Hard frame front supporting type high-stability unmanned ship

Abstract

The utility model provides a hard frame front supporting type high-stability unmanned ship, and relates to the technical field of unmanned ships, the hard frame front supporting type high-stability unmanned ship comprises an unmanned ship main body, a detection probe rod assembly, a posture follow-up structure and a gravity center adjusting structure, and the gravity center adjusting structure comprises a counterweight seat, a driving ball and a second rod assembly; the posture follow-up structure comprises a first rod assembly, a universal joint, a vertical rod and an adjusting disc; a supporting ball seat is arranged between one end of the first rod assembly and one end of the second rod assembly, a positioning frame is arranged outside the supporting ball seat, and a supporting partition plate is arranged at the bottom of the adjusting disc. According to the technical scheme, an adjusting disc moves along with inclination of the unmanned ship body, one end of a first rod assembly is affected by the adjusting disc, a supporting ball seat is controlled to drive a second rod assembly to rotate, a balance weight seat is made to move in the direction opposite to the adjusting disc, and the gravity center of the unmanned ship body during overall inclination can be adjusted conveniently; and the stability of the unmanned ship main body in the driving process and the accuracy of detection work can be ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned boats, in particular to a hard-frame front-supported high-stability unmanned boat. Background Art

[0002] With the rapid development of unmanned systems and artificial intelligence technologies, intelligent systems such as unmanned vessels are gaining widespread application in military and civilian applications such as maritime rights protection, ocean surveillance, and marine resource development. Following development and production, unmanned vessel platforms are widely used in military missions such as anti-submarine warfare, mine clearance, and armed patrols, as well as in civilian applications such as underwater mapping, water sampling, maritime search and rescue, and scientific research and exploration.

[0003] Compared with manned ships, the use of unmanned ships can reduce personnel risks, can work in various water environments around the clock, have strong environmental adaptability, and because no manual operation is required, it can effectively improve operational efficiency.

[0004] Drones powered by brushless DC motors and propellers are ducted to prevent entanglement with debris like weeds and fishing nets. These unmanned watercraft can be equipped with one or more sensors, including GNSS, ADCP, single-beam, high-quality sampling boxes, multi-beam side-scan sonar, and multi-parameter water quality analyzers. They are widely used in rivers, waterways, reservoirs, and harbors, enabling rescue and salvage operations, water quality sampling, and waterway mapping.

[0005] Unmanned boats sail autonomously on the water, carrying out a series of inspections on the water using detection equipment. However, in the actual inspection process, they are often affected by factors such as strong winds, centrifugal force of steering, and emergency acceleration and deceleration, which increase the difficulty of autonomous control of the unmanned boat during driving. This will also affect the accuracy of the measurement by affecting the stability of the unmanned boat's shape. Utility Model Content

[0006] In order to overcome the shortcomings of the existing technology, an embodiment of the present application provides a hard-frame front-supported high-stability unmanned boat, which moves with the tilt of the unmanned boat body by utilizing an adjustment disk on the top of the support partition, so that one end of the first rod assembly moves with the adjustment disk through a universal joint, and the other end rotates around the support ball seat, so that the support ball seat in the rotating state drives the second rod assembly connected to it to rotate, and controls the counterweight seat to move in the opposite direction of the adjustment disk at the bottom inner wall of the unmanned boat body, so as to achieve the adjustment of the center of gravity of the unmanned boat body when the overall tilt is achieved, which is beneficial to ensure the stability of the unmanned boat body during driving and improve its anti-interference ability.

[0007] The technical solution adopted by the embodiment of the present application to solve the technical problem is:

[0008] A rigid frame front-supported high-stability unmanned boat comprises an unmanned boat body, a detection probe assembly, a posture follower structure, and a center of gravity adjustment structure. The detection probe assembly is assembled at the head of the unmanned boat body and is in the shape of a triangular pyramid as a whole.

[0009] The attitude following structure is arranged on the top of the inner side of the unmanned boat body;

[0010] The center of gravity adjustment structure is arranged at the bottom inside the main body of the unmanned boat;

[0011] In which, the connecting line between the posture following structure and the center of gravity adjustment structure is arranged vertically, and when the posture following structure tilts following the driving state of the unmanned boat body, the center of gravity adjustment structure moves in the opposite direction of the posture following structure to adjust the center of gravity of the unmanned boat body as a whole.

[0012] In one possible implementation, the center of gravity adjustment structure includes a counterweight seat, the top of the counterweight seat is cooperatively connected to a driving ball, and the top of the driving ball is fixedly connected to a second rod assembly; the posture following structure includes a first rod assembly, one end of the first rod assembly is assembled with a universal joint, one end of the universal joint is assembled with a vertical pole, and one end of the vertical pole is processed with an adjustment disc; a support ball seat is provided between one end of the first rod assembly and one end of the second rod assembly, a positioning frame is provided on the outside of the support ball seat, and a support partition is provided at the bottom of the adjustment disc; the adjustment disc follows the action posture of the unmanned ship body, and by moving on the top of the support partition, the first rod assembly is used to control the second rod assembly to rotate around the support ball seat, pushing the counterweight seat at the bottom of the driving ball to move in the opposite direction of the movement direction of the adjustment disc at the bottom inner wall of the unmanned ship body.

[0013] In one possible implementation, the positioning frame is composed of two symmetrical plates, which are respectively buckled onto the outside of the support ball seat by the top and bottom of the support ball seat, and are adapted to be connected to the outside of the support ball seat through processed grooves. The positioning frame is assembled and connected to the inner wall of the unmanned boat body.

[0014] In one possible implementation, the second rod assembly is composed of multiple circular tubes with different diameters, and the multiple circular tubes are connected step by step in a manner of decreasing diameter to support the extension or contraction of the second rod assembly. One end of the circular tube located on the outermost side is threadedly connected to the top of the driving ball, and one end of the circular tube located on the innermost side is threadedly connected to the bottom of the support ball seat.

[0015] In one possible implementation, the first rod assembly is composed of two circular tubes of different diameters, and one of the circular tubes is sleeved on the outside of the other circular tube. One end of the circular tube located on the inner side is threadedly connected to the top of the support ball seat and remains coaxial with the second rod assembly. One end of the circular tube located on the outer side is threadedly connected to one end of the universal joint.

[0016] In one possible implementation, a positioning ball groove is machined on the top surface of the counterweight seat, and universal wheels are provided at the four corners of the bottom of the counterweight seat. The driving ball is adapted to be connected to the inside of the positioning ball groove, and the driving ball is movably connected to the inside of the positioning ball groove.

[0017] In a possible implementation, storage grooves are provided at the four corners of the bottom of the counterweight seat, the universal wheel is assembled and connected to the top inner wall of the storage groove, and the universal wheel is rollingly connected to the bottom inner wall of the unmanned boat body.

[0018] In one possible implementation, a circular groove is machined inside the support baffle, the diameter of the adjustment disc is larger than the diameter of the circular groove, the vertical pole is movably connected to the inside of the circular groove, and the support baffle is assembled and connected to the inner wall of the unmanned boat body.

[0019] In summary, the present invention has at least one of the following beneficial technical effects:

[0020] 1. In this solution, an adjustment disc is used on the top of the support bulkhead to move with the tilt of the unmanned boat body. One end of the first rod assembly moves with the adjustment disc through a universal joint, while the other end rotates around the support ball seat. The rotating support ball seat then drives the second rod assembly connected to it to rotate, controlling the counterweight seat to move in the opposite direction of the adjustment disc on the bottom inner wall of the unmanned boat body. This facilitates adjustment of the center of gravity of the unmanned boat body when it tilts as a whole, helps ensure the stability of the unmanned boat body during travel, and improves its anti-interference ability.

[0021] 2. By processing a positioning ball groove on the top of the counterweight seat, the driving ball can only rotate on the top of the counterweight seat and can never move in the horizontal plane. Storage grooves are processed at the four corners of the bottom of the counterweight seat for installing universal wheels. With the help of the universal wheels rolling on the bottom inner wall of the unmanned boat body, the movement resistance of the counterweight seat can be reduced, and the sensitivity of the counterweight seat to adjust the center of gravity when the counterweight seat and the adjustment disc move in opposite directions can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0023] Figure 2This is a schematic diagram of the internal structure of the unmanned boat body of the utility model;

[0024] Figure 3 For this utility model Figure 2 A schematic diagram of the enlarged structure of the middle part A;

[0025] Figure 4 This is one of the schematic diagrams of the connection structure between the counterweight seat and the adjustment disc of the utility model;

[0026] Figure 5 This is the second schematic diagram of the connection structure between the counterweight seat and the adjustment disc of the utility model.

[0027] Figure numerals: 1. Detection probe rod assembly; 2. Unmanned boat body; 3. Support partition; 4. First rod assembly; 5. Vertical pole; 6. Universal joint; 7. Adjustment disc; 8. Positioning frame; 9. Second rod assembly; 10. Universal wheel; 11. Counterweight seat; 12. Support ball seat; 13. Driving ball; 14. Positioning ball slot; 15. Storage slot. DETAILED DESCRIPTION

[0028] The technical solution in the embodiments of the present application is to solve the problems of the above-mentioned background technology, and the overall idea is as follows:

[0029] Example 1:

[0030] This embodiment introduces the specific structure of a hard frame front support type high stability unmanned boat. Figure 1-Figure 5 As shown, it includes an unmanned boat body 2, a detection probe rod assembly 1 (assembled on the head of the unmanned boat body 2, and the whole is in the shape of a triangular pyramid), a posture follower structure arranged at the top of the inner side of the unmanned boat body 2 and a center of gravity adjustment structure arranged at the bottom of the inner side of the unmanned boat body 2, the detection probe rod assembly 1; the center of gravity adjustment structure includes a counterweight seat 11, the top of the counterweight seat 11 is cooperatively connected with a driving ball 13, and the top of the driving ball 13 is fixedly connected with a second rod assembly 9 (composed of a plurality of circular tubes with different diameters). By making the plurality of circular tubes gradually sleeved in a manner of decreasing diameter, and making one end of the circular tube located on the outermost side threadedly connected to the top of the driving ball 13, and one end of the circular tube located on the innermost side threadedly connected to the bottom of the supporting ball seat 12, the demand for extension or contraction of the second rod assembly 9 can be met, so that when the counterweight seat 11 moves at the bottom of the unmanned boat body 2, the second rod assembly 9 rotates around the supporting ball seat 12 to extend or contract;

[0031] like Figure 2 and Figure 4As shown, the posture following structure includes a first rod assembly 4 (the first rod assembly 4 is composed of two round tubes with different diameters, and the first rod assembly 4 and the second rod assembly 9 maintain a coaxial state), one end of the first rod assembly 4 is assembled with a universal joint 6, one end of the universal joint 6 is assembled with a vertical rod 5, and one end of the vertical rod 5 is processed with an adjustment disc 7. By making one round tube sleeved on the outside of the other round tube, one end of the round tube located on the inner side is threadedly connected to the top of the support ball seat 12, and one end of the round tube located on the outer side is threadedly connected to one end of the universal joint 6, so that when the adjustment disc 7 moves with the tilt of the unmanned boat body 2 at the top of the support partition 3, one end of the first rod assembly 4 moves with the adjustment disc 7 through the universal joint 6, while the other end rotates around the support ball seat 12;

[0032] Among them, the connection line between the attitude follower structure and the center of gravity adjustment structure is set vertically, and a support ball seat 12 is set between one end of the first rod assembly 4 and one end of the second rod assembly 9. A positioning frame 8 (composed of two upper and lower symmetrical plates) is set on the outside of the support ball seat 12. By making the two plates buckle to the outside of the support ball seat 12 at the top and bottom of the support ball seat 12 respectively, and adapting and connecting to the outside of the support ball seat 12 through the processing groove, when the positioning frame 8 is assembled and connected to the inner wall of the unmanned ship body 2, the two plates constituting the positioning frame 8 can be used to support the rotation of the support ball seat 12;

[0033] Secondly, a supporting baffle 3 is provided at the bottom of the adjusting disc 7. When the unmanned boat body 2 carrying the detection probe assembly 1 is disturbed on the water surface or tilted due to changes in its own driving state, the adjusting disc 7 follows the action posture of the unmanned boat body 2 and moves on the top of the supporting baffle 3. At this time, the first rod assembly 4 is used to control the second rod assembly 9 to rotate around the supporting ball seat 12, pushing the counterweight seat 11 at the bottom of the driving ball 13 to move in the opposite direction of the moving direction of the adjusting disc 7 at the bottom inner wall of the unmanned boat body 2 (based on the first rod assembly 4 and the second rod assembly). The length ratio between the components 9 is that the length of the first rod component 4 is longer than the length of the second rod component 9, and the weight of the adjusting disc 7 is less than the weight of the counterweight seat 11). When the adjusting disc 7 tilts to one side, the tendency of the counterweight seat 11 to tilt to one side can be overcome, and the counterweight seat 11 can be pried in the opposite direction by driving the ball 13, so that when the attitude following structure tilts following the driving state of the unmanned boat body 2, the center of gravity adjusting structure moves in the opposite direction of the attitude following structure, so as to achieve the effect of adjusting the overall center of gravity of the unmanned boat body 2 and achieving the effect of stabilizing the unmanned boat body 2;

[0034] Furthermore, in order to facilitate the connection between the driving ball 13 and the counterweight seat 11, the driving ball 13 can rely on its own gravity and the second rod assembly 9 rotating around the supporting ball seat 12 to move the counterweight seat 11 on the bottom inner wall of the unmanned boat body 2, as shown in FIG. Figure 5As shown, a positioning ball groove 14 is machined on the top surface of the counterweight seat 11, and universal wheels 10 are provided at the four corners of the bottom of the counterweight seat 11. By making the driving ball 13 fit and connect inside the positioning ball groove 14, and making the driving ball 13 movably connected inside the positioning ball groove 14, the positioning ball groove 14 on the top of the counterweight seat 11 can be used to position the driving ball 13, restricting the driving ball 13 from moving on the top surface of the counterweight seat 11, ensuring that the second rod assembly 9 controls the stability of the counterweight seat 11 through the driving ball 13;

[0035] At the same time, in order to ensure that the center of gravity of the counterweight seat 11 itself is not increased by the setting of the universal wheel 10, Figure 4 and Figure 5 As shown, the four corners of the bottom of the counterweight seat 11 are each provided with a receiving groove 15. By assembling the universal wheel 10 to the top inner wall of the receiving groove 15, the receiving groove 15 can be stored inside the counterweight seat 11. When the bottom of the universal wheel 10 protrudes from the bottom surface of the counterweight seat 11, the universal wheel 10 can be used to roll and connect to the bottom inner wall of the unmanned boat body 2, thereby reducing the movement resistance of the counterweight seat 11.

[0036] Furthermore, in order to enable the adjustment disc 7 to move in various directions on the top of the supporting partition 3 in the horizontal plane, Figure 4 As shown, a circular groove is processed inside the supporting partition 3, and the diameter of the adjusting disc 7 is larger than the diameter of the circular groove. By assembling the supporting partition 3 to the inner wall of the unmanned boat body 2, when the vertical pole 5 is movably connected to the inside of the circular groove, the adjusting disc 7 can be prevented from passing through the inside of the circular groove, and will not affect the movement of the vertical pole 5 in the circular groove driven by the adjusting disc 7.

[0037] The above design enables the unmanned boat body 2 to carry the detection probe rod assembly 1 and perform detection work based on the existing driving and navigation technology. With the help of the adjusting disc 7, the top of the support partition 3 moves with the tilt of the unmanned boat body 2, so that one end of the first rod assembly 4 moves with the adjusting disc 7 through the universal joint 6, and the other end rotates around the support ball seat 12, so that the support ball seat 12 in the rotating state drives the second rod assembly 9 connected to it to rotate (around the support ball seat 12), and the second rod assembly 9 cooperates with the driven ball 13 and the counterweight seat 11 (with the help of the positioning ball groove 14 on the top of the counterweight seat 11, the driving ball 13 only rotates on the top of the counterweight seat 11 and can never move in the horizontal plane), pushing the counterweight seat 11 to move in the opposite direction of the adjusting disc 7 at the bottom inner wall of the unmanned boat body 2, and uses multiple universal wheels 10 to reduce friction resistance to adjust the center of gravity of the unmanned boat body 2 when the whole body is tilted, which is beneficial to ensure the stability of the unmanned boat body 2 during driving and improve its anti-interference ability.

[0038] It is worth noting that the adjustment disc 7, the universal joint 6 and the retractable first rod assembly 4 are used to control the retractable second rod assembly 9 through the support ball seat 12, and the movement of the counterweight seat 11 on the bottom inner wall of the unmanned boat body 2 is controlled based on the cooperation between the driving ball 13 and the positioning ball groove 14. It is necessary to keep the heavier side between the adjustment disc 7 and the counterweight seat 11 in coordination with the shorter side between the first rod assembly 4 and the second rod assembly 9 (refer to the length of the first rod assembly 4 and the second rod assembly 9 in the vertical state, that is, the initial length of the first rod assembly 4 and the second rod assembly 9) to achieve the function of applying a small force in a single direction to control the movement of the relatively heavier side in the opposite direction;

[0039] At the same time, the weight of the counterweight seat 11 and the adjusting disc 7 needs to be processed using different materials or different densities or different volumes according to actual conditions (the width, length, height and center of gravity of the bed, etc.), and the length ratio between the second rod assembly 9 and the first rod assembly 4 also needs to be designed with reference to the above-mentioned influencing factors, which is more flexible and practical.

[0040] Finally, it should be noted that the above embodiments are merely examples for the purpose of illustrating the present invention and are not intended to limit the embodiments. Those skilled in the art will readily appreciate that other variations or modifications based on the above description are possible. It is not necessary and impossible to provide an exhaustive list of all possible embodiments. However, any obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A rigid frame front support type high stability unmanned boat, characterized in that: include: Unmanned ship body (2); A detection probe assembly (1) is mounted on the head of the unmanned boat body (2) and is in the shape of a triangular pyramid as a whole; An attitude follower structure is provided on the top of the inner side of the unmanned boat body (2); A center of gravity adjustment structure is provided at the bottom of the inner side of the unmanned boat body (2); The line connecting the posture following structure and the center of gravity adjusting structure is vertically arranged, and when the posture following structure tilts following the traveling state of the unmanned boat body (2), the center of gravity adjusting structure moves in the opposite direction of the posture following structure to adjust the center of gravity of the unmanned boat body (2) as a whole.

2. The rigid frame front-supported high-stability unmanned boat according to claim 1, characterized in that: The center of gravity adjustment structure comprises a counterweight seat (11), the top of the counterweight seat (11) is cooperatively connected to a driving ball (13), and the top of the driving ball (13) is fixedly connected to a second rod assembly (9); The posture follower structure comprises a first rod assembly (4), one end of the first rod assembly (4) is assembled and connected to a universal joint (6), one end of the universal joint (6) is assembled and connected to a vertical rod (5), and one end of the vertical rod (5) is processed with an adjustment disc (7); A supporting ball seat (12) is provided between one end of the first rod assembly (4) and one end of the second rod assembly (9), a positioning frame (8) is provided outside the supporting ball seat (12), and a supporting partition (3) is provided at the bottom of the adjusting disc (7); The regulating disc (7) moves along with the action posture of the unmanned boat body (2), and moves on the top of the supporting partition (3), and uses the first rod assembly (4) to control the second rod assembly (9) to rotate around the supporting ball seat (12), thereby pushing the counterweight seat (11) at the bottom of the driving ball (13) to move in the opposite direction of the movement direction of the regulating disc (7) at the bottom inner wall of the unmanned boat body (2).

3. The rigid frame front-supported high-stability unmanned boat according to claim 2, characterized in that: The positioning frame (8) is composed of two symmetrical plates, the two plates being buckled onto the outside of the support ball seat (12) at the top and bottom of the support ball seat (12), respectively, and being adapted to be connected to the outside of the support ball seat (12) through processed notches. The positioning frame (8) is assembled and connected to the inner wall of the unmanned boat body (2).

4. The rigid frame front-supported high-stability unmanned boat according to claim 2, characterized in that: The second rod assembly (9) is composed of a plurality of circular tubes of different diameters, and the plurality of circular tubes are connected step by step in a manner of decreasing diameter to support the extension or contraction of the second rod assembly (9), one end of the circular tube located on the outermost side is threadedly connected to the top of the driving ball (13), and one end of the circular tube located on the innermost side is threadedly connected to the bottom of the supporting ball seat (12).

5. The rigid frame front-supported high-stability unmanned boat according to claim 2, characterized in that: The first rod assembly (4) is composed of two circular tubes of different diameters, and one of the circular tubes is sleeved on the outside of the other circular tube. One end of the circular tube located on the inner side is threadedly connected to the top of the supporting ball seat (12) and maintains a coaxial state with the second rod assembly (9). One end of the circular tube located on the outer side is threadedly connected to one end of the universal joint (6).

6. The rigid frame front-supported high-stability unmanned boat according to claim 2, characterized in that: A positioning ball groove (14) is processed on the top surface of the counterweight seat (11), and universal wheels (10) are provided at the four corners of the bottom of the counterweight seat (11). The driving ball (13) is adapted to be connected inside the positioning ball groove (14), and the driving ball (13) is movably connected inside the positioning ball groove (14).

7. The rigid frame front-supported high-stability unmanned boat according to claim 6, characterized in that: The four corners of the bottom of the counterweight seat (11) are each provided with a receiving groove (15), the universal wheel (10) is assembled and connected to the top inner wall of the receiving groove (15), and the universal wheel (10) is rollingly connected to the bottom inner wall of the unmanned boat body (2).

8. The rigid frame front-supported high-stability unmanned boat according to claim 2, characterized in that: A circular groove is machined inside the supporting baffle (3); the diameter of the adjusting disc (7) is larger than the diameter of the circular groove; the vertical rod (5) is movably connected to the inside of the circular groove; and the supporting baffle (3) is assembled and connected to the inner wall of the unmanned boat body (2).

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