudder blade 61 does not rotate and the direction of the rudder blade 61 is parallel to the length direction of the hull 100, and the tiller 23 is located at the counterclockwise direction of 90° of the initial position of the above-mentioned rudder blade.

[0043] In some embodiments of the present application, the steering mechanism further includes two fixing plates 63 fixed to the hull 100, the two fixing plates 63 are spaced apart along the extension direction of the rotation axis of the rudder blade 61, and a plurality of rudder blades 61 are rotatably arranged between the two fixing plates 63. That is, the steering mechanism further includes a first fixing plate and a second fixing plate that are relatively arranged and fixed to the hull 100, the first fixing plate and the second fixing plate are spaced apart along the extension direction of the rotation axis of the rudder blade 61, and a plurality of rudder blades 61 are rotatably arranged between the first fixing plate and the second fixing plate. In one embodiment, a clamping column is arranged on the top and bottom surfaces opposite to the rudder blade 61, and a clamping groove is arranged on the hull 100, and the clamping column on the rudder blade 61 is clamped in the clamping groove and rotated relative to the hull 100.

[0044] In some embodiments of the present application, the fixing plate 63 is parallel to the synchronization plate 62, and the plurality of rudder blades 61 are parallel to each other. That is, the plurality of rudder blades 61 are arranged along a length direction perpendicular to the hull 100, the rudder blades 61 are parallel to the length direction of the hull 100, the first fixing plate, the side of the rudder blade 61, and the second fixing plate form a parallelogram; the first fixing plate, the side of the rudder blade 61, and the synchronization plate 62 form a parallelogram; the second fixing plate, the bottom of the rudder blade 61, and the synchronization plate 62 form a parallelogram.

[0045] As a preferred embodiment, the linkage assembly 4 further includes a bracket 44 for fixing the flexible axis line 42, and the bracket 44 is fixed to the hull 100. A first bracket for fixing the flexible axis line 42 is provided outside the connection between the second joint bearing 413 and the flexible axis line 42, and the first bracket is fixed to the front of the hull 100; a second bracket for fixing the flexible axis line 42 is provided outside the connection between the fourth joint bearing 433 and the flexible axis line 42, and the second bracket is fixed to the stern of the hull 100, wherein a hole for the flexible axis line 42 to pass through is provided on the bracket, and after the flexible axis line 42 is connected to the second joint bearing 413, it passes through the first bracket, the flexible axis line 42 extends from the front of the hull 100 to the stern, and then passes through the second bracket to connect to the fourth joint bearing 433. The bracket plays a role in positioning the flexible axis line, ensuring the stability of the retraction and recovery path of the flexible axis line.

[0046] In a specific embodiment, the driving unit 2 and the first linkage 41 are located in the steering gear compartment, the rudder blade 61 is located at the stern, the second linkage and the second bracket for fixing the flexible axis line are also located at the stern, the flexible axis line extends from the steering gear compartment to the stern and is positioned by the second bracket, and is connected to the synchronization plate 62 through the second linkage 43, thereby driving the rudder blade 61, thereby realizing the steering of the rudder blade 61.

[0047] The utility model also provides an air cushion unmanned boat, referring to Figure 3The air cushion unmanned boat comprises a hull 100, a processor and a controller arranged in the hull 100, and a steering mechanism for boats of any of the above embodiments. Among them, the processor is used to collect, process, and analyze environmental data; the controller is connected to the processor in communication, and sends a control command according to the signal transmitted by the processor; the steering mechanism for boats is arranged in the hull 100, the driving unit 2 is connected to the controller in communication, and drives the rudder blade 61 to swing according to the control command sent by the controller, so as to realize the steering of the air cushion unmanned boat. Under normal conditions, the rudder blade 61 is parallel to the length direction of the hull 100, and the air cushion unmanned boat collects, processes and analyzes environmental perception data through the perception processor, and the aircraft controller makes corresponding navigation decisions and control actions based on this information. For example, during the steering process, the aircraft controller drives the servo reduction motor to rotate the tiller 23. The rotation of the tiller 23 drives the extension and contraction of the soft axis 42 through the first linkage 41, and at the same time, the other end of the soft axis 42 pulls the second linkage 43 to extend and contract in the opposite direction. This telescoping drives the flexible axis 42 and the second linkage 43 through the first linkage 41, and then drives the synchronous piece 62 to move, thereby realizing the synchronous and unidirectional rotation of the rudder blades 61, thereby achieving the purpose of steering the air cushion unmanned boat.

[0048] The air cushion unmanned boat in the utility model has a simple steering mechanism structure for boats, low manufacturing and installation costs, long service life, and is easy to repair and replace. It can simultaneously control the synchronous steering of multiple rudder blades, and the steering is controllable, with high steering accuracy, high stability and reliability, and is flexible in application and strong in practicality.

[0049] The specific embodiments described above further describe the purpose, technical solutions and beneficial effects of the utility model in detail. It should be understood that the above description is only a specific embodiment of the utility model and is not intended to limit the protection scope of the utility model. It is particularly pointed out that for those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. A steering mechanism for a boat, characterized in that: include: A driving unit, arranged on the hull of the boat; A linkage assembly, comprising a first linkage member, a flexible axis, and a second linkage member, wherein the first linkage member is connected between the driving portion and one end of the flexible axis, and one end of the second linkage member is connected to the other end of the flexible axis; as well as A rudder blade is rotatably arranged on the hull, and the rudder blade is connected to the other end of the second linkage member so as to swing under the drive of the driving part.

2. The steering mechanism for a boat as claimed in claim 1, characterized in that: The driving unit comprises: A driving body, wherein the driving body has a power output shaft; The tiller handle has a first end and a second end along the length direction of the tiller handle, the first end is connected to the power output shaft, and the second end is connected to the first linkage member.

3. The steering mechanism for a boat as claimed in claim 2, characterized in that: The tiller handle is provided with a travel hole extending along the length direction of the tiller handle, and the first linkage member is provided with a travel pin slidably matched with the travel hole.

4. The steering mechanism for a boat as claimed in claim 1, characterized in that: The first linkage member includes a first connecting rod, a first joint bearing and a second joint bearing. The first joint bearing and the second joint bearing are respectively arranged at both ends of the first connecting rod in the length direction. The first joint bearing is connected to the driving part, and the second joint bearing is connected to the one end of the flexible axis.

5. The steering mechanism for a boat as claimed in claim 4, characterized in that: The two ends of the first connecting rod are respectively threadedly matched with the first spherical bearing and the second spherical bearing, and the two ends of the first connecting rod are respectively provided with threads with opposite rotation directions.

6. The steering mechanism for a boat according to any one of claims 1 to 5, characterized in that: The second linkage member includes a second connecting rod, a third joint bearing and a fourth joint bearing. The third joint bearing and the fourth joint bearing are respectively arranged at both ends of the second connecting rod in the length direction. The third joint bearing is connected to the rudder blade, and the fourth joint bearing is connected to the other end of the soft axis.

7. The steering mechanism for a boat as claimed in claim 6, characterized in that: The two ends of the second connecting rod are respectively threadedly matched with the third joint bearing and the fourth joint bearing, and the two ends of the second connecting rod are respectively provided with threads with opposite rotation directions.

8. The steering mechanism for a boat as claimed in claim 6, characterized in that: The second linkage member further comprises a synchronization plate, and the synchronization plate is connected to the third spherical bearing; The rudder blades are multiple and spaced apart from each other, and all of the rudder blades are connected to the synchronization plate.

9. The steering mechanism for a boat as claimed in claim 1, characterized in that: The steering mechanism further comprises two fixing plates fixedly arranged on the hull, the two fixing plates are spaced apart along the extending direction of the rotation axis of the rudder blade, and the rudder blade is rotatably arranged on the two fixing plates.

10. An unmanned air cushion boat, characterized in that: include: hull; A processor and a controller disposed in the hull, wherein the processor is used to collect, process, and analyze environmental data, and the controller is in communication with the processor and issues control commands according to signals transmitted by the processor; as well as The steering mechanism for a boat according to any one of claims 1 to 9, wherein the steering mechanism is arranged on the hull, the driving unit is communicatively connected with the controller, and drives the rudder blade to swing according to the control command issued by the controller.

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