Mechanical arm type sonar detection unmanned ship

Abstract

The utility model discloses a mechanical arm type sonar detection unmanned ship, which comprises an unmanned ship and a mechanical arm type sonar detection mechanism mounted at the tail part of the unmanned ship, the mechanical arm type sonar detection mechanism comprises a mounting structure, and sonar detection assemblies are respectively mounted at two ends of the mounting structure; the sonar detection assembly comprises a first-stage mechanical arm structure, and a sonar structure is installed at the operation end of the first-stage mechanical arm structure. The posture of the sonar structure is preliminarily adjusted through the first-stage mechanical arm structure; the sonar structure comprises a swing arm for installing a sonar probe, the swing arm is hinged to the first-stage mechanical arm structure, and the sonar structure further comprises a second-stage connecting rod adjusting structure for adjusting the posture of the swing arm. According to the structure, the sonar search range is enlarged in the rescue process of the unmanned ship with extremely high maneuverability and flexibility.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the unmanned ship technical field especially a mechanical arm formula sonar detection unmanned ship. BACKGROUND

[0002] The unmanned ship is a kind of unmanned ship, and because it is unmanned, it has very high mobility and flexibility. Therefore, the unmanned ship is widely used in practical applications, such as rescue, salvage, investigation and other activities in the sea, lake water environment.

[0003] Because the underwater environment is difficult to detect, such as search and rescue, salvage, it is difficult to observe the people and objects sinking underwater, therefore, in order to solve the problem, the prior art installs a sonar probe on the unmanned ship, specifically by installing the sonar probe on the bottom of the ship body, realizing the sonar detection of the sonar probe during the ship body driving.

[0004] However, in the actual application process, it is found that because the range of sonar detection is limited, the range of unmanned ship cruising needs to be increased due to the limited range of sonar detection in the actual working process, therefore, in the actual working process, the sonar device fixedly installed on the traditional unmanned ship is low in mobility and flexibility, which leads to narrow detection range, and further seriously affects the search and rescue, salvage efficiency of the unmanned ship.

[0005] Because the activity and mobility of the sonar device are low, it is seriously mismatched with the unmanned ship with high mobility and flexibility, therefore, after loading the sonar probe on the unmanned ship, it still needs to cruise repeatedly in the search and rescue area with high density, therefore, in the actual working process, it is easy to miss the best rescue time.

[0006] Therefore, it is very important to design a sonar detection device with very high mobility and flexibility to match the unmanned ship with high mobility for improving the search and rescue task efficiency of the unmanned ship. CONTENT OF THE UTILITY MODEL

[0007] Based on the above background, the purpose of the utility model is to provide a mechanical arm formula sonar detection unmanned ship.

[0008] To achieve the above purpose, the utility model adopts the following technical solutions:

[0009] A kind of mechanical arm formula sonar detection unmanned ship, including unmanned ship and the mechanical arm formula sonar detection mechanism of being hung in the tail of unmanned ship, mechanical arm formula sonar detection mechanism includes mounting structure, and the both ends of mounting structure are respectively installed with sonar detection component;

[0010] The sonar detection component includes a first mechanical arm structure, and the operating end of the first mechanical arm structure is provided with a sonar structure;The posture of the sonar structure is preliminarily adjusted by the first mechanical arm structure.

[0011] The sonar structure comprises a swing arm for mounting a sonar probe, the swing arm being hinged to a primary mechanical arm structure, and the sonar structure further comprises a secondary connecting rod adjusting structure for adjusting the posture of the swing arm.

[0012] Preferably, the mounting structure comprises a mounting rack mounted at the tail of the unmanned ship, and a fixed support is fixedly connected to the mounting rack, and the sonar detection assembly is mounted at two ends of the fixed support, respectively.

[0013] Preferably, the primary mechanical arm structure comprises a pair of first mechanical arms hingedly mounted at positions on both sides of the fixed support, respectively.

[0014] One end of the first mechanical arm is provided with a first rotary motor for driving the first mechanical arm to swing, and the first rotary motor is fixedly provided with a mounting support which is fixedly mounted on the fixed support.

[0015] Preferably, the primary mechanical arm structure further comprises a second mechanical arm hingedly mounted at the other end of the first mechanical arm, and the other end of the first mechanical arm is provided with a second rotary motor for driving the second mechanical arm to swing.

[0016] Preferably, the sonar structure comprises a pair of swing arms hingedly mounted at positions on both sides of the lower end of the second mechanical arm, respectively.

[0017] The upper end of the swing arm is provided with a sonar probe, respectively.

[0018] The central part of the swing arm is fixedly connected with a connecting shaft which is rotatably connected to the second mechanical arm.

[0019] Preferably, the secondary connecting rod adjusting structure comprises a connecting rod structure hingedly mounted at the upper end of the swing arm, and the connecting rod structure is slidingly mounted on the second mechanical arm.

[0020] The connecting rod adjusting structure further comprises a belt wheel driving structure for driving the swing arm to rotate.

[0021] Preferably, the connecting rod structure comprises a first connecting rod hingedly mounted on the swing arm, and the first connecting rod is hingedly provided with a second connecting rod.

[0022] The second connecting rods are hingedly provided with a sliding shaft rod slidingly connected to the second mechanical arm, and the second mechanical arm is provided with an adjusting sliding opening, and the sliding shaft rod is slidingly limited in the adjusting sliding opening.

[0023] Preferably, the belt wheel driving structure comprises a driven belt wheel fixedly mounted at the central part of one side of the swing arm, and the upper end of the second mechanical arm is provided with a driving belt wheel, and the driven belt wheel and the driving belt wheel are drivingly connected through a transmission belt.

[0024] The second mechanical arm is provided with a belt wheel motor for driving the driving belt wheel to rotate.

[0025] Preferably, a diving camera is mounted at the lower end of the swing arm.

[0026] The utility model has the following beneficial effects:

[0027] 1、 through installing the mechanical arm formula sonar detection mechanism in the unmanned ship tail part, realize using the high flexibility of mechanical arm structure in the detection process, constantly adjust the posture of the following sonar probe, to realize increasing the search range of sonar probe, realize improving the search and rescue efficiency.

[0028] 2、 under the posture adjustment of the above-mentioned first mechanical arm, second mechanical arm, realize multiple posture adjustments such as pushing sonar structure outward or pushing inward, lifting and lowering during working process.

[0029] Because the posture of sonar structure can be flexibly adjusted in multiple positions, the following sonar probe can be adjusted in multiple positions and postures, and the search range of sonar can be increased by constantly adjusting the position and posture of sonar probe during the search and rescue process.

[0030] 3、 during working process, further adjust swing arm-sonar probe through two-stage connecting rod adjustment structure, this mode is two-stage adjustment, realize adjusting sonar probe under water, which is different from the mechanical arm adjustment mode, the adjustment range of this adjustment mode is smaller, and the range of the object is further determined by continuing to adjust through two-stage connecting rod adjustment structure when the sonar probe detects the object. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical scheme in the embodiments of the present utility model or prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description, obviously, the drawings in the following description are only some embodiments of the present utility model, and for those skilled in the art, other drawings can be obtained according to the structure shown in these drawings without creative labor.

[0032] Figure 1 It is the overall structure schematic view in the embodiment of the present utility model;

[0033] Figure 2 It is the structure schematic view of the mechanical arm formula sonar detection mechanism in the embodiment of the present utility model;

[0034] Figure 3 It is the structure schematic view of two-stage connecting rod adjustment structure in the embodiment of the present utility model;

[0035] Figure 4This is a schematic diagram of the structure of the sliding shaft rod slidingly connected to the guide rail rod inside the adjusting slide in this embodiment of the present invention;

[0036] Figure 5 This is an embodiment of the present utility model. Figure 2 A schematic diagram of the planar structure.

[0037] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0038] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0039] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0040] Furthermore, in this utility model, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this utility model.

[0041] Example 1

[0042] like Figures 1-5 As shown, a robotic arm-type sonar detection unmanned surface vessel (USV) includes an USV 1 and a robotic arm-type sonar detection mechanism mounted on the stern of the USV 1. The USV 1 is a conventional search and rescue USV 1 pilot boat disclosed in the prior art. By installing the robotic arm-type sonar detection mechanism on the stern of the USV 1, the high flexibility of the robotic arm structure allows for continuous adjustment of the sonar probe's posture during detection, thereby increasing the sonar probe's search range and improving search and rescue efficiency.

[0043] And, the mechanical arm structure can be used to lower the sonar probe in the search and rescue process, and the probe is lifted in normal conditions to increase the service life of the probe.

[0044] The mechanical arm type sonar detection mechanism comprises a mounting structure, and a sonar detection assembly 2 is mounted at the left and right ends of the mounting structure.

[0045] Specifically, the mounting structure comprises a mounting rack 3 mounted at the tail of the unmanned ship 1 (the mounting rack is in the shape of an I-shaped beam, and is fastened and mounted by bolts according to the existing mode), and a fixed support 31 is fixedly connected to the mounting rack 3, and the sonar detection assembly 2 is mounted at the left and right ends of the fixed support 31.

[0046] In the working process, when the unmanned ship 1 moves to the search and rescue area, the sonar detection assembly 2 is lowered into the water to detect the ice depth, and the posture is adjusted during the detection process, the detection range is increased after the posture of the sonar detection assembly 2 is changed, and the detection efficiency is realized.

[0047] Embodiment 2

[0048] As shown in Figures 1-5 the structure of the sonar detection assembly 2 is specifically disclosed based on the structure of embodiment 1. Specifically, the sonar detection assembly 2 comprises a first mechanical arm structure, and a sonar structure 22 is mounted at the operating end of the first mechanical arm structure; the posture of the sonar structure 22 is preliminarily adjusted through the first mechanical arm structure.

[0049] Specifically, the first mechanical arm structure comprises a pair of first mechanical arms 25 respectively hingedly mounted at the left and right sides of the fixed support. That is, the right ends of the pair of first mechanical arms 25 (taking the left sonar detection assembly 2 as an example) are hingedly connected to the front and rear sides of the fixed support.

[0050] Specifically, the right ends of the first mechanical arms 25 are fixedly connected with a rotating shaft, and the rotating shaft is rotatably connected to the fixed support 31. At the same time, the right ends of the first mechanical arms 25 are provided with first rotary motors 26 for driving the first mechanical arms 25 to swing. Specifically, the output shaft of the first rotary motor 26 is fixed to the right end of the first mechanical arm 25.

[0051] In order to realize the fixed installation of the two first rotary motors 26, according to the existing motor fixed installation mode, the above

[0052] The first rotary motor 26 is fixedly installed with an installation support 261, and the installation support 261 is fixedly installed on the fixed support by connecting screws or the like.

[0053] In the working process, the first mechanical arms 25 are driven to swing by the first rotary motors 26 for one-time posture adjustment.

[0054] The first mechanical arm structure further comprises a second mechanical arm 21 hingedly mounted at the other end of the first mechanical arm 25; the left end of the first mechanical arm 25 is provided with a second rotary motor 24 for driving the second mechanical arm 21 to swing (the second rotary motor 24 is fixedly mounted on the first mechanical arm 25).

[0055] Specifically, the upper end of the second mechanical arm 21 is hingedly connected to the left end of the first mechanical arm 25 through a pin shaft, and the output shaft of the second rotary motor 24 is fixedly mounted on the second mechanical arm 21.

[0056] During operation, further adjustment of the posture is realized through the second rotary motor 24.

[0057] Under the posture adjustment of the first mechanical arm 25 and the second mechanical arm 21, the sonar structure 22 can be pushed outward or inward, and can be adjusted in multiple postures such as lifting and lowering during operation.

[0058] Due to the flexible multi-position adjustment of the posture of the sonar structure 22, the following sonar probe can be adjusted in multiple positions and postures, so that the position and posture of the sonar probe can be continuously adjusted during the search and rescue process, thereby increasing the search range of the sonar.

[0059] Embodiment 3

[0060] As shown in Figures 1-5 the sonar structure 22 of the present embodiment comprises a swing arm 221 on which a sonar probe 222 is mounted, and the swing arm 221 is hingedly connected to the first mechanical arm structure; the sonar structure 22 further comprises a second connecting rod adjustment structure 23 for adjusting the posture of the swing arm 221. The sonar structure 22 comprises a pair of swing arms 221 hingedly mounted at the lower end of the second mechanical arm 21 on both sides; the upper end of each swing arm 221 is provided with a sonar probe 222.

[0061] The central part of the swing arm 221 is fixedly connected with a connecting shaft, and the connecting shaft is rotatably connected to the second mechanical arm 21.

[0062] During operation, the swing arm 221 and the sonar probe 222 are further adjusted through the second connecting rod adjustment structure, which is a two-stage adjustment, and is different from the mechanical arm adjustment mode. The adjustment range of this adjustment mode is smaller, and the object can be further determined after the sonar probe 222 detects the object, such as adjusting to the left side (the object signal intensity increases, indicating that the object is on the left side of the ship body, and adjusting to the right side, the signal intensity increases, indicating that it is on the right side). The position of the object under water is further determined through this mode.

[0063] Specifically, the secondary connecting rod adjusting structure comprises connecting rod structures 23 respectively hinged at the upper end positions of the swing arms 221; the connecting rod structures 23 are slidingly installed on the second mechanical arms 21.

[0064] The connecting rod adjusting structure further comprises a belt wheel driving structure for driving the swing arms 221 to rotate.

[0065] Specifically, the connecting rod structures 23 comprise first connecting rods 231 hinged on the swing arms 221 (hinged on the side walls of the swing arms 221 through pin shafts at the upper ends), and the first connecting rods 231 are hinged with second connecting rods 233 (both are hinged through pin shafts).

[0066] Meanwhile, the second connecting rods 233 are hinged with a sliding connecting slide shaft rod B slidingly connected on the second mechanical arms 21, and the second mechanical arms 21 are provided with an adjusting sliding opening 211, and the slide shaft rod B is limitedly sliding in the adjusting sliding opening 211 (in the shape of a rectangle).

[0067] In order to increase the sliding stability of the slide shaft rod B, a guide rail rod A slidingly connecting the slide shaft rod B is fixedly connected in the adjusting sliding opening 211, and the slide shaft rod B penetrates through the guide rail rod A to realize limited sliding.

[0068] Meanwhile, the belt wheel driving structure comprises a driven belt wheel 235 fixedly installed at the central part of one side swing arm 221 (the driven belt wheel 235 is fixedly connected with an axle, and the axle is fixed on the swing arm 221), and the upper end of the second mechanical arm 21 is provided with a driving belt wheel 234, and the driven belt wheel 235 and the driving belt wheel 234 are drivingly connected through a transmission belt; the second mechanical arm 21 is provided with a belt wheel motor 232 driving the driving belt wheel 234 to rotate (the belt wheel motor 232 is fixedly installed on the second mechanical arm 21).

[0069] During the working process, the driven belt wheel is driven to rotate by the belt wheel motor 232, and the swing arm 221 is driven to swing, and the sonar probe 222 installed on the swing arm 221 is synchronously swung, and according to the swing, the distance range between the object and the sonar probe 222 (the distance between the ship bodies) can be judged.

[0070] In this way, the posture of the sonar probe 222 can be further adjusted, and the search range of the sonar can be further increased.

[0071] According to the existing mode, the lower end of the swing arm 221 is provided with a diving camera 223. The diving camera 223 is a conventional underwater working camera disclosed in the prior art, and can realize monitoring of the underwater environment.

[0072] Of course, the above description is not a limitation of the present application, and the present application is not limited to the above examples, and the changes, modifications, additions or replacements made by the person skilled in the art within the essential scope of the present application shall also belong to the protection scope of the present application.

Claims

1. A mechanical arm type sonar probe unmanned surface vehicle, characterized in that, The unmanned ship is provided with a mechanical arm type sonar detection mechanism hung at the tail of the unmanned ship, and the mechanical arm type sonar detection mechanism comprises a hanging structure, and sonar detection assemblies are respectively arranged at two ends of the hanging structure; The sonar detection assembly comprises a first mechanical arm structure, and a sonar structure is arranged at an operating end of the first mechanical arm structure; The sonar structure comprises a swing arm for mounting a sonar probe, the swing arm is hinged to the first mechanical arm structure, and the sonar structure further comprises a second connecting rod adjusting structure for adjusting the posture of the swing arm.

2. The mechanical arm type sonar exploration unmanned surface vehicle according to claim 1, characterized in that, The hanging structure comprises a hanger arranged at the tail of the unmanned ship, and a fixed support is fixedly connected to the hanger, and the sonar detection assemblies are respectively arranged at two ends of the fixed support.

3. The mechanical arm type sonar exploration unmanned surface vehicle according to claim 2, characterized in that, The first mechanical arm structure comprises a pair of first mechanical arms hingedly arranged at two sides of the fixed support; One end of the first mechanical arm is provided with a first rotating motor for driving the first mechanical arm to swing, the first rotating motor is fixedly provided with a mounting support, and the mounting support is fixedly arranged on the fixed support.

4. The mechanical arm type sonar exploration unmanned surface vehicle according to claim 1, characterized in that, The first mechanical arm structure further comprises a second mechanical arm hingedly arranged at the other end of the first mechanical arm; and the other end of the first mechanical arm is provided with a second rotating motor for driving the second mechanical arm to swing.

5. The mechanical arm type sonar exploration unmanned surface vehicle according to claim 4, characterized in that, The sonar structure comprises a pair of swing arms hingedly arranged at two sides of the lower end of the second mechanical arm; The upper end of the swing arm is provided with a sonar probe; The central part of the swing arm is fixedly connected with a connecting shaft, and the connecting shaft is rotatably connected to the second mechanical arm.

6. The mechanical arm type sonar exploration unmanned surface vehicle according to claim 5, characterized in that, The second connecting rod adjusting structure comprises a connecting rod structure hingedly arranged at the upper end of the swing arm; and the connecting rod structure is slidingly arranged on the second mechanical arm. The connecting rod adjusting structure further comprises a belt wheel driving structure for driving the swing arm to rotate.

7. The mechanical arm type sonar probe unmanned surface vehicle according to claim 6, characterized in that, The connecting rod structure comprises a first connecting rod hingedly arranged on the swing arm, and the first connecting rod is hingedly provided with a second connecting rod; The second connecting rods are hingedly provided with a sliding shaft rod slidingly arranged on the second mechanical arm, and the second mechanical arm is provided with an adjusting sliding slot, and the sliding shaft rod is slidingly limited in the adjusting sliding slot.

8. The mechanical arm type sonar probe unmanned surface vehicle according to claim 7, characterized in that, The belt wheel driving structure comprises a driven belt wheel fixedly arranged at the central part of one swing arm, and a driving belt wheel is arranged at the upper end of the second mechanical arm, and the driven belt wheel and the driving belt wheel are drivingly connected through a transmission belt; The second mechanical arm is provided with a belt wheel motor for driving the driving belt wheel to rotate.

9. The mechanical arm type sonar probe unmanned surface vehicle according to claim 5, wherein, The lower end of the swing arm is provided with a diving camera.

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