CN211252923U

CN211252923U - Unmanned ship sensor stabilizing and lifting device

Info

Publication number: CN211252923U
Application number: CN201922017763.8U
Authority: CN
Inventors: 赵洪华; 韩其飞; 曹树坤; 彭艳; 周天; 洪伟宏; 曹宝璐; 鲁守银; 汤承龙
Original assignee: University of Jinan
Current assignee: University of Jinan
Priority date: 2019-11-21
Filing date: 2019-11-21
Publication date: 2020-08-14
Anticipated expiration: 2029-11-21

Abstract

The utility model discloses a steady elevating gear of unmanned ship sensor, at the in-process of unmanned ship work, the sensor of unmanned ship bottom installation plays the receiving and dispatching signal, visits deeply and keeps away effects such as barrier. When the speed of the unmanned ship is too high or the flow velocity of the water body is large, the sensor needs to work uninterruptedly, so that the protection of the sensor and the stability of the sensor are particularly important. The utility model discloses the constitution includes: the sensor storage chamber is arranged on the first-stage deck, the ball screw penetrates through the sensor storage chamber, the first-stage deck and the second-stage deck, the sensor is connected below the ball screw, the conical gear is connected above the ball screw, and the driving motor arranged on the second-stage deck is connected with the shaft through the coupler. Along with the operation of the motor, the ball screw is changed into rotary motion to linear motion, and then the sensor is driven to do reciprocating linear motion. The device can ensure the stable work of the sensor, can protect the sensor and further improve the working efficiency of the sensor.

Description

Unmanned ship sensor stabilizing and lifting device

Technical Field

The utility model belongs to the technical field of unmanned ship, concretely relates to unmanned ship sensor elevating gear that stabilizes.

Background

In the working process of the unmanned ship, the sensor arranged at the bottom of the unmanned ship plays the roles of receiving and transmitting signals, probing depth and avoiding obstacles and the like. When the speed of the unmanned ship is too high or the flow velocity of the water body is large, the sensor needs to work uninterruptedly, so that the protection of the sensor and the stability of the sensor are particularly important.

The sensor of traditional unmanned ship bottom installation is through the direct loop wheel machine that links to each other with unmanned ship on of welding mode, drives the chain motion through the loop wheel machine, and then control sensor up-and-down motion, as shown in fig. 3. This kind of mode has increased the weight of unmanned ship on the one hand, is unfavorable for unmanned ship navigation work, and on the other hand passes through the chain connection, and poor stability has reduced the accuracy of sensor information. In order to solve the problems, the stable lifting device for the unmanned boat sensor is designed.

Disclosure of Invention

The utility model provides a firm elevating gear of unmanned ship sensor solves this problem to above-mentioned problem, and this firm elevating gear of unmanned ship sensor mainly includes and installs at the inside actuating motor, shaft coupling, axle, first conical gear, second conical gear, ball, the sealing washer of unmanned ship cabin, installs sensor apotheca, the sensor in unmanned ship one-level deck department, sensor internally mounted acoustics Doppler current profiler, battery, the multi-beam device of sounding. The driving motor is connected with the output end of the controller through the wiring terminal block, so that the forward and reverse rotation of the driving motor is controlled; the driving motor drives the conical gear device to rotate; the driving motor drives the ball screw to move up and down; the shaft is connected with the second conical gear in a key connection mode, the first conical gear is connected with a nut on the ball screw in a key connection mode, and the lower portion of the ball screw is connected with the upper portion of the sensor in a welding mode.

The driving motor is installed on a fixed support at the position of the secondary deck, a wiring terminal block is installed on the driving motor, the driving motor is connected with the output end of the controller through the wiring terminal block, and the controller controls the driving motor to rotate forward and backward.

Furthermore, one end of the shaft is connected with the driving motor through a coupler, the driving motor drives the shaft to rotate, the other end of the shaft is connected with the second bevel gear in a key connection mode, and the shaft rotates to enable the second bevel gear to rotate.

Furthermore, the first conical gear and the second conical gear are assembled in a crossed angle of 90 degrees, and the driving motor drives the first conical gear to rotate. The first bevel gear is connected with a nut on the ball screw in a key connection mode, and the driving motor drives the ball screw to rotate and convert the rotation motion into linear motion.

Furthermore, the lower part of the ball screw is connected with the upper part of the sensor in a welding mode, and the sensor is driven to move linearly up and down along with the up-and-down linear movement of the ball screw.

Furthermore, the ball screw plays a role in isolating seawater from the unmanned ship cabin on one hand through a sealing ring at the primary deck, and plays a role in fastening and locking by applying force to the ball screw in the circumferential direction on the other hand.

Furthermore, when the sensor does not operate under sea, the driving motor rotates positively to drive the ball screw to move upwards and is parked in the sensor storage chamber, the sensor is not corroded by seawater, and the unmanned boat sensor is effectively protected.

Furthermore, when the sensor is used for offshore operation, the driving motor rotates reversely to drive the ball screw to move downwards, and the stable operation of the sensor can be ensured under the action of the clamping force of the ball screw.

Compared with the prior art, the beneficial effects of the utility model are that: on one hand, a connection mode of welding the ball screw and the sensor is adopted, the ball screw has larger clamping force, six degrees of freedom of the sensor are limited, and the sensor can stably carry out the offshore operation by the driving of the driving motor; on the other hand, the designed sensor storage chamber effectively avoids the damage caused by seawater erosion and impurity collision when the sensor is operated under the sea; by adopting the stable lifting device for the unmanned ship sensor, the positioning precision of the sensor can be improved, the accuracy of information receiving and sending is improved, the sensor device is protected, and the maintenance cost is reduced; the utility model discloses simple structure can control the sensor at any time and carry out high-efficient work.

Drawings

The accompanying drawings, which form a part hereof, provide a further understanding of the present application and enable further features, advantages and objects of the application to be apparent from the description, and are included to explain the present application by way of illustration and not by way of limitation.

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is an isometric view of the present invention.

Fig. 3 is a structural view of an original unmanned ship.

Fig. 4 is an unmanned boat structural view.

In the figure: 1. an acoustic doppler flow profiler; 2. a sensor storage chamber; 3. a seal ring; 4. a ball screw; 5. a nut; 6. a first conical gear; 7. a second conical gear; 8. a shaft; 9. a terminal block; 10. a drive motor; 11. fixing a bracket; 12. a coupling; 13. a secondary deck; 14. a first-level deck; 15. a sensor; 16. a multi-beam sounding device; 17. a storage battery; 21. a cabin door A; 22. a hanging ring A; 23. an alarm; 24. a ventilation window; 25. a radar; 26. a cabin door B; 27. a hanging ring B; 28. the unmanned ship sensor stabilization protection device; 29. an unmanned hull; 30. a side wing; 31. an autopilot; 32. a crane device; 33. a circular shaft.

Detailed Description

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments; all other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the terms "comprises" and "comprising," and any variations thereof, in the description and claims of this application and the above-described drawings, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In this application, the terms "upper", "lower", "left", "right", "top", "bottom", "inner", "outer", "vertical", "horizontal", and the like indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings; these terms are used primarily to better describe the invention and its embodiments, and are not intended to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.

Moreover, the terms "mounted," "disposed," "connected," and "welded" are to be construed broadly; for example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; either directly or indirectly through intervening media, or may be internal to, or in communication between, two devices, elements or components; the specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

A stable lifting device for unmanned boat sensor, as shown in fig. 1 and fig. 2, comprises: the device comprises a driving motor 10, a coupler 12, a shaft 8, a first conical gear 6, a second conical gear 7, a ball screw 4 and a sealing ring 3 which are arranged inside an unmanned boat cabin, a sensor storage chamber 2 and a sensor 15 which are arranged on a primary deck 14 of the unmanned boat, wherein an acoustic Doppler current profiler 1, a storage battery 17 and a multi-beam sounding device 16 are arranged inside the sensor.

Specifically, as shown in fig. 1 and 2: the driving motor 10 is arranged on a fixed support 11 at the position of a secondary deck 13, a wiring terminal block 9 is arranged on the driving motor 10 and is connected with the output end of the controller through the wiring terminal block 9, and the controller controls the driving motor 10 to rotate forwards and backwards; one end of the shaft 8 is connected with a driving motor 10 through a coupler 12, the driving motor 10 drives the shaft 8 to rotate, and the shaft 8 rotates to enable the second conical gear 7 to rotate; the first conical gear 6 and the second conical gear 7 are assembled in a crossed angle of 90 degrees, the driving motor 10 drives the first conical gear 6 to rotate, and then the driving motor 10 drives the ball screw 4 to convert the rotary motion into linear motion; the lower part of the ball screw 4 is connected with the upper part of the sensor 15 in a welding mode, and the sensor 15 is driven to move linearly up and down along with the up-and-down linear movement of the ball screw 4.

Specifically, as shown in fig. 1 and 2: the ball screw 4 plays a role in isolating seawater and an unmanned boat cabin on one hand through the sealing ring 3 at the primary deck 14, and plays a role in fastening and locking by applying force to the ball screw 4 in the circumferential direction on the other hand; when the sensor 15 does not work under the sea, the motor 10 is driven to rotate positively, the ball screw 4 is driven to move upwards and is parked in the sensor storage chamber 2, the sensor 15 is not corroded by seawater, and the unmanned boat sensor is effectively protected; when the sensor 15 is used for underwater operation, the driving motor 10 rotates reversely to drive the ball screw 4 to move downwards, and the sensor 15 can be ensured to run stably under the action of the clamping force of the ball screw 4.

The position of original unmanned ship loop wheel machine device on unmanned ship, as shown in fig. 3, its constitution includes: a cabin door A21, a suspension ring A22, an alarm 23, a ventilation window 24, a radar 25, a cabin door B26, a suspension ring B27, an unmanned boat body 29, a side wing 30, an automatic rudder 31, a crane device 32 and a circular shaft 33; the sensor 15 is connected with the round shaft 33 in a welding mode, and the unmanned boat crane device 32 pulls the round shaft 33 to move up and down under the driving of the driving motor through the pulling action of the chain, so that the sensor 15 is controlled to move up and down.

The position of the unmanned boat sensor stable lifting device on the unmanned boat is shown in fig. 4, and the unmanned boat sensor stable lifting device comprises the following components: cabin door A21, suspension ring A22, alarm 23, ventilation window 24, radar 25, cabin door B26, suspension ring B27, unmanned boat sensor stable lifting device 28, unmanned boat body 29, side wing 30 and autopilot 31. Fig. 4 is mainly for illustrating the installation position of the present invention on the unmanned surface vehicle, and the reference numerals are used to make the structure of the unmanned surface vehicle more clear to those skilled in the art. Acoustic Doppler current profiler and multi-beam sounding device are for explaining the function of the sensor that the device carries, its graphic expression structure, volume all with the utility model discloses do not have the direct relation, should not correspond the utility model discloses produce improper restriction.

In a specific operation of this embodiment, the unmanned boat sensor steady elevating device: on one hand, a connection mode of welding the ball screw and the sensor is adopted, the ball screw has larger clamping force, six degrees of freedom of the sensor are limited, and the sensor can stably carry out the offshore operation by the driving of the driving motor; on the other hand, the designed sensor storage chamber effectively avoids the damage caused by seawater erosion and impurity collision when the sensor is operated under the sea; by adopting the stable lifting device for the unmanned ship sensor, the positioning precision of the sensor can be improved, the accuracy of information receiving and sending is improved, the sensor device is protected, and the maintenance cost is reduced; the utility model discloses simple structure can control the sensor at any time and carry out high-efficient work.

Claims

1. The utility model provides a steady elevating gear of unmanned ship sensor, characterized by: the composition comprises: the device comprises a driving motor, a coupler, a shaft, a first conical gear, a second conical gear, a ball screw and a sealing ring which are arranged in an unmanned boat cabin, a sensor storage chamber and a sensor which are arranged on a primary deck of the unmanned boat, and an acoustic Doppler flow profiler, a storage battery and a multi-beam sounding device which are arranged in the sensor.

2. The unmanned surface vehicle sensor stabilizing and lifting device of claim 1, wherein: the driving motor is installed on a fixed support at the position of the secondary deck, the connecting terminal row is installed on the driving motor, and the driving motor is connected with the output end of the controller through the connecting terminal row and further controls the forward and reverse rotation of the driving motor.

3. The unmanned surface vehicle sensor stabilizing and lifting device of claim 1, wherein: one end of the shaft is connected with the driving motor through a coupler, the other end of the shaft is connected with the first conical gear, and the second conical gear is installed on a nut of the ball screw.

4. The unmanned surface vehicle sensor stabilizing and lifting device of claim 3, wherein: the first conical gear and the second conical gear are assembled in a crossed angle of 90 degrees, and the first conical gear is connected with a nut on the ball screw in a key connection mode.

5. The unmanned surface vehicle sensor stabilizing and lifting device of claim 4, wherein: the central line of the first conical gear, the central line of the ball screw and the central line of the sealing ring are positioned on the same vertical line, and the central line of the second conical gear and the central line of the output shaft of the driving motor are positioned on the same vertical line.

6. The unmanned surface vehicle sensor stabilizing and lifting device of claim 4, wherein: the lower part of the ball screw is connected with the upper part of the sensor in a welding mode, and the stable operation of the sensor can be ensured under the action of the clamping force of the ball screw.