CN109941418A - A kind of flange plate type waterborne vessel steering control device - Google Patents
A kind of flange plate type waterborne vessel steering control device Download PDFInfo
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- CN109941418A CN109941418A CN201910375605.1A CN201910375605A CN109941418A CN 109941418 A CN109941418 A CN 109941418A CN 201910375605 A CN201910375605 A CN 201910375605A CN 109941418 A CN109941418 A CN 109941418A
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- rocking bar
- connecting rod
- chip microcontroller
- wing plate
- crank
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Abstract
The invention discloses a kind of flange plate type waterborne vessel steering control device, including control system and steering system, control system includes battery and control cabinet；Control cabinet is made of single-chip microcontroller, relay, wireless receiving module, IMU chip, power module and motor driving plate, and steering system includes decelerating motor, crank, connecting rod A, rocking bar YX, connecting rod B, rocking bar ZX, wing plate, fixed frame, solar panel and touching switch；Single-chip microcontroller controls the rotation of decelerating motor, and decelerating motor rotates while realizing two wing plates by link mechanism, and then realizes the control to the waterborne vessel direction of motion.
Description
Technical field
The present invention relates to a kind of flange plate type waterborne vessel steering control devices, more particularly to a kind of angle of rotation using wing plate
Spend the device that navigation direction controlling is carried out to above water craft.
Background technique
21 century is the century of science and technology rapid development, and various unmanned machines emerge one after another, produce to All Around The World huge
Big influence, such as miscellaneous smart home device, the daily life of let us become more convenient and fine, for another example skill
The more mature aerial unmanned plane of art, suffers from civil and military field and is widely applied, small-sized quadrotor drone has become
Equipment is clapped for the row of mass consumption grade, large-scale quadrotor drone has been applied to the fields such as agricultural, forestry, can drop significantly
Low artificial investment, the fixed-wing unmanned plane with high speed operation ability are widely studied for countries in the world, it has also become a kind of
Advantageous strategic strike weapon.
Waterborne vessel is as a kind of operation at sea equipment, it has also become civilian water quality detection, environment prospecting advantageous installation and
Military naval warfare sharp weapon, traditional waterborne vessel carry out the control in navigation direction by rudder, poor there are low efficiency, stability
Disadvantage, and the presence of rudder can generate certain interference with propeller, be unfavorable for the navigation of waterborne vessel.
Summary of the invention
For the deficiency of the above technology, the present invention provides the folder of a kind of wing plate by control air and course direction
The device to waterborne vessel navigation direction controlling is realized at angle.
To achieve the above object, the present invention adopts the following technical scheme: a kind of flange plate type waterborne vessel steering control device, packet
Include control system and steering system；It is characterized in that: control system includes battery and control cabinet；Control cabinet is by single-chip microcontroller, relay
Device, wireless receiving module, IMU chip, power module and motor driving plate composition；Power module is connected to single-chip microcontroller, is monolithic
Machine provides power supply；Wireless receiving module is connected to single-chip microcontroller, provides wireless signal for single-chip microcontroller；IMU chip is ined succession single-chip microcontroller, is
Single-chip microcontroller provides the real-time posture information of waterborne vessel；Single-chip microcontroller is ined succession motor driving plate, and motor driving plate is by relay and subtracts
Speed motor connection；Single-chip microcontroller is connected to relay, by the switch for realizing relay to relay low and high level；Steering system packet
Include decelerating motor, crank, connecting rod A, rocking bar YX, connecting rod B, rocking bar ZX, wing plate A, wing plate B, fixed frame, solar panel and touching
Touch switch；Fixed frame plays a supporting role to wing plate A and wing plate B；Decelerating motor drives the rotation of crank, crank handle turns connecting rod A
Movement, connecting rod A drives the rotation of rocking bar YX again；Rocking bar YX is fixed together with wing plate A, and wing plate A is realized in the rotation of rocking bar YX
Rotation；Rocking bar YX and connecting rod B are hinged, and connecting rod B and rocking bar ZX are hinged, and rocking bar ZX is fixed together with wing plate B；Rocking bar YX passes through
Connecting rod B drives the rotation of rocking bar ZX, and then realizes the rotation of wing plate B；It is symmetrically installed a touching switch in crank two sides, when
When crank turns to touching switch to the left or to the right, decelerating motor stops working；Solar panel is mounted on fixed frame；
The rectangular type of rocking bar YX, and the length on the hinged one side connecting rod A are identical as the length of crank, the hinged one side with connecting rod B
Length it is identical as the length of rocking bar ZX；
Decelerating motor realizes that wing plate A and wing plate B is rotated together with same direction and with constant angular velocity by link mechanism.
Main feature and advantage of the invention is as follows.
1, by the navigation posture of IMU chip real-time perception waterborne vessel, efficiently navigation can be regulated and controled.
2, by the rotation of servo driving wing plate, the control to waterborne vessel course is realized.
3, solar panel can provide certain electric energy for whole device, improve the working time.
Detailed description of the invention
Fig. 1 is flange plate type waterborne vessel steering control device general structure schematic diagram.
Fig. 2 is connecting rod driving structure schematic diagram.
Fig. 3 is control system schematic diagram.
Specific embodiment
For that can further appreciate that summary of the invention of the invention, feature and technical advantage, the following examples are hereby given, ties below
Attached drawing is closed to be described in more detail the present invention.
In conjunction with Fig. 1,1 output shaft of decelerating motor links together with crank 2, and decelerating motor 1 drives the rotation of crank 2；It is bent
2 other end of handle and the one end connecting rod A3 are hinged, and the connecting rod A3 other end and rocking bar YX4 are hinged；The rectangular type of rocking bar YX4, rocking bar YX4's
The end of one right-angle side and connecting rod A3 are hinged, and the end of another right-angle side and connecting rod B4 are hinged, and the other end of connecting rod B4 is again
It is hinged with rocking bar ZX6；Wherein the length on rocking bar YX4 and connecting rod A3 hinged one side is identical as the length of crank 2, rocking bar YX4 with
The length on connecting rod B4 hinged one side is identical as the length of rocking bar ZX6；The rotation of crank 2 drives rocking bar YX4's by connecting rod A3
Rotation, rocking bar YX4 drive the rotation of rocking bar ZX6 by connecting rod B4；Rocking bar YX4 is fixed together with wing plate A7-1, rocking bar ZX6 with
Wing plate B7-2 is fixed together, and by aforementioned link mechanism, the rotation of decelerating motor 1 realizes wing plate A7-1 and wing plate B7-2 with phase
Same angular speed rotates together；When waterborne vessel needs to turn to, decelerating motor 1 works, driving wing plate A7-1's and wing plate B7-2
It rotates simultaneously, under the action of arrives stream wind speed, wing plate A7-1 and wing plate B7-2 and course angle make wing plate A7-1 and wing plate B7-
2 generate a torsional moment, to realize the steering of waterborne vessel；Battery 9 provides electric power for whole device, and control cabinet 10 is to whole
A device is controlled.
In conjunction with Fig. 2, it is symmetrically installed with a touching switch 12 in the left and right sides of crank 2, when the corner of crank 2 is excessive
When, it will it touches and arrives touching switch 2, collision alarm can be passed to the control cabinet 10 of device by touching switch 2, at this point, will cut
The power supply of disconnected decelerating motor 1, avoids the inordinate rotation of decelerating motor 1 from damaging whole device.
In conjunction with Fig. 3, control cabinet 10 is by single-chip microcontroller 13, relay 14, wireless receiving module 15, IMU chip 16, power module
17 and motor driving plate 18 form.Single-chip microcontroller 13 is the control centre of whole device, and wireless receiving module 15 and single-chip microcontroller 13 connect
Together, the remote signal that transmits of the external world is passed to single-chip microcontroller 13 by wireless receiving module 15, single-chip microcontroller 13 to whole device into
Row control；The navigation posture of 16 real-time perception waterborne vessel of IMU chip, IMU chip 16 connects together with monolithic 13, by waterborne vessel
It navigates by water posture and transmits a single-chip microcontroller 13；Power module 17 and single-chip microcontroller 13 connect together, and provide suitable voltage for single-chip microcontroller 13
And electric current；Motor driving plate 18 is connected together by relay 14 with decelerating motor 1, and motor driving plate 18 receives single-chip microcontroller 13
Signal drives the rotation of decelerating motor 1；Relay 14 receives the signal of monolithic 13, executes open and close operation；It is opened in touching
When pass 12 is touched, relay 14 receives the signal of single-chip microcontroller 13, executes opening operation, protects to decelerating motor 1.
Claims (3)
1. a kind of flange plate type waterborne vessel steering control device, including control system and steering system；It is characterized in that: control system
Including battery (9) and control cabinet (10)；Control cabinet (10) by single-chip microcontroller (13), relay (14), wireless receiving module (15),
IMU chip (16), power module (17) and motor driving plate (18) composition；Power module (17) is connected to single-chip microcontroller (13), is
Single-chip microcontroller (13) provides power supply；Wireless receiving module (15) is connected to single-chip microcontroller (13), provides wireless signal for single-chip microcontroller (13)；
IMU chip is ined succession single-chip microcontroller (13), provides the real-time posture information of waterborne vessel for single-chip microcontroller (13)；Single-chip microcontroller (13) is ined succession motor
Driving plate (18), motor driving plate (18) are connect by relay (14) with decelerating motor (1)；Single-chip microcontroller (13) is connected to relay
Device (14), by the switch for realizing relay to relay (14) low and high level；Steering system includes decelerating motor (1), crank
(2), connecting rod A(3), rocking bar YX(4), connecting rod B(5), rocking bar ZX(6), wing plate A(7-1), wing plate B(7-2), fixed frame (8), too
Positive energy solar panel (11) and touching switch (12)；Fixed frame (8) is to wing plate A(7-1) and wing plate B(7-2) it plays a supporting role；Subtract
Speed motor (1) drive crank (2) rotation, crank (2) drive connecting rod A(3) movement, connecting rod A(3) again drive rocking bar YX(4)
Rotation；Rocking bar YX(4) be fixed together with wing plate A(7-1), rocking bar YX(4) rotation realize wing plate A(7-1) rotation；It shakes
Bar YX(4) and connecting rod B(5) hingedly, connecting rod B(5) and rocking bar ZX(6) hingedly, rocking bar ZX(6) and wing plate B(7-2) it is fixed on one
It rises；Rocking bar YX(4) pass through connecting rod B(5) drive rocking bar ZX(6) rotation, and then realize wing plate B(7-2) rotation；In crank
(2) two sides are symmetrically installed a touching switch (12), when crank (2) turns to touching switch (12) to the left or to the right, subtract
Speed motor (1) stops working；Solar panel (11) is mounted on fixed frame (8).
2. a kind of flange plate type waterborne vessel steering control device according to claim 1, it is characterized in that: rocking bar YX(4) in straight
Angle-style, and connecting rod A(3) hinged one side length it is identical as the length of crank (2), the length on hinged one side with connecting rod B(5)
It is identical as the length of rocking bar ZX(6).
3. a kind of flange plate type waterborne vessel steering control device according to claim 1 or 2, it is characterized in that: decelerating motor (1)
By link mechanism, wing plate A(7-1 is realized) it rotates together with same direction and with wing plate B(7-2) with constant angular velocity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910375605.1A CN109941418A (en) | 2019-05-07 | 2019-05-07 | A kind of flange plate type waterborne vessel steering control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910375605.1A CN109941418A (en) | 2019-05-07 | 2019-05-07 | A kind of flange plate type waterborne vessel steering control device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109941418A true CN109941418A (en) | 2019-06-28 |
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ID=67017108
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910375605.1A Pending CN109941418A (en) | 2019-05-07 | 2019-05-07 | A kind of flange plate type waterborne vessel steering control device |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203005731U (en) * | 2012-12-11 | 2013-06-19 | 南宁睿洋自动化科技有限公司 | Automatic steering control system used for ships |
| CN105981709A (en) * | 2015-02-06 | 2016-10-05 | 沈阳良雁农业科技有限公司 | Ship for spreading pesticide in paddy field |
| CN206193540U (en) * | 2016-12-02 | 2017-05-24 | 易牧 | Unmanned target ship control system based on position control |
| CN108163172A (en) * | 2018-01-22 | 2018-06-15 | 哈尔滨工程大学 | A kind of nobody pneumatic ship of paddy field |
| CN108427416A (en) * | 2018-04-04 | 2018-08-21 | 上海华测导航技术股份有限公司 | A kind of unmanned boat differential automatic steering control system and control method |
| CN208569400U (en) * | 2018-07-27 | 2019-03-01 | 北京方位智能***技术有限公司 | Nobody Cooperative Mode control system peculiar to vessel |
-
2019
- 2019-05-07 CN CN201910375605.1A patent/CN109941418A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203005731U (en) * | 2012-12-11 | 2013-06-19 | 南宁睿洋自动化科技有限公司 | Automatic steering control system used for ships |
| CN105981709A (en) * | 2015-02-06 | 2016-10-05 | 沈阳良雁农业科技有限公司 | Ship for spreading pesticide in paddy field |
| CN206193540U (en) * | 2016-12-02 | 2017-05-24 | 易牧 | Unmanned target ship control system based on position control |
| CN108163172A (en) * | 2018-01-22 | 2018-06-15 | 哈尔滨工程大学 | A kind of nobody pneumatic ship of paddy field |
| CN108427416A (en) * | 2018-04-04 | 2018-08-21 | 上海华测导航技术股份有限公司 | A kind of unmanned boat differential automatic steering control system and control method |
| CN208569400U (en) * | 2018-07-27 | 2019-03-01 | 北京方位智能***技术有限公司 | Nobody Cooperative Mode control system peculiar to vessel |
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Application publication date: 20190628 |
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