CN106183673A - A kind of amphibious unmanned boat - Google Patents
A kind of amphibious unmanned boat Download PDFInfo
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- CN106183673A CN106183673A CN201610857777.9A CN201610857777A CN106183673A CN 106183673 A CN106183673 A CN 106183673A CN 201610857777 A CN201610857777 A CN 201610857777A CN 106183673 A CN106183673 A CN 106183673A
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- Prior art keywords
- unmanned boat
- propeller
- hull
- rotating shaft
- hole
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
- B60F3/0015—Arrangement of propulsion or steering means on amphibious vehicles comprising tracks specially adapted therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/07—Mono-track vehicles
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
A kind of amphibious unmanned boat, hull is provided with the propeller for promoting hull to move, the detection device of detection underwater environment, the harvester of collection water sample, and communicator；In addition, hull is provided with endless track also by driving wheel, directive wheel and thrust wheel.This unmanned boat can be walked by land by crawler belt, is then moved under water by propeller in water.Thus, unmanned boat can be walked on the shallow water bank of marshland, muddy ground or rivers and lakes, both underwater operation can successfully have been rapidly entered, various detection can also be completed, sample or survey and draw, thus drastically increase the unmanned boat adaptation ability for environment, make its work more quickly, accurately simultaneously, improve its ability to work.
Description
Technical field
The present invention relates to unmanned boat, particularly relate to a kind of can move also can walk by land amphibious under water
Unmanned boat.
Background technology
Unmanned boat is that one can exist according to preset task by precise satellite location and self-sensor without remote control
The Full-automatic water surface robot of surface navigation, is usually used in undersea detection and water sampling.Existing unmanned boat has and general ship
The hull that shape is close, the internally installed of ship has control system, hull outside plate is provided with for promoting what hull moved to push away
Entering device, the detection device of detection underwater environment, gather the harvester of water sample, communicate dress with the signal antenna providing ability to communicate
Put.
Along with social development is increasingly subject to pay attention to naturally protection, the use of unmanned boat is more extensive and heavy
Want.Current unmanned boat can complete multiple underwater performance, but is using demand expanding day now, and many does not possess completely
The place of launching condition is also required to be applied to unmanned boat.Such as marshland, or other periphery is at the bottom of mud and the rivers of water meadow
Lake, these places can be as the firm periphery of harbour due to neither one, and the volume of unmanned boat is relatively big, weight high,
Cause water under unmanned boat extremely difficult, have a strong impact on work efficiency, the water contamination accident that particularly certain situation is urgent, holds very much
It is easily caused unmanned boat and the very first time cannot obtain water sample smoothly, and delayed the work of urgent prediction scheme, even cannot obtain in time
Effective reference information.And for subaqua-tic geomorphology mapping operations, owing to needing full wafer waters and the water-bed landforms in whole piece river
All mapping is out, and most of waterside in these waters is all difficult to close for unmanned boat, the most also causes nothing
People's ship cannot smoothly complete work.
Summary of the invention
The amphibious unmanned boat also can walked by land can be moved under water, to improve it is desirable to provide a kind of
Unmanned boat is for the adaptation ability of environment, and then improves its ability to work.
Amphibious unmanned boat of the present invention, including hull, hull is provided with for promoting what hull moved to push away
Enter device, the detection device of detection underwater environment, the harvester of collection water sample, and communicator；The rear end peace of hull both sides
Equipped with the driving wheel of pulley teeth, the front end of hull both sides is provided with the directive wheel guiding crawler belt, the bottom of hull both sides
Being provided with several thrust wheels supporting hull, the level height bottom thrust wheel is less than hull, and endless track is placed on simultaneously and drives
On driving wheel, directive wheel and all thrust wheels.
Amphibious unmanned boat of the present invention, drives crawler belt to rotate, thus forms creeper truck knot when driving wheel rotates
Structure, drives hull to walk by land, and wherein the thrust wheel of bottom is supported in ground, and the directive wheel of front end can change unmanned boat
Direction of travel.Thus, unmanned boat can be walked on the shallow water bank of marshland, muddy ground or rivers and lakes, both can be smooth
Rapidly enter underwater operation, it is also possible to complete various detection, sample or survey and draw, thus drastically increase unmanned boat for ring
The adaptation ability in border, makes its work more quickly, accurately simultaneously, improves its ability to work.
Accompanying drawing explanation
Fig. 1 is the structural representation of amphibious unmanned boat.
Fig. 2 is the side view of amphibious unmanned boat shown in Fig. 1.
Fig. 3 is the angle of rake structural representation of amphibious unmanned boat shown in Fig. 1.
Fig. 4 is angle of rake cross-sectional schematic shown in Fig. 3.
Fig. 5 is angle of rake partial enlarged drawing shown in Fig. 4.
Fig. 6 is angle of rake exploded perspective view shown in Fig. 3.
Fig. 7 is the structural representation of the harvester of amphibious unmanned boat shown in Fig. 1.
Fig. 8 is the planar structure schematic diagram of harvester shown in Fig. 7.
Fig. 9 is the structural representation of the runner of harvester shown in Fig. 7.
Figure 10-13 is the different operating view of harvester shown in Fig. 7 respectively.
Figure 14 is the structural representation of the detection device of amphibious unmanned boat shown in Fig. 1.
Figure 15 is the working state schematic representation of detection device shown in Figure 14.
Figure 16 is the structural representation of the communicator of amphibious unmanned boat shown in Fig. 1.
Figure 17 is the antenna rounding state schematic diagram of communicator shown in Figure 16.
Figure 18 is the structural representation of the base of communicator shown in Figure 16.
Figure 19 is the structural representation of the bogie of communicator shown in Figure 16.
Figure 20 is the mounting structure schematic diagram of the location bar of communicator shown in Figure 16.
Figure 21 is the explosive view of communicator shown in Figure 20.
Detailed description of the invention
As shown in Figure 1, 2, a kind of amphibious unmanned boat, including hull 1, hull is provided with for promoting hull to move
Propeller 2, detection underwater environment detection device 3, gather water sample harvester 4, and communicator 5；Hull both sides
Rear end be provided with the driving wheel 6 of the gear teeth, the front end of hull both sides is provided with the directive wheel 7 guiding crawler belt, hull
The bottom of both sides is provided with several thrust wheels 8 supporting hull, and the level height bottom thrust wheel is less than hull, endless track
9 are placed on driving wheel, directive wheel and all thrust wheels simultaneously.
Described amphibious unmanned boat, drives crawler belt to rotate, thus forms creeper truck structure, drive when driving wheel rotates
Hull is walked by land, and wherein the thrust wheel of bottom is supported in ground, and the directive wheel of front end can change the walking side of unmanned boat
To.Thus, unmanned boat can be walked on the shallow water bank of marshland, muddy ground or rivers and lakes, both can be the quickest
Enter underwater operation, it is also possible to complete various detection, sample or survey and draw, thus drastically increase unmanned boat and environment is fitted
Should be able to power, make its work more quickly, accurately simultaneously, improve its ability to work.
Marine propeller is the energy transducer that a kind of natural agent, manpower or mechanical energy are converted into boats and ships thrust.Common
Propeller have PODDED PROPULSOR, pump-jet propulsor etc..PODDED PROPULSOR is to advance and the pushing away of steering gear a kind of collection
Entering device, be mainly made up of propeller, propelling electrode and chiller, this kind of propeller is more flexible, but shortcoming is rotating speed
Low, the most all it is hardly higher than 5000 revs/min, but the propeller shortage protection that the fault rate that simultaneously involves great expense is high and plug-in
Structure, easy wound foreign matter or collision reef in water.Pump-jet propulsor be a kind of utilize current high velocity spray go out produce anti-
Active force carries out the device advanced, and pump-jet propulsor is generally used for submarine, and its structure is complex, and motor speed is high but generates heat
Amount greatly, needs independent water-cooling system, either structure precision or the requirement of processing technology all ten/height, and Maintenance Difficulty
Degree is big.
In view of this, described amphibious unmanned boat, as shown in figures 2-6: propeller 2 includes driving motor 21, spiral
Oar 22 and connection drive the rotating shaft 23 of motor and propeller, the also mozzle 24 of tubular；One end of mozzle is provided with this
The trousers 25 that end seals, one end of close trousers in driving motor to be installed on mozzle, propeller is installed in mozzle
The other end, be also equipped with in mozzle to drive motor cladding motor casing 26 in the inner, the inwall of motor casing is close to drive
The outer wall of galvanic electricity machine, motor casing seals near one end of trousers；Have and part rotating shaft is coated with axle housing 27 in the inner, axle housing
Two ends are tightly connected away from one end of trousers and the middle part of rotating shaft with motor casing respectively；Have on mozzle in some connections
Outer bar shaped groove 28, part bar shaped groove is oppositely arranged with motor casing, and part bar shaped groove is then arranged at motor casing and spiral
Between oar.
Motor is driven to drive propeller rotational by rotating shaft so that current spray from the opening of mozzle, thus produce
Counteracting force promotes boats and ships motion.The propeller of this device is installed in mozzle, and it rotates the water body produced first along mozzle
Flowing sprays from mozzle again, and on the one hand this can utilize the effect of mozzle to reduce cavity so that current are concentrated, thus improve
The work efficiency of propeller, on the other hand, mozzle can form protection to propeller, both can greatly reduce and twined by foreign body
Around probability, propeller can be avoided again to bottom out and collide reef.Having bar shaped groove on mozzle, current can lead to from bar shaped
Groove enters in mozzle, makes propeller promote water sports smoothly；Meanwhile, this bar shaped groove both can allow water body circulate smoothly,
Again because its width is less, can effectively stop the foreign bodies such as pasture and water to enter mozzle internal influence equipment and run, although and it is wide
Spend less, but as long as offering needed for some bar shaped grooves can meet work depending on job demand；Furthermore, part bar shaped groove phase
Motor casing is arranged, and drives motor to be directly mounted in water further through sealing means, and the setting being close to motor casing makes it have
There is higher heat conductivility, when current enter mozzle inside, effective water can be formed directly through the outer wall of motor casing
Cold and radiating effect, it is not necessary to additionally install cooling system, device structure can be simplified greatly.
Axle housing 27 is the taper of inner hollow and both ends open, and tapered bottom end, top are close with motor casing 26, rotating shaft 23 respectively
Envelope connects.By the setting of this kind of axle housing shape, the current entered from the bar shaped groove relative with motor casing can be along motor
The outer wall flowing of shell, thus increase the contact area with motor casing as much as possible, thus improve cooling effect；And from axle housing phase
To bar shaped groove enter current, the most both will not be limited by axle housing, and propeller can be rapidly entered along axle housing on the contrary
Perspective plane, thus improve work efficiency and the ship power of propeller.
Trousers 25 is warhead form.Arranging of this kind of shape can reduce fluid resistance, it is provided that equipment work efficiency.Lead
Flow tube 24 includes the preceding pipeline 41 being connected with trousers 25, and is connected to the rear pipeline 42 of preceding pipeline end, preceding pipeline and rear pipe
It is tightly connected by clamping ring 43 between road.Arranging of forward and backward pipeline is convenient in the installation of inner components, is also more convenient for
The making of equipment and maintenance.
Drive motor 21 to be installed in preceding pipeline 41, preceding pipeline is installed with away spool 29, from the internal extraction of boats and ships
Electric wire (not shown) pass away spool and motor casing 26 and drive motor and be connected, and the connector between electric wire and motor casing is close
Envelope；Also has the driving means (not shown) driving spool to rotate.Walk spool and both may be used for the layout of circuit, it is also possible to as
Suspending rod position thrusters, the setting of driving means then can adjust angle of rake angle easily so that boats and ships more hold
Change places and carry out turning to, stop or falling back.
Motor casing 26 fixes lid 20 after one end of trousers 25 is provided with；The end of motor casing 26 and driving motor 21
Motor shaft end be respectively positioned in the radial extension of clamping ring 43.The setting of this kind of structure so that drive motor and motor casing
Install and maintenance is more prone to, after only need to determining rear drive motor and motor casing during work, rotating shaft etc. zero can be installed easily
Parts, or rear pipeline is docked with preceding pipeline.
The motor shaft driving motor 21 is connected with rotating shaft 23 by shaft joint 211, and shaft joint is arranged in axle housing 27, rotating shaft
The end being connected with shaft joint is provided with bearing 212, and in rotating shaft, the end near axle housing is also provided with bearing, and shaft joint end
And between previous bearing, all sealed by y-type seal ring 213 between axle housing end and a rear bearing.Arranging of shaft joint is permissible
Making equipment work more safe and stable, the sealing structure between shaft joint, axle housing and rotating shaft then can be effectively ensured current not
Can enter in driving motor, y-type seal ring has that sealing property is reliable, frictional resistance is little, resistance to pressure is good, simple in construction, installation
The features such as convenience, advantageously ensure that equipment safety.
Having and merge the oar card 214 driving propeller motion with propeller 22 card, oar is fastened in rotating shaft 23 and is arranged at axle housing
Between 27 ends and propeller；The end of mozzle 24 is installed with after-poppet 215, turns the tip of the axis and is pacified by bearing 212
It is loaded on after-poppet, and between propeller and after-poppet, is additionally provided with the oar pad 216 being placed in rotating shaft.On the one hand, oar card is permissible
For driving propeller, on the other hand year, the setting of oar card and oar pad both may be used for the auxiliary positioning of propeller, it is possible to so that
The work obtaining rotating shaft is more stable.
Existing unmanned boat sampling apparatus mainly includes thief rod, electromagnetic valve and sampling bottle, is provided with silica gel in thief rod
Pipe and peristaltic pump, water source enters from the silica gel tube of thief rod, then in electromagnetic valve is assigned to each sampling bottle.Wherein, electromagnetism
Valve can be with the open and close of control piper to realize controlling whether fluid circulates from pipeline.Valve need when mounted at entrance and
Outlet two ends connecting line, fluid flows into from arrival end, flows through inner space and the spool of valve, then flows out from the port of export.?
During this, fluid inevitably contacts with the inner body of valve, and this needs to ensure fluid cleanliness for some
For field can convection cell cause the secondary pollution that cannot restore, existing unmanned boat all can only as much as possible keeper cleaning with
Avoid impact sampling.In addition, generally there is the problem that volume is big, weight is high in existing three-way magnetic valve, and this will necessarily lead
Cause the increase of equipment volume, be unfavorable for the layout of equipment, in unmanned boat, then can cause nothing because of the limited space of unmanned boat
Method extension multi-point sampling device, significantly limit ability to work and the range of unmanned boat.
So, described amphibious unmanned boat, as illustrated in figures 7 to 13: harvester 4 includes valve housing 41, and two
The flexible pipe 42 passed through for fluid, is provided with the space passed for two flexible pipes in housing, housing is positioned at the fixing peace in outside of two flexible pipes
Equipped with block 43, being provided with the runner 44 around own axis between two flexible pipes, the axis of runner is perpendicular to flexible pipe, on runner
It is installed with fixture block assembly 45, and fixture block assembly turns to, when block, flexible pipe clamping is deformed into fluid and cannot pass through.
The water of sampling can pass through from flexible pipe, and because the characteristic of flexible pipe, will produce after it is by enough clampings
Give birth to deformation and hose inner wall is close to, cause fluid to pass through.Operationally, fixture block assembly is gone to from gear when runner
Block remote position, flexible pipe just can pass through for fluid, and rotate when runner and make fixture block assembly move closer to block, folder
Block assembly and block i.e. can apply pressure from both sides to flexible pipe and cause flexible pipe to start to produce deformation, until runner turns to set position
Putting, when the distance of fixture block assembly and block is sufficiently small, blown tubular fades to inwall and is close to, and now the flow pipe of flexible pipe is i.e. closed
Closing, fluid cannot continue circulation.This harvester by applying pressure and blind off a line from pipeline being outside, its will not with in pipeline
The fluid in portion directly contacts, and will not pollute by convection cell, the cleannes of water sample is effectively ensured and improves sampling accuracy；With
Time, this harvester is mainly realized the open and close of pipeline by the runner of the two inside and outside both sides of flexible pipe and block, and its simple in construction is permissible
Effectively reduce equipment volume and weight so that the layout of equipment is convenient and easy, then can effectively carry in unmanned boat field
The ability to work of high unmanned boat and range.
On runner 44, a certain diameter symmetry being provided with two fixture block assemblies 45, two fixture block assemblies are arc, and along same
One circumference；Wherein one end of two fixture block assemblies 45 is positioned at the two ends of the same diameter of runner 44, and the other end is respectively positioned on this
The same side of diameter；The line of two blocks 43 on housing 41 overlaps with the diametric(al) of runner 44.Described fixture block assembly 45
Including the some cylinders being circumferentially arranged in juxtaposition, block 43 is also cylinder；Housing 41 includes hard-wired base 46, and peace
The upper cover 47 being loaded on base, flexible pipe 42 is arranged between base and upper cover, above covers and has through hole, and block 43 is through through hole also
Protrude from outside upper cover, the securing member 48 being also installed on block and upper cover being fixed on base.
As shown in Figure 10, the block outside two fixture block assemblies of runner both sides and two flexible pipes, respectively the most relatively by soft
Tube grip also makes fluid 40 to circulate from inside hose smoothly；As shown in Figure 11,12, after runner turns over certain angle,
Wherein the fixture block assembly of side no longer with the block effect of this side, the flexible pipe of this side is available for fluid circulation；As shown in figure 13, when turning
When wheel forwards suitable position to, it is also possible to release the effect to two flexible pipes simultaneously.This harvester, the setting of two fixture block assemblies can
To realize the control of dual circuit；And fixture block assembly is arc and circumferentially arranges, then in certain scope, flexible pipe can be executed
Adding effect, on the one hand this can improve the accuracy of control, on the other hand can also realize the opening and closing of single pipeline；Furthermore, will
Two fixture block assemblies are arranged at the same side of a certain diameter, and this not only improves the control realizing single pipeline, also makes control process
Convenient, quick, such as Figure 11, embodiment in 12, fixture block assembly is set to suitable length, runner only need to be to a certain
Direction rotates a less angle, such as 45 degree, can realize the control of a certain pipeline；It addition, by block and fixture block assembly
Be arranged at runner same radially, can control piper more accurately and rapidly；And fixture block assembly and block are set to circle
Post, then be the layout being more convenient in structure, simplify structure simultaneously so that it is makes and is more prone to.And for the setting of housing, permissible
Easily facilitate making and the installation of equipment, can effectively simplify device structure.
In order to detect and record sub-marine situations, often need probe is installed on the shell of unmanned boat.Existing probe is installed
Method is all to arrange mounting seat on hull outer wall, is then installed in mounting seat by probe.Though this kind of mounting structure of probe
So can meet the use needs of unmanned boat, but owing to the structure of unmanned boat probe is far more precise, exposed probe overboard holds
It is vulnerable to collision and damages, particularly in transport, storage or off working state under water, it is easy to because collision without reason is subject to
Damage and bear unnecessary loss.
In order to solve this problem, described amphibious unmanned boat, such as Figure 14, shown in 15: detection device 3 includes hull
Shell Plate 31, Shell Plate has through hole 32；Probe includes probing shell 33, the sensor 34 of front end and the tail of rear end at middle part
Frame 35；The inner side of Shell Plate is installed with fixing seat 36, and the inside of hull is installed with ram seat 37, the most telescopic
Push rod 38, the two ends of push rod bottom and ram seat with probing shell respectively is hinged, and probe tailstock is then hinged with fixing seat.
Probe housing bottom be connected with the ram seat in hull by push rod, the tailstock popped one's head in then with in Shell Plate
The fixing seat of side is hinged, and meanwhile, Shell Plate has through hole, and when push rod stretches, the sensor of probe i.e. stretches out outside through hole,
Make unmanned boat can be smoothed out detection operations；And when unmanned boat is in off working state, push rod shrinks, probe i.e. companion
The inside of push rod income ship skin.The mounting structure of this kind of probe is simple, be easily achieved, and can effectively protect probe, keep away
Exempt to cause damage because of unnecessary collision.
Having the orifice plate 39 consistent with through hole 32 shape, probing shell 33 is through orifice plate, and sensor 34 is positioned at outside orifice plate
Side and tailstock 35 is positioned at inside orifice plate, push rod elongation time orifice plate overlap with through hole.When the setting of orifice plate is so that probe stretches out
Through hole is covered so that when unmanned boat works under water, Shell Plate can be by through hole completion, it is to avoid in water, foreign material enter from through hole
Inside unmanned boat, affect the safety of unmanned boat.Have the Shell Plate 31 at through hole 32 on unmanned boat and point to sensing along tailstock 35
The downward-sloping setting in device 34 direction, and during push rod elongation, the sensor of probe is parallel with unmanned stem stern center line.This kind of structure is more
It is easy to the work of probe, it is ensured that probe operating accuracy and stability.
Antenna is a kind of draw off gear providing radio wave, or for radio wave is carried out signal amplification.In nothing
The fields such as man-machine, unmanned boat, so that unmanned equipment can more easily receive control signal, outside Chang Qi body
Antenna is installed in portion.And in unmanned boat field, it is all to use direct dismounting mode that existing antenna is installed, i.e. at the outside plate of unmanned boat
On be provided for the mounting seat of fixed antenna, unmanned boat is understood before water conservancy project is made and be taken off from mounting seat by antenna, and treats unmanned boat
Antenna is installed when making by lower water conservancy project again.On the one hand this kind of antenna mounting means be to need mounting or dismounting repeatedly, and the antenna pulled down needs
Additionally to preserve, to cause its operation extremely inconvenience, add required workload；On the other hand it is that it is filled frequently
Tear open, be easily caused antennal interface and damage, cause antenna to drop, or affect the antenna folding and unfolding for signal.
Described amphibious unmanned boat, as shown in figs. 16-21: communicator 5 includes being fixedly installed on device housings
Base 51, equipped with the bogie 52 of antenna 53, and the location bar 54 that bogie is fixed on base；Bogie passes through rotating shaft
55 are articulated with on base, base and bogie relatively have the shaft hole 56 installing rotating shaft, base also has for location
The hole, location 57 that bar passes, bogie then has two positioning concave stations 58, and two positioning concave stations are arranged at shaft hole as the center of circle
Concentric circular on, and the line of one of them positioning concave stations and shaft hole is parallel to the axis of antenna, another positioning concave stations with
The line of shaft hole is perpendicular to the axis of antenna, and location bar inserts in positioning concave stations through hole, location.
When equipment works, antenna is turned to required set angle together with bogie, now, relative with antenna axis set
The positioning concave stations put is relative with the hole, location on base, and location bar inserts in this positioning concave stations through hole, location so that bogie
Cannot rotate by respect thereto again, thus its antenna is fixed on operating position；And after work completes, take off location bar, turn to
Frame can rotate by respect thereto again, and is gone to reception position, now, and another positioning concave stations and the hole, location on base
Relatively, then location bar again passing through hole, location and inserts this positioning concave stations, antenna is i.e. fixed on reception position.This antenna folds
Apparatus structure is simple, can be holded up by antenna by the setting of base, bogie and location bar easily or pack up, its operation side
Just, fast, can effectively reduce work difficulty, and decrease the mounting or dismounting needs of antenna, the safety of equipment and steady has been effectively ensured
Qualitative.
Being installed with positioning seat 59 in the hole, location 57 of base 51, positioning seat is towards the one end open of bogie 52, separately
One end has through hole, and one end of location bar 54 is provided with the diameter shifting block 50 more than through hole, and the other end passes through hole, and through through hole
Location bar middle part be installed with slide block 511, meanwhile, slide block is arranged in positioning seat, on the location bar in positioning seat overlap
Having stage clip 512, the two ends of stage clip push against respectively on positioning seat inwall with slide block.Arc groove 513, arc is had on bogie 52
The center of circle of connected in star overlaps with shaft hole 56, and the two ends of arc overlap with two holes 57, location respectively, and arc groove caves inward
The degree of depth less than location hole, the width of groove not less than location bar 54 end diameter.The antenna folds device of this kind of structure, location
The end of bar through positioning seat, slide block and base hole, location after insert in the positioning concave stations of bogie, thus by bogie and
Base interfixes, and in its natural state, positions the trend that bar and slide block are had sensing bogie to move by the effect of stage clip；When needing
During the position of antenna to be adjusted, by shifting block, location bar is pulled out, then get final product pivoted bogies.This structure both can improve sky
Equipment bonding strength during line location, meanwhile, bogie needs when rotating location bar is continued to operation, and has only to
Rotateing in place to positioning concave stations, location bar i.e. snaps in positioning concave stations under the effect of stage clip automatically, can be greatly enhanced operation
Simplicity.When regulating the position of antenna, location bar is pulled out, after frame to be diverted starts to rotate, location bar can be unclamped, so
Rear location bar pushes against the side in bogie at the effect lower end of stage clip, along with being rotated further of bogie, the end of location bar
Portion's arcuately groove moves, and reaches another hole, location so far, and location bar the most automatically snaps in and makes bogie relative with base
Fixing.By the effect of locating slot, can location bar be carried out spacing so that it is will not be impaired etc. former because of parts vibrations or precision
Thus produce dislocation, thus improve the bonding strength of equipment and work accuracy and stability.
Claims (10)
1. an amphibious unmanned boat, including hull (1), hull is provided with the propeller (2) for promoting hull to move,
The detection device (3) of detection underwater environment, the harvester (4) of collection water sample, and communicator (5), it is characterised in that: ship
The rear end of body both sides is provided with the driving wheel (6) of the gear teeth, and the front end of hull both sides is provided with the guiding guiding crawler belt
Wheel (7), the bottom of hull both sides is provided with several thrust wheels (8) supporting hull, and the level height bottom thrust wheel is less than
Hull, endless track (9) is placed on driving wheel, directive wheel and all thrust wheels simultaneously.
Amphibious unmanned boat the most according to claim 1, it is characterised in that: propeller (2) include drive motor (21),
Propeller (22) and connection drive the rotating shaft (23) of motor and propeller, the also mozzle (24) of tubular；One end of mozzle
Being provided with the trousers (25) sealed by this end, one end of close trousers in driving motor to be installed on mozzle, propeller is pacified
The other end being loaded in mozzle, is also equipped with in mozzle to drive motor cladding motor casing (26) in the inner, motor casing
Inwall be close to drive motor outer wall, motor casing near one end of trousers seal；Have and part rotating shaft is coated with in the inner
Axle housing (27), the two ends of axle housing are tightly connected away from one end of trousers and the middle part of rotating shaft with motor casing respectively；Mozzle
On have the bar shaped groove (28) inside and outside some connections, part bar shaped groove is oppositely arranged with motor casing, and part bar shaped groove is then
It is arranged between motor casing and propeller.
Amphibious unmanned boat the most according to claim 2, it is characterised in that: axle housing (27) is inner hollow and two ends are opened
The taper of mouth, tapered bottom end, top are tightly connected with motor casing (26), rotating shaft (23) respectively.
4. according to the amphibious unmanned boat described in Claims 2 or 3, it is characterised in that: mozzle (24) includes and trousers
(25) preceding pipeline (41) connected, and it is connected to the rear pipeline (42) of preceding pipeline end, by even between preceding pipeline and rear pipeline
Adapter ring (43) is tightly connected；Drive motor (21) to be installed in preceding pipeline (41), preceding pipeline be installed with away spool (29),
Pass away spool and motor casing 26 from the internal electric wire drawn of boats and ships to be connected with driving motor, and the company between electric wire and motor casing
Sealing joint；Also has the driving means driving spool to rotate.
5. according to the amphibious unmanned boat described in Claims 2 or 3, it is characterised in that: drive the motor shaft of motor (21) to lead to
Crossing shaft joint (211) to be connected with rotating shaft (23), shaft joint is arranged in axle housing (27), and the end that rotating shaft is connected with shaft joint is installed
There is bearing (212), rotating shaft is also provided with between bearing, and shaft joint end and previous bearing near the end of axle housing, axle housing
All sealed by y-type seal ring (213) between end and a rear bearing；Have and merge drive propeller motion with propeller (22) card
Oar card (214), oar is fastened in rotating shaft (23) and is arranged at axle housing (27) between end and propeller；The end of mozzle (24)
It is installed with after-poppet (215), turns the tip of the axis and be installed on after-poppet by bearing (212), and propeller and after-poppet
Between be additionally provided with the oar pad (216) being placed in rotating shaft.
Amphibious unmanned boat the most according to claim 1, it is characterised in that: detection device (3) includes ship skin
(31), Shell Plate has through hole (32)；Probe includes probing shell (33), the sensor (34) of front end and the rear end at middle part
Tailstock (35)；The inner side of Shell Plate is installed with fixing seat (36), and the inside of hull is installed with ram seat (37), also has
Telescopic push rod (38), the two ends of push rod bottom and ram seat with probing shell respectively is hinged, and probe tailstock is then with solid
Reservation is hinged.
Amphibious unmanned boat the most according to claim 6, it is characterised in that: there is the hole consistent with through hole (32) shape
Plate (39), probing shell (33) passes orifice plate, and sensor (34) is positioned at tailstock outside orifice plate (35) and is positioned at inside orifice plate, pushes away
During bar elongation, orifice plate overlaps with through hole.
Amphibious unmanned boat the most according to claim 1, it is characterised in that: harvester (4) includes valve housing
(41), and two flexible pipes (42) passed through for fluid, it being provided with the space passed for two flexible pipes in housing, housing is positioned at two flexible pipes
Outside be installed with block (43), the runner (44) around own axis, the axis of runner are installed between two flexible pipes
It is perpendicular to flexible pipe, runner is installed with fixture block assembly (45), and fixture block assembly turns to be clamped by flexible pipe when block
It is deformed into fluid cannot pass through.
Amphibious unmanned boat the most according to claim 8, it is characterised in that: runner sets along a certain diameter symmetry on (44)
Being equipped with two fixture block assemblies (45), two fixture block assemblies are arc, and along same circumference；Two fixture block assemblies (45) are wherein
One end is positioned at the two ends of the same diameter of runner (44), and the other end is respectively positioned on the same side of this diameter；On housing (41) two
The line of block (43) overlaps with the diametric(al) of runner (44).
Amphibious unmanned boat the most according to claim 1, it is characterised in that: communicator (5) includes being fixedly installed in
Base (51) on device housings, bogie (52) equipped with antenna (53), and the location bar that bogie is fixed on base
(54)；Bogie is articulated with on base by rotating shaft (55), and base and bogie relatively have the shaft hole installing rotating shaft
(56), base also having the hole, location (57) passed for location bar, bogie then has two positioning concave stations (58), two is fixed
Position concave station is arranged on the concentric circular with shaft hole as the center of circle, and the line of one of them positioning concave stations and shaft hole is parallel to sky
The line of the axis of line, another positioning concave stations and shaft hole is perpendicular to the axis of antenna, and location bar inserts through hole, location to be determined
In the concave station of position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610857777.9A CN106183673A (en) | 2016-09-28 | 2016-09-28 | A kind of amphibious unmanned boat |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610857777.9A CN106183673A (en) | 2016-09-28 | 2016-09-28 | A kind of amphibious unmanned boat |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106183673A true CN106183673A (en) | 2016-12-07 |
Family
ID=57521325
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610857777.9A Pending CN106183673A (en) | 2016-09-28 | 2016-09-28 | A kind of amphibious unmanned boat |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106183673A (en) |
Cited By (3)
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| CN109606040A (en) * | 2019-01-14 | 2019-04-12 | 上海大学 | The amphibious unmanned mapping ship of one kind and its mapping method |
| CN111309036A (en) * | 2020-05-14 | 2020-06-19 | 江苏博人文化科技有限公司 | Space information measurement system based on autopilot |
| CN112477534A (en) * | 2020-11-25 | 2021-03-12 | 江苏科技大学 | Obstacle crossing device of amphibious unmanned platform |
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