CN114408104B - Stranding-prevention unmanned ship for mapping complex water area environment and use method thereof - Google Patents
Stranding-prevention unmanned ship for mapping complex water area environment and use method thereof Download PDFInfo
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- CN114408104B CN114408104B CN202210056921.4A CN202210056921A CN114408104B CN 114408104 B CN114408104 B CN 114408104B CN 202210056921 A CN202210056921 A CN 202210056921A CN 114408104 B CN114408104 B CN 114408104B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H15/00—Marine propulsion by use of vessel-mounted driving mechanisms co-operating with anchored chains or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/008—Unmanned surface vessels, e.g. remotely controlled remotely controlled
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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- Ocean & Marine Engineering (AREA)
- Placing Or Removing Of Piles Or Sheet Piles, Or Accessories Thereof (AREA)
Abstract
The invention discloses a stranding-prevention unmanned ship for mapping complex water area environments and a use method thereof, and belongs to the technical field of unmanned ships. The utility model provides a be used for complicated waters environment survey and drawing to prevent stranding unmanned ship, including the hull, hull both sides outer wall all is connected with the curb plate, rotates between two curb plates and is connected with the dwang, and the dwang outer wall has cup jointed the dwang, is provided with the actuating mechanism who is used for driving dwang and dwang rotatory on the hull, has cup jointed the wind-up roll on dwang, and the winding has the stay cord on the wind-up roll, and the stay cord is kept away from the one end of wind-up roll and is connected with the claw that is used for the location, is provided with the mechanism of grabbing the ground that is used for driving the claw work on the hull; the invention has strong anti-stranding capability of the unmanned ship, can lead the unmanned ship to be quickly separated from the stranding state, and is suitable for the environmental mapping work of complex water areas.
Description
Technical Field
The invention relates to the technical field of unmanned ships, in particular to a stranding-prevention unmanned ship for mapping complex water area environments and a use method thereof.
Background
With the increased awareness of research and protection of water areas such as oceans, lakes and reservoirs, people begin to investigate and detect the water areas, as an investigation and detection mode, the investigation and detection personnel are transported to a specific water area by using ships and are usually transported to the specific water area for investigation, at the moment, the investigation and detection personnel arrive at the specific water area and then are detected by using carried detection equipment, sensing equipment, ADCP and the like, namely, the investigation is usually carried out only in a specific period, and because larger participators are needed, the investigation labor cost and the economic cost are high, all-weather uninterrupted investigation and detection cannot be maintained, and the investigation of personnel can be carried out only occasionally; in another mode, a mode which is relatively more in application in the prior art, namely, the unmanned ship is used for loading detection and sensing equipment, and remote unmanned control is realized by using intelligent equipment and a wireless communication technology.
Unmanned ship body is small in quantity and strong in maneuverability, and is widely applied to mapping, sampling and monitoring of areas such as shoal, lakes and the like at present. Unmanned ships often work in airlines with severe terrain changes and complex water environments. For example, unmanned ship navigation areas include bedrock coasts, estuary dams, reservoir slopes, and the like. However, the waves in the unmanned ship navigation area are broken and turbulent. The unmanned ship track is difficult to control, and the problem that the bottom of the ship is contacted with the water bottom or the shore and cannot move easily occurs, namely, the unmanned ship is easy to stranding.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides an anti-stranding unmanned ship for mapping a complex water area environment and a use method thereof.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the utility model provides an unmanned ship that stranding is prevented in survey and drawing of complex waters environment, includes the hull, hull both sides outer wall all is connected with the curb plate, two rotate between the curb plate and be connected with the dwang, the dwang outer wall has cup jointed the rotation pipe, be provided with the actuating mechanism that is used for driving dwang and rotation pipe rotation on the hull, all cup jointed the wind-up roll on dwang, the winding has the stay cord on the wind-up roll, the one end that the wind-up roll was kept away from to the stay cord is connected with the claw that is used for the location, be provided with the mechanism of grabbing the ground that is used for driving the operation of claw on the hull, actuating mechanism is through the rotatory actuating mechanism work of grabbing of stay cord drive.
Preferably, the driving mechanism comprises a first driving assembly for driving the rotating rod to rotate and a second driving assembly for driving the rotating pipe to rotate, the first driving assembly comprises a first motor fixedly arranged on the side plates, the output end of the first motor is connected with a first rotating rod, the first rotating rod is rotationally connected between the two side plates, a first gear is arranged on the first rotating rod, and a second gear meshed with the first gear is arranged on the rotating rod.
Preferably, the second driving assembly comprises a second motor fixedly arranged on the side plates, the output end of the second motor is connected with a second rotating rod, the second rotating rod is rotationally connected between the two side plates, a third gear is arranged on the second rotating rod, and a fourth gear meshed with the third gear is arranged on the rotating tube.
Preferably, the first rotating rod and the second rotating rod are provided with eccentric lugs distributed at equal intervals.
Preferably, the ground grabbing mechanism comprises a support plate fixedly arranged on a ship body, an elastic telescopic rod is connected to the support plate, one end of the elastic telescopic rod, which is far away from the support plate, is movably connected with a slide rod, a clamping component is arranged between the slide rod and the elastic telescopic rod, limiting plates are arranged at the upper end and the lower end of the slide rod, elastic elements are arranged on the limiting plates at the lower end of the slide rod, one end of the elastic elements, which is far away from the limiting plates, is connected with a ground grabbing claw, and the ground grabbing claw is slidably connected to the slide rod.
Preferably, the ground gripper comprises a fixing frame which is connected to the sliding rod in a sliding mode and three groups of adjusting components which are arranged on the fixing frame in a sliding mode, the three groups of adjusting components are evenly distributed on the fixing frame in a circumference mode, each group of adjusting components comprises a fifth gear and a sixth gear which are meshed with each other, the fifth gear and the sixth gear are connected in the fixing frame in a rotating mode through a pin shaft, the sixth gear is fixedly provided with a hook claw, a groove is formed in the sliding rod, a rack plate which is meshed with the fifth gear is arranged in the groove, the ground gripper further comprises a connecting block which is fixedly arranged in the fixing frame, and the connecting block is fixedly connected with a pull rope.
Preferably, the clamping component comprises a U-shaped connecting plate fixedly arranged on the elastic telescopic rod, a clamping block is rotatably connected to the inner wall of the U-shaped connecting plate through a rotating shaft, a torsion spring used for rotating and resetting the clamping block is arranged on the rotating shaft, an arc surface is arranged on the clamping block, a fixing block is connected to the sliding rod, and the fixing block is movably abutted to the arc surface.
Preferably, the clamping block is also provided with a stress plate, the ship body is provided with a push rod, and the push rod is movably propped against the stress plate.
Preferably, the outer walls of two sides of the U-shaped connecting plate are respectively connected with a positioning plate, two limiting rods are fixedly arranged between the two positioning plates, and the clamping blocks are movably abutted against the two limiting rods.
The invention also discloses a use method of the stranding-prevention unmanned ship for mapping the complex water area environment, which comprises the following steps:
s1: when the ship body encounters sudden stranding, the ship body is stranded due to the fact that the water levels at the bottom and one side are shallow, the water level at the other side is deep, the unmanned ship navigation condition can be met, at the moment, the first motor or the second motor can be controlled to operate according to the water depth conditions at the two sides of the ship body, the first motor drives the rotating rod or the second motor drives the rotating pipe to rotate, the winding roller is fed with wires, and the pull ropes on the winding roller are released;
s2: the elastic telescopic rod in a compressed state is recovered to be longer when the pull rope is released, extends to one side with a deeper water level of the ship body and drives the slide rod to be far away from the ship body, so that the slide rod moves to a region with the deeper water level, as the pull rope is released, the ground gripper connected with the pull rope is not pulled any more, and can slide down with the slide rod at one end of the elastic telescopic rod far away from the ship body due to self gravity, in the process, the slide rod moves down to enable the fixing block to act on the arc surface of the clamping block, so that the clamping block deflects by taking the rotating shaft as the center of a circle, and then the slide rod freely falls and is not blocked, and then the ground gripper falls along with the slide rod and contacts with the water bottom;
s3: the first motor or the second motor is controlled to run again, the first motor drives the rotating rod or the second motor drives the rotating pipe to reversely rotate, the winding roller is wound up, the pull rope on the winding roller is retracted, in the process, the pull rope firstly acts on the ground gripper, the ground gripper moves upwards under the pulling of the pull rope, the slide rod is limited by the clamping block when moving upwards due to the fixing block, the slide rod cannot move upwards, the ground gripper moves upwards, the elastic element is stretched, the fifth gear is meshed with the rack plate on the slide rod when the ground gripper moves upwards, the fifth gear rotates and is meshed with the sixth gear, the sixth gear drives the hook to deflect downwards, and then the hook inserts sand and stone at the water bottom, so that the ground gripper has stronger ground gripping force;
s4: with the continuous winding of the pull rope, under the condition that one side of the slide bar and one side of the ground gripper are fixed, the ship body moves to the slide bar along the pull force of the pull rope, so that the ship body moves from a shallow water area to a deep water area, and the unmanned ship is in a normal sailing state;
s5: when the unmanned ship moves to the sliding rod along with the pull rope, the distance between the pull rope and the sliding rod is shortened, the elastic telescopic rod is compressed again, when the elastic telescopic rod is compressed to a compressed state when the unmanned ship normally sails, the push rod on the ship body deflects the acting force of the stressed plate on the clamping block, the clamping block deflects by taking the rotating shaft as the center of a circle, the clamping block does not limit the fixed block of the sliding rod any more, then the driving motor operates, the winding roller is driven to send wires, the pull rope is released to pull the ground gripper, the ground gripper is not stressed and moves downwards under the elastic force of the elastic element, the ground gripper is enabled to deflect upwards, the ground gripper is released to grip the water bottom, then the winding roller is enabled to take up the pull rope again, at the moment, when the ground gripper is pulled by the pull rope, the ground gripper drives the sliding rod to move upwards through the elastic element, and the recovery of the ground gripper is achieved.
Compared with the prior art, the invention provides the stranding-prevention unmanned ship for mapping the complex water area environment and the use method thereof, and the stranding-prevention unmanned ship has the following beneficial effects:
1. according to the stranding-prevention unmanned ship for mapping the environment of the complex water area and the application method thereof, the unmanned ship is quickly separated from the stranding state by matching the pull rope with the ground gripper, so that the stranding-prevention capacity of the unmanned ship is high, and the stranding-prevention unmanned ship is suitable for the environment mapping work of the complex water area.
2. According to the stranding-prevention unmanned ship for mapping the complex water area environment and the application method thereof, the ground grabbing mechanism is used for driving the ground grabbing claw to be embedded into the water bottom, so that the ground grabbing claw has stronger ground grabbing force, when the pull rope is wound, the ship body moves to the sliding rod and the ground grabbing claw along the pulling force of the pull rope, and then the ship body moves from a shallow water area to a deep water area, and the unmanned ship is in a normal sailing state.
3. According to the stranding-prevention unmanned ship for mapping the complex water area environment and the use method thereof, after the unmanned ship is pulled to the sliding rod, the unmanned ship is in a normal sailing state, the elastic telescopic rod can be compressed to a compressed state when the unmanned ship is in a normal sailing state, the push rod on the ship body pushes the stressed plate acting force on the clamping block, the clamping block deflects by taking the rotating shaft as the circle center, at the moment, the clamping block does not limit the fixed block of the sliding rod, then the driving motor operates, the winding roller is enabled to send wires, the pulling force of the pulling rope on the ground gripper is released, the ground gripper is not stressed and moves downwards under the elastic force of the elastic element, the hook is enabled to deflect upwards, the grabbing force of the hook to the water bottom is relieved, then the winding roller is enabled to take up the pulling rope again, at the moment, the ground gripper is driven to move upwards by the elastic element when the pulling rope pulls the ground gripper, recovery of the ground gripper is achieved, and the ground gripper is convenient to act when the ground gripper is stranded next time.
4. According to the stranding-prevention unmanned ship for mapping the complex water area environment and the application method thereof, the eccentric lugs distributed at equal intervals are arranged on the first rotating rod and the second rotating rod, so that when the pull rope is released and tightened, the ship body is driven by the eccentric lugs to shake and move, longitudinal swinging force is provided for the unmanned ship, the ship body is prevented from being clamped with underwater silt in a stranding state, and the ship body can be conveniently and rapidly shifted under the pulling force of the pull rope.
5. According to the stranding-prevention unmanned ship for mapping the complex water area environment and the application method thereof, the ground grabbing mechanisms and the ground grabbing claws are arranged on the two sides of the ship body, so that the application range of the ship body is wide, and the stranding-prevention capability of the unmanned ship is improved.
Drawings
FIG. 1 is a schematic diagram of a first embodiment of the present invention;
FIG. 2 is a schematic diagram of a second embodiment of the present invention;
FIG. 3 is an enlarged schematic view of part A of FIG. 2 in accordance with the present invention;
FIG. 4 is a schematic view of a partial cross-sectional structure of the present invention;
FIG. 5 is a schematic diagram of a driving mechanism according to the present invention;
FIG. 6 is a schematic view of the ground grabbing mechanism of the present invention;
FIG. 7 is an enlarged schematic view of portion B of FIG. 6 in accordance with the present invention;
FIG. 8 is a schematic view of the structure of the ground gripper and the slide bar of the present invention;
FIG. 9 is a schematic view of the structure of the ground gripper of the present invention;
FIG. 10 is a schematic diagram of the structure of the latch of the present invention when not being stressed;
fig. 11 is a schematic structural diagram of the latch of the present invention when being stressed.
In the figure: 1. a hull; 2. a side plate; 3. a rotating lever; 4. a rotary tube; 5. a wind-up roll; 501. a pull rope; 6. a ground gripper; 601. a fixing frame; 602. a fifth gear; 603. a sixth gear; 604. a hook claw; 605. a connecting block; 7. a first motor; 701. a first rotating lever; 7011. a first gear; 7012. a second gear; 8. a second motor; 801. a second rotating rod; 8011. a third gear; 8012. a fourth gear; 9. eccentric protruding blocks; 10. a support plate; 11. an elastic telescopic rod; 12. a slide bar; 121. a limiting plate; 122. an elastic element; 123. a groove; 124. rack plate; 125. a fixed block; 13. u-shaped connecting plates; 14. a clamping block; 141. an arc surface; 142. a force-bearing plate; 15. a push rod; 16. a positioning plate; 161. and a limit rod.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
In the description of the present invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Example 1:
referring to fig. 1, fig. 2, fig. 4, fig. 8 and fig. 9, an anti-stranding unmanned ship for mapping complex water area environment comprises a ship body 1, wherein side plates 2 are connected to the outer walls of two sides of the ship body 1, a rotating rod 3 is rotatably connected between the two side plates 2, a rotating pipe 4 is sleeved on the outer wall of the rotating rod 3, a driving mechanism for driving the rotating rod 3 and the rotating pipe 4 to rotate is arranged on the ship body 1, a winding roller 5 is sleeved on the rotating rod 3 and the rotating pipe 4, a pull rope 501 is wound on the winding roller 5, one end, far away from the winding roller 5, of the pull rope 501 is connected with a ground grabbing claw 6 for positioning, a ground grabbing mechanism for driving the ground grabbing claw 6 to work is arranged on the ship body 1, and the driving mechanism drives the ground grabbing mechanism to work through the pull rope 501.
Specifically, the unmanned ship is stranded when the water area environment is mapped, the driving mechanism drives the winding roller 5 to send and receive wires to the pull rope 501, so that the ground grabbing mechanism works and drives the ground grabbing claw 6 to grab the ground at the bottom of the water, and the unmanned ship is quickly separated from the stranded state by matching with the pull rope 501, so that the unmanned ship has strong anti-stranding capability, and the unmanned ship is suitable for the environment mapping work of a complex water area.
Example 2:
referring to fig. 1, 4 and 5, a stranding-prevention unmanned ship for mapping complex water environments is the same as that of embodiment 1, further, the driving mechanism comprises a first driving assembly for driving the rotation rod 3 to rotate and a second driving assembly for driving the rotation tube 4 to rotate, the first driving assembly comprises a first motor 7 fixedly arranged on the side plates 2, the output end of the first motor 7 is connected with a first rotating rod 701, the first rotating rod 701 is rotatably connected between the two side plates 2, a first gear 7011 is arranged on the first rotating rod 701, and a second gear 7012 meshed with the first gear 7011 is arranged on the rotation rod 3.
Further, the second driving assembly comprises a second motor 8 fixedly arranged on the side plates 2, the output end of the second motor 8 is connected with a second rotating rod 801, the second rotating rod 801 is rotatably connected between the two side plates 2, a third gear 8011 is arranged on the second rotating rod 801, and a fourth gear 8012 meshed with the third gear 8011 is arranged on the rotating tube 4.
Specifically, by controlling the first motor 7 or the second motor 8 to operate, the first gear 7011 on the first rotating rod 701 is meshed with the second gear 7012 on the rotating rod 3 or the third gear 8011 on the second rotating rod 801 is meshed with the fourth gear 8012 on the rotating tube 4, so that the rotating rod 3 or the rotating tube 4 rotates, and further the winding roller 5 is fed with wire, and the pull rope 501 on the winding roller 5 is released or wound.
Example 3:
referring to fig. 1, 2, 4 and 5, an anti-stranding unmanned ship for mapping complex water environments is provided with eccentric protrusions 9 equally spaced on both the first and second rotating rods 701 and 801 as in embodiment 2.
Specifically, by arranging the eccentric protruding blocks 9 which are distributed at equal intervals on the first rotating rod 701 and the second rotating rod 801, when the pull rope 501 is released and tightened by the ship body 1, the eccentric protruding blocks 9 drive the ship body 1 to shake and move when the first rotating rod 701 or the second rotating rod 801 rotates, longitudinal swinging force is provided for the unmanned ship, the ship body 1 is prevented from being blocked by underwater silt or water grass when in a stranding state, and the ship body 1 is convenient to rapidly shift under the pulling force of the pull rope 501.
Example 4:
referring to fig. 4, fig. 5, fig. 6, fig. 7, fig. 8 and fig. 9, an anti-stranding unmanned ship for mapping complex water environment is the same as embodiment 3, further, the ground grabbing mechanism comprises a support plate 10 fixedly arranged on a ship body 1, an elastic telescopic rod 11 is connected to the support plate 10, one end of the elastic telescopic rod 11, which is far away from the support plate 10, is movably connected with a slide rod 12, a clamping component is arranged between the slide rod 12 and the elastic telescopic rod 11, limiting plates 121 are arranged at the upper end and the lower end of the slide rod 12, elastic elements 122 are arranged on the limiting plates 121 at the lower end of the slide rod 12, one end, which is far away from the limiting plates 121, of the elastic elements 122 is connected with a ground grabbing claw 6, and the ground grabbing claw 6 is connected to the slide rod 12 in a sliding manner.
Further, the ground gripper 6 comprises a fixing frame 601 which is connected to the slide rod 12 in a sliding mode and three groups of adjusting components which are arranged on the fixing frame 601 in a sliding mode, the three groups of adjusting components are evenly distributed on the fixing frame 601 in a circumference mode, each group of adjusting components comprises a fifth gear 602 and a sixth gear 603 which are meshed with each other, the fifth gear 602 and the sixth gear 603 are connected in the fixing frame 601 in a rotating mode through pins, a hook claw 604 is fixedly arranged on the sixth gear 603, a groove 123 is formed in the slide rod 12, a rack plate 124 which is meshed with the fifth gear 602 is arranged in the groove 123, the ground gripper 6 further comprises a connecting block 605 which is fixedly arranged in the fixing frame 601, and the connecting block 605 is fixedly connected with the pull rope 501.
Specifically, the elastic telescopic rod 11 in the compressed state is recovered to be longer when the pull rope 501 is released, the pull rod 12 is extended to one side with a deeper water level of the ship body 1 and driven to be far away from the ship body 1, the slide rod 12 moves to a region with a deeper water level, the ground gripper 6 connected with the pull rope 501 is not subjected to tensile force any more along with the release of the pull rope 501, the ground gripper 6 can slide downwards at one end, far away from the ship body 1, of the elastic telescopic rod 11 due to the self gravity factor, the ground gripper 6 falls down along with the slide rod 12 and is contacted with the water bottom, the first motor 7 or the second motor 8 is controlled to operate again, the first motor 7 drives the rotating rod 3 or the second motor 8 to drive the rotating tube 4 to reversely rotate, the winding roller 5 is wound up, the pull rope 501 on the winding roller 5 is wound up, the pull rope 501 in the process, the pull rope 501 firstly acts on the ground gripper 6, the slide rod 12 is limited by the clamping component and cannot move, the ground gripper 6 moves upwards under the pull of the pull rope 501, the ground gripper 6 moves upwards when the ground gripper 6 moves upwards due to the self gravity factor, the ground gripper 6 moves upwards, the elastic element 122 is stretched, the fifth gear 602 moves upwards along with the sliding rod 6 and moves downwards along with the sliding rod 2, the sliding rod 602 moves downwards, the ground gripper 602 to the ground gripper 6 and moves to the ground gripper 6 to the position of the ship body, and the ship body 2 is further, the ship body is meshed with the ground gripper 1, and the ground gripper is kept in a position with a higher water level, and is kept in a position with a higher water level, and a lower position, and has a higher water level, and a lower position, and is kept a lower position, and has a higher water condition.
Example 5:
referring to fig. 2, 3, 10 and 11, an anti-stranding unmanned ship for mapping complex water area environment is the same as embodiment 4, further, the clamping assembly comprises a U-shaped connecting plate 13 fixedly arranged on an elastic telescopic rod 11, the inner wall of the U-shaped connecting plate 13 is rotatably connected with a clamping block 14 through a rotating shaft, a torsion spring for rotatably resetting the clamping block 14 is arranged on the rotating shaft, an arc surface 141 is arranged on the clamping block 14, a fixed block 125 is connected on the sliding rod 12, and the fixed block 125 is movably abutted against the arc surface 141.
Further, the clamping block 14 is further provided with a force-bearing plate 142, the hull 1 is provided with a push rod 15, and the push rod 15 is movably abutted against the force-bearing plate 142.
Further, the outer walls of the two sides of the U-shaped connecting plate 13 are connected with positioning plates 16, two limiting rods 161 are fixedly arranged between the two positioning plates 16, and the clamping blocks 14 are movably abutted against the two limiting rods 161.
Specifically, when the pull rope 501 is released, the ground gripper 6 connected with the pull rope 501 is not pulled any more, the ground gripper can slide downwards with the slide bar 12 at one end of the elastic telescopic rod 11 far away from the ship body 1 due to self gravity, in the process, the slide bar 12 moves downwards to enable the fixed block 125 to act on the arc surface 141 of the clamp block 14, the clamp block 14 deflects around the rotating shaft as the center of a circle, the slide bar 12 is enabled to freely fall and not blocked, when the unmanned ship moves towards the slide bar 12 along with the pull rope 501, the distance between the pull rope 501 and the slide bar 12 is shortened, the elastic telescopic rod 11 is compressed again, when the elastic telescopic rod 11 is compressed to a compressed state when the unmanned ship normally sails, the push rod 15 on the ship body 1 acts on the stressed plate 142 on the clamp block 14, the clamp block 14 deflects around the rotating shaft as the center of a circle, at the moment, the clamp block 14 does not limit the fixed block 125 of the slide bar 12, and when the pull rope 501 pulls the ground gripper 6, the ground gripper 6 can be driven to move upwards through the elastic element 122, and the ground gripper 6 is recovered.
The invention also discloses a use method of the stranding-prevention unmanned ship for mapping the complex water area environment, which comprises the following steps:
s1: when the ship body 1 encounters a sudden stranding condition, the ship body 1 has stranding condition due to the fact that the water level at the bottom and one side is shallow, the water level at the other side is deep, unmanned ship sailing conditions can be met, at the moment, the first motor 7 or the second motor 8 can be controlled to operate according to the water depth condition at the two sides of the ship body 1, the first motor 7 drives the rotating rod 3 or the second motor 8 to drive the rotating pipe 4 to rotate, the winding roller 5 is fed with wires, and the pull ropes 501 on the winding roller 5 are released;
s2: the elastic telescopic rod 11 in a compressed state is recovered to be longer when the pull rope 501 is released, extends to the side with the deeper water level of the ship body 1 and drives the slide bar 12 to be far away from the ship body 1, so that the slide bar 12 moves to the region with the deeper water level, as the pull rope 501 is released, the ground gripper 6 connected with the pull rope 501 is not pulled any more, and can slide down with the slide bar 12 at the end of the elastic telescopic rod 11 far away from the ship body 1 due to the self gravity factor, in the process, the slide bar 12 moves down to enable the fixing block 125 to apply force to the arc surface 141 of the clamping block 14, so that the clamping block 14 deflects by taking the rotating shaft as the center of a circle, and then the slide bar 12 falls freely and is not blocked, and then the ground gripper 6 falls down along with the slide bar 12 and contacts with the water bottom;
s3: the first motor 7 or the second motor 8 is controlled to run again, the first motor 7 drives the rotating rod 3 or the second motor 8 drives the rotating tube 4 to rotate reversely, the winding roller 5 is wound up, the pull rope 501 on the winding roller 5 is wound up, in the process, the pull rope 501 firstly acts on the ground gripper 6, the ground gripper 6 moves upwards under the pulling of the pull rope 501, the slide rod 12 cannot move upwards due to the limitation of the clamping block 14 when the fixed block 125 moves upwards, the slide rod 12 moves on the slide rod 12 when the ground gripper 6 moves upwards, the elastic element 122 is stretched, the fifth gear 602 is meshed with the rack plate 124 on the slide rod 12 when the ground gripper 6 moves upwards, the fifth gear 602 rotates and is meshed with the sixth gear 603, the sixth gear 603 drives the hook 604 to deflect downwards, and the hook 604 inserts sand and stone at the water bottom, and the ground gripper 6 has stronger ground gripping force;
s4: with the continuous winding of the pull rope 501, under the condition that one side of the slide bar 12 and one side of the ground gripper 6 are fixed, the ship body 1 moves to the slide bar 12 along the pulling force of the pull rope 501, so that the ship body 1 moves from a shallow water area to a deep water area, and the unmanned ship is in a normal sailing state;
s5: when the unmanned ship moves to the slide bar 12 along with the pull rope 501, the distance between the pull rope and the slide bar is shortened, the elastic telescopic rod 11 is compressed again, when the elastic telescopic rod 11 is compressed to a compressed state when the unmanned ship normally sails, the push rod 15 on the ship body 1 acts on the stress plate 142 on the clamping block 14, the clamping block 14 deflects around the rotating shaft as the center of a circle, at the moment, the clamping block 14 does not limit the fixed block 125 of the slide bar 12, then the driving motor operates, the winding roller 5 is fed with wire, the pull rope 501 is released to pull the ground gripper 6, the ground gripper 6 is not stressed and moves downwards under the pull force of the elastic element 122, the hook 604 deflects upwards, the ground gripper 604 is released to grip the water bottom, then the winding roller 5 is wound again, at the moment, and the slide bar 12 is not limited by the upward movement of the pull rope 501, when the ground gripper 6 is pulled by the pull rope 501, the slide bar 12 is driven to move upwards by the elastic element 122, and the ground gripper 6 is recovered.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (5)
1. The utility model provides an unmanned ship that is used for complicated waters environment survey and drawing to prevent stranding, includes hull (1), a serial communication port, hull (1) both sides outer wall all is connected with curb plate (2), two rotate between curb plate (2) and be connected with dwang (3), dwang (3) outer wall has cup jointed rotary tube (4), be provided with the actuating mechanism who is used for driving dwang (3) and rotary tube (4) on hull (1), all cup jointed wind-up roll (5) on dwang (3) and rotary tube (4), winding has stay cord (501) on wind-up roll (5), the one end that stay cord (501) kept away from wind-up roll (5) is connected with ground grab (6) that are used for the location, be provided with the ground grab mechanism that is used for driving ground grab (6) work on hull (1), the actuating mechanism is through stay cord (501) drive ground grab mechanism work;
the driving mechanism comprises a first driving assembly for driving the rotating rod (3) to rotate and a second driving assembly for driving the rotating tube (4) to rotate, the first driving assembly comprises a first motor (7) fixedly arranged on the side plates (2), the output end of the first motor (7) is connected with a first rotating rod (701), the first rotating rod (701) is rotationally connected between the two side plates (2), a first gear (7011) is arranged on the first rotating rod (701), and a second gear (7012) meshed with the first gear (7011) is arranged on the rotating rod (3);
the second driving assembly comprises a second motor (8) fixedly arranged on the side plates (2), the output end of the second motor (8) is connected with a second rotating rod (801), the second rotating rod (801) is rotationally connected between the two side plates (2), a third gear (8011) is arranged on the second rotating rod (801), and a fourth gear (8012) meshed with the third gear (8011) is arranged on the rotating tube (4);
eccentric lugs (9) which are distributed at equal intervals are arranged on the first rotating rod (701) and the second rotating rod (801);
the ground grabbing mechanism comprises a support plate (10) fixedly arranged on a ship body (1), an elastic telescopic rod (11) is connected to the support plate (10), one end, far away from the support plate (10), of the elastic telescopic rod (11) is movably connected with a slide rod (12), a clamping component is arranged between the slide rod (12) and the elastic telescopic rod (11), limiting plates (121) are arranged at the upper end and the lower end of the slide rod (12), elastic elements (122) are arranged on the limiting plates (121) at the lower end of the slide rod (12), one end, far away from the limiting plates (121), of each elastic element (122) is connected with a ground grabbing claw (6), and the ground grabbing claw (6) is connected to the slide rod (12) in a sliding mode.
The utility model provides a ground grab (6) is including fixed frame (601) of sliding connection on slide bar (12) and set up three group's regulation subassembly on fixed frame (601), three group regulation subassembly is circumference evenly distributed on fixed frame (601), every group regulation subassembly all includes intermeshing's fifth gear (602) and sixth gear (603), fifth gear (602) and sixth gear (603) all are connected in fixed frame (601) through the round pin axle rotation, hook claw (604) have been set firmly on sixth gear (603), set up fluted (123) on slide bar (12), be provided with in fluted (123) with fifth gear (602) intermeshing's rack board (124), ground grab (6) still including setting up connecting block (605) in fixed frame (601), connecting block (605) are fixed continuous with stay cord (501).
2. The stranding-prevention unmanned ship for mapping of complex water environments according to claim 1, wherein the clamping component comprises a U-shaped connecting plate (13) fixedly arranged on an elastic telescopic rod (11), a clamping block (14) is rotatably connected to the inner wall of the U-shaped connecting plate (13) through a rotating shaft, a torsion spring for rotationally resetting the clamping block (14) is arranged on the rotating shaft, an arc surface (141) is arranged on the clamping block (14), a fixed block (125) is connected to the sliding rod (12), and the fixed block (125) is movably abutted against the arc surface (141).
3. The stranding-prevention unmanned ship for mapping complex water environments according to claim 2, wherein the clamping block (14) is further provided with a stress plate (142), the hull (1) is provided with a push rod (15), and the push rod (15) is movably abutted against the stress plate (142).
4. A stranding-prevention unmanned ship for mapping complex water environment according to claim 3, wherein the outer walls of two sides of the U-shaped connecting plate (13) are both connected with positioning plates (16), two limiting rods (161) are fixedly arranged between the two positioning plates (16), and the clamping blocks (14) are movably abutted against the two limiting rods (161).
5. A method of using the stranded unmanned vessel for complex water environment mapping of claim 4, comprising the steps of:
s1: when the ship body (1) encounters sudden stranding, the ship body (1) is stranded due to the fact that the water level at the bottom and one side is shallow, the water level at the other side is deep, unmanned ship sailing conditions can be met, at the moment, the first motor (7) or the second motor (8) can be controlled to operate according to the water depth conditions at the two sides of the ship body (1), the first motor (7) drives the rotating rod (3) or the second motor (8) to drive the rotating tube (4) to rotate, the winding roller (5) is fed with wires, and the pull ropes (501) on the winding roller (5) are released;
s2: the elastic telescopic rod (11) in a compressed state is recovered to be longer when the pull rope (501) is released, extends to one side with a deeper water level of the ship body (1) and drives the slide bar (12) to be far away from the ship body (1), so that the slide bar (12) moves to a region with the deeper water level, the ground gripper (6) connected with the pull rope (501) is not pulled any more along with the release of the pull rope (501), and can slide downwards with the slide bar (12) at one end of the elastic telescopic rod (11) far away from the ship body (1) due to the self gravity factor, in the process, the slide bar (12) moves downwards to enable the fixed block (125) to act on the arc surface (141) of the clamping block (14), so that the clamping block (14) deflects by taking the rotating shaft as the center of a circle, and then the slide bar (12) freely falls and is not blocked, and then the ground gripper (6) falls along with the slide bar (12) and contacts with the water bottom;
s3: the first motor (7) or the second motor (8) is controlled to run again, the first motor (7) drives the rotating rod (3) or the second motor (8) drives the rotating tube (4) to reversely rotate, the winding roller (5) is wound up, the pull rope (501) on the winding roller (5) is wound up, in the process, the pull rope (501) firstly acts on the ground gripper (6), the ground gripper (6) moves upwards under the pulling of the pull rope (501), the sliding rod (12) is limited by the clamping block (14) when the fixed block (125) moves upwards, the sliding rod (12) cannot move upwards, the ground gripper (6) moves upwards, the elastic element (122) is stretched, the fifth gear (602) is meshed with the rack plate (124) on the sliding rod (12) when the ground gripper (6) moves upwards, the fifth gear (602) rotates and is meshed with the sixth gear (603), the sixth gear (603) drives the hook (604) to deflect downwards, and the ground gripper (604) is inserted into the ground gripper (6), and the ground gripper (6) is enabled to have stronger ground gripper inserting force;
s4: with the continuous winding of the pull rope (501), under the condition that one side of the slide bar (12) and one side of the ground gripper (6) are fixed, the ship body (1) moves towards the slide bar (12) along the pull force of the pull rope (501), so that the ship body (1) moves from a shallow water area to a deep water area, and the unmanned ship is in a normal sailing state;
s5: when the unmanned ship moves towards the sliding rod (12) along with the pull rope (501), the distance between the pull rope and the sliding rod is shortened, the elastic telescopic rod (11) is compressed again, when the elastic telescopic rod (11) is compressed to a compressed state when the unmanned ship normally sails, the push rod (15) on the ship body (1) deflects the acting force of the stressed plate (142) on the clamping block (14), the clamping block (14) deflects by taking the rotating shaft as the center of a circle, at the moment, the clamping block (14) does not limit the fixed block (125) of the sliding rod (12) any more, then the first motor or the second motor is driven to operate, the winding roller (5) is enabled to send a wire, the pull rope (501) is released to pull the ground gripper (6), the ground gripper (604) is enabled to deflect upwards, the ground gripper (604) is enabled to release the ground gripping force of the water bottom, then the winding roller (5) is enabled to take up the wire again, at the moment, the winding roller (12) is enabled to move up the ground gripper (6) in an unrestricted mode, and the ground gripper (6) is enabled to be driven to move the ground gripper (6) through the elastic element (122) in a recycling mode.
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| CN202210056921.4A CN114408104B (en) | 2022-01-18 | 2022-01-18 | Stranding-prevention unmanned ship for mapping complex water area environment and use method thereof |
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| CN202210056921.4A CN114408104B (en) | 2022-01-18 | 2022-01-18 | Stranding-prevention unmanned ship for mapping complex water area environment and use method thereof |
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| JPS60104474A (en) * | 1983-11-09 | 1985-06-08 | Nippon Kokan Kk <Nkk> | Walking device |
| CN207466932U (en) * | 2017-11-13 | 2018-06-08 | 张锦江 | A kind of warning device for preventing Calculation of Ship Grounding's |
| IT201700032682A1 (en) * | 2017-03-24 | 2018-09-24 | Zona Eng & Design S A S Di Zona Mauro & C | HIGH-MOBILITY ATV VEHICLE, FOR USE, FOR EXAMPLE, IN CIVIL EMERGENCY AND RESCUE ACTIVITIES, IN AGRICULTURAL FIELD OR IN EARTH MOVEMENT ACTIVITY |
| CN110639245A (en) * | 2019-09-26 | 2020-01-03 | 浙江海洋大学 | Ocean micro-plastic collection device |
| CN111113662A (en) * | 2020-01-09 | 2020-05-08 | 上海言诺建筑材料有限公司 | Water construction system |
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|---|---|---|---|---|
| JPS60104474A (en) * | 1983-11-09 | 1985-06-08 | Nippon Kokan Kk <Nkk> | Walking device |
| IT201700032682A1 (en) * | 2017-03-24 | 2018-09-24 | Zona Eng & Design S A S Di Zona Mauro & C | HIGH-MOBILITY ATV VEHICLE, FOR USE, FOR EXAMPLE, IN CIVIL EMERGENCY AND RESCUE ACTIVITIES, IN AGRICULTURAL FIELD OR IN EARTH MOVEMENT ACTIVITY |
| CN207466932U (en) * | 2017-11-13 | 2018-06-08 | 张锦江 | A kind of warning device for preventing Calculation of Ship Grounding's |
| CN110639245A (en) * | 2019-09-26 | 2020-01-03 | 浙江海洋大学 | Ocean micro-plastic collection device |
| CN111113662A (en) * | 2020-01-09 | 2020-05-08 | 上海言诺建筑材料有限公司 | Water construction system |
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Effective date of registration: 20230817 Address after: 101400 Room 401, Lin 300, Miaocheng village, Miaocheng Town, Huairou District, Beijing Applicant after: Beijing Shihang Huayuan Technology Co.,Ltd. Applicant after: Suzhou Shihang Intelligent Technology Co.,Ltd. Address before: 730000 Yongchang Road, Chengguan District, Lanzhou City, Gansu Province Applicant before: Zhao Na |
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