Small unmanned ship vector control device convenient to disassemble and assemble

Abstract

The utility model relates to a small-sized unmanned ship vector control device convenient to disassemble and assemble, which comprises a connecting ring, a connecting rod and a connecting rod, one end of the connecting beam is fixedly connected with the outer wall of the connecting ring; the device comprises a telescopic mechanism and a rotating mechanism, and further comprises an electric propeller, the electric propeller is fixed to the rotating end of the rotating mechanism, and the telescopic mechanism and the rotating mechanism move the electric propeller in the y-axis direction and the x-axis direction. The whole vector control device can be conveniently mounted and dismounted through the detachable connection design of the connecting ring and the ship body ending left and right broadside mooring bollards, maintenance and replacement are facilitated, the flexibility and adaptability of the unmanned ship are improved, and the unmanned ship can be rapidly deployed and adjusted in different scenes.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned boat control, and is applicable to the berthing, unberthing and low-speed driving conditions of small unmanned boats, and particularly applicable to a small unmanned boat vector control device for the berthing and unberthing of newly developed small unmanned boats and the emergency return scenario after the failure of the main propeller. Background Art

[0002] With the innovation of ship technology, the national defense and the market have an increasingly strong demand for diversified ship types and functions, and a large number of newly developed small unmanned boats have been put into the test stage. At this stage, since the mechanical and control systems of the ship are still in the debugging stage, there are great risks in daily tests, such as collisions with passing ships or buoys, especially in the berthing and unberthing stages, the risk of collision with the dock is extremely high.

[0003] The deficiencies in the control of traditional newly developed small unmanned boats in the debugging stage are mainly as follows:

[0004] 1) During the debugging stage of the ship, the hardware and software for ship control are not mature, the controllability is poor, and the risk is high;

[0005] 2) Due to economic, confidentiality and other factors during the debugging stage, professional ship drivers are generally not equipped, which further increases the risk of ship control;

[0006] 3) During the berthing and unberthing process of the ship, due to the presence of many obstacles such as ships, buoys and buildings at the dock, the possibility of ship collision is relatively large, and the risk coefficient is high.

[0007] Due to its small size, small unmanned boats mainly use a single propeller, and its control accuracy is limited. For complex scenarios such as waterways and docks, it is often difficult to control. To improve the applicability of unmanned boats, a device that can improve the low-speed and high-precision control of unmanned boats in complex scenarios is needed. In addition, the current existing external propellers, the steering and the entry and exit of the propeller into the water basically only support manual control, and very few support simple remote control functions for entry and exit of the water, which are completely inapplicable to unmanned boats. Content of the Utility Model

[0008] The technical problem to be solved by the utility model is to provide a small unmanned boat vector control device with a simple and reliable structure, convenient disassembly and assembly, and simple control in view of the deficiencies of the prior art.

[0009] The technical problem to be solved by the utility model is realized through the following technical solutions. A small unmanned boat vector control device with convenient disassembly and assembly, the device includes:

[0010] A connecting ring, the middle of which is penetrated and is used for detachably connecting with the mooring bitts on the left and right sides of the bow and stern of the hull;

[0011] A connecting beam, which is horizontally arranged, and one end of which is fixedly connected to the outer wall of the connecting ring;

[0012] A telescopic mechanism, which is vertically arranged. One end of the telescopic mechanism is the fixed end of the telescopic mechanism, and the other end is the telescopic end of the telescopic mechanism. The end of the connecting beam that is not connected to the connecting ring is fixed on the fixed end of the telescopic mechanism;

[0013] A rotating mechanism, which is vertically arranged. One end of the rotating mechanism is the fixed end of the rotating mechanism, and the other end is the rotating end of the rotating mechanism. The fixed end of the rotating mechanism of the rotating mechanism is fixed on the telescopic end of the telescopic mechanism;

[0014] An electric thruster, which is fixed on the rotating end of the rotating mechanism.

[0015] The technical problem to be solved by the present utility model can also be achieved through the following technical solutions. For a vector control device for a small unmanned boat with convenient disassembly and assembly as described above, an adjustment groove is provided on the outer peripheral surface of the connecting ring.

[0016] The technical problem to be solved by the present utility model can also be achieved through the following technical solutions. For a vector control device for a small unmanned boat with convenient disassembly and assembly as described above, a plurality of material reduction holes are provided on the middle side wall of the connecting beam.

[0017] The technical problem to be solved by the present utility model can also be achieved through the following technical solutions. For a vector control device for a small unmanned boat with convenient disassembly and assembly as described above, the connecting beam is composed of two secondary beams. One end of each secondary beam is fixedly connected to the outer peripheral surface of the connecting ring, and the other end is connected to the fixed end of the telescopic mechanism.

[0018] Compared with the prior art, the beneficial technical effects of the present utility model are:

[0019] (1) Through the detachable connection design between the connecting ring and the mooring bitts on the left and right sides of the bow and stern of the hull, the entire vector control device can be conveniently installed and disassembled, which not only facilitates maintenance and replacement, but also improves the flexibility and adaptability of the unmanned boat, enabling it to be quickly deployed and adjusted in different scenarios;

[0020] (2) By the combined use of the telescopic mechanism and the rotating mechanism, the device can move the electric thruster up and down and rotate horizontally. This vector control ability enables the unmanned boat to adjust its course more flexibly;

[0021] (3) The design of the adjustment groove on the outer peripheral surface of the connecting ring. Through the bolt fasteners penetrating the edge of the connecting ring, the connecting ring undergoes slight deformation at the adjustment groove, thereby fixing the connecting ring on the outer peripheral surface of the mooring bitt, further enhancing the structural installation stability of the device;

[0022] (4)The design of the material-removing holes on the side wall of the middle part of the connecting beam reduces the weight of the whole device and at the same time reduces the material cost; and the design that the connecting beam is composed of two secondary beams, the joint operation of the two secondary beams increases the stability and load-bearing capacity of the device, and at the same time is also convenient for the connection and fixation with the fixed end of the telescopic mechanism. Description of the Drawings

[0023] Figure 1 is a three-dimensional structural schematic diagram of the present utility model;

[0024] Figure 2 is a front view structural schematic diagram of the present utility model;

[0025] Figure 3 is a top view structural schematic diagram of the present utility model.

[0026] Reference numerals: 1, connecting ring; 2, adjusting groove; 3, connecting beam; 4, material-removing hole; 5, fixed end of telescopic mechanism; 6, telescopic end of telescopic mechanism; 7, fixed end of rotating mechanism; 8, rotating end of rotating mechanism; 9, electric thruster. Detailed Description of the Invention

[0027] The following further describes the specific technical solutions of the present utility model with reference to the drawings, so as to facilitate those skilled in the art to further understand the present utility model without restricting its rights.

[0028] Example 1, referring to Figures 1-3 , a small unmanned boat vector control device with convenient disassembly and assembly, the device includes:

[0029] A connecting ring 1, which is penetrated in the middle and is used for detachably connecting with the mooring bollards on the left and right sides of the bow and stern of the hull. An adjusting groove 2 is formed on the outer peripheral surface of the connecting ring 1. The adjusting groove 2 is formed as a roughly square groove, which is convenient for the bolt fastener to penetrate through the edge of the connecting ring 1 and allows slight deformation at the adjusting groove 2 of the connecting ring 1. The connecting ring 1 can also be a hoop. In fact, the structure of the connecting ring 1 is roughly the same as that of the hoop;

[0030] A connecting beam 3, which is horizontally arranged, one end of which is fixedly connected to the outer wall of the connecting ring 1. A plurality of material-removing holes 4 are formed on the side wall of the middle part of the connecting beam 3. The material-removing holes 4 are formed as roughly square grooves. The connecting beam 3 is composed of two secondary beams. One end of each secondary beam is fixedly connected to the outer peripheral surface of the connecting ring 1, and the other end is fixedly connected to the fixed end of the telescopic mechanism;

[0031] A telescopic mechanism, which can be an electric telescopic rod, is vertically arranged. One end of the telescopic mechanism is the fixed end 5 of the telescopic mechanism, and the other end is the telescopic end 6 of the telescopic mechanism. The end of the connecting beam 3 that is not connected to the connecting ring 1 is fixed on the fixed end 5 of the telescopic mechanism;

[0032] The rotating mechanism can be a waterproof servo motor, which is vertically arranged. One end of the rotating mechanism is the fixed end 7 of the rotating mechanism, and the other end is the rotating end 8 of the rotating mechanism. The fixed end 7 of the rotating mechanism is fixed on the telescopic end 6 of the telescopic mechanism;

[0033] The electric thruster 9 is fixed on the rotating end 8 of the rotating mechanism.

[0034] I. Installation before use:

[0035] Ensure that the positions of the bollards on the starboard and port sides at the bow and stern of the hull of the small unmanned boat are accurate, and the surface is clean without foreign objects. Prepare all the tools and components required for installation, including the connecting ring 1 (or hoop), connecting beam 3, telescopic mechanism, rotating mechanism, electric thruster 9, and fixing parts, etc.;

[0036] Installation of the connecting ring 1: Slip the connecting ring 1 (or hoop) over the bollards on the starboard and port sides at the bow and stern of the hull. Adjust the position of the connecting ring 1 through the adjustment slot 2 (if any) to ensure it fits tightly with the bollard. Use appropriate fixing parts (such as bolts, nuts, etc.) to fix the connecting ring 1 to the bollard to ensure a firm and reliable connection;

[0037] Installation of the connecting beam 3: Fix one end of the connecting beam 3 to the outer wall of the connecting ring 1. Welding, bolt connection, etc. can be used for fixation. If the connecting beam 3 is composed of two secondary beams, fix one end of each secondary beam to the outer peripheral surface of the connecting ring 1 respectively. The material reduction hole 4 opened on the middle side wall of the connecting beam 3 can reduce the weight while not affecting the structural strength;

[0038] Installation of the telescopic mechanism: Fix the fixed end of the telescopic mechanism to the end of the connecting beam 3 that is not connected to the connecting ring 1, ensuring a firm connection. The telescopic mechanism should be able to extend and retract smoothly to meet the vertical movement requirements of the electric thruster 9;

[0039] Installation of the rotating mechanism: Fix the fixed end of the rotating mechanism to the telescopic end of the telescopic mechanism, ensuring a stable connection and smooth rotation. The rotating mechanism should be able to drive the electric thruster 9 to rotate horizontally to achieve vector control;

[0040] Installation of the electric thruster 9: Fix the electric thruster 9 to the rotating end of the rotating mechanism, ensuring a firm connection and normal operation. The electric thruster 9 should be able to perform propulsion according to the control instructions to achieve the navigation and steering of the unmanned boat.

[0041] Debugging and testing: After completing all installations, debug and test the device to ensure that all components can work normally and cooperate well. Check the movement range of the telescopic mechanism and the rotating mechanism, the propulsion effect of the electric thruster 9, and the stability of the entire device, etc.

[0042] 2. Working Principle:

[0043] The small unmanned boat vector control device that can be easily disassembled and assembled realizes vector control through the following principles:

[0044] Telescopic mechanism: The telescopic mechanism realizes the movement of the electric propeller 9 in the y-axis direction by changing the length of its telescopic end.

[0045] When it is necessary to adjust the navigation depth of the unmanned boat or perform vector control in the vertical direction, this can be achieved by controlling the telescopic movement of the telescopic mechanism.

[0046] Rotating mechanism: The rotating mechanism realizes the rotation of the electric propeller 9 in the x-axis direction through the rotating motion of its rotating end.

[0047] When it is necessary to adjust the navigation direction of the unmanned boat or perform horizontal vector control, it can be achieved by controlling the rotational motion of the rotating mechanism.

[0048] Electric propeller 9: The electric propeller 9 serves as the power source of the unmanned boat and propels the boat according to control instructions.

[0049] Through the cooperation of the telescopic mechanism and the rotating mechanism, the electric propeller 9 can perform flexible vector control in three-dimensional space, thereby realizing precise navigation and steering of the unmanned boat.

[0050] It should be noted that when the device is used on a small unmanned boat, the telescopic mechanism, the rotating mechanism and the electric propeller 9 can be controlled separately by the remote control driving system of the small unmanned boat, and the control priority of bow stabilization>vertical stabilization (telescopic mechanism)>horizontal stabilization (rotating mechanism) can be adhered to for regulation.

Claims

1. A vector control device for a small unmanned boat with convenient disassembly and assembly, characterized in that The device includes: a connecting ring, which is penetrated in the middle and is used for detachably connecting with the mooring bitts on the port and starboard sides at the head and tail of the hull; a connecting beam, which is horizontally arranged, and one end of which is fixedly connected to the outer wall of the connecting ring; a telescopic mechanism, which is vertically arranged, one end of the telescopic mechanism is the fixed end of the telescopic mechanism and the other end is the telescopic end of the telescopic mechanism, and the end of the connecting beam that is not connected to the connecting ring is fixed on the fixed end of the telescopic mechanism; a rotating mechanism, which is vertically arranged, one end of the rotating mechanism is the fixed end of the rotating mechanism and the other end is the rotating end of the rotating mechanism, and the fixed end of the rotating mechanism of the rotating mechanism is fixed on the telescopic end of the telescopic mechanism; an electric thruster, which is fixed on the rotating end of the rotating mechanism.

2. The vector control device for a small unmanned boat with convenient disassembly and assembly according to claim 1, characterized in that: Adjustment grooves are formed on the outer peripheral surface of the connecting ring.

3. The vector control device for a small unmanned boat with convenient disassembly and assembly according to claim 1, characterized in that: A number of material reduction holes are formed on the middle side wall of the connecting beam.

4. A vector control device for a small unmanned boat with convenient disassembly and assembly according to claim 1, characterized in that: The connecting beam is composed of two secondary beams, and one end of each secondary beam is fixedly connected to the outer peripheral surface of the connecting ring and the other end is connected to the fixed end of the telescopic mechanism.

Images