CN112265419A

CN112265419A - Light high-speed amphibious diving vehicle

Info

Publication number: CN112265419A
Application number: CN202011098821.5A
Authority: CN
Inventors: 赵兴华
Original assignee: Yiyang Tianhua Amphibious Car And Boat Co ltd
Current assignee: Yiyang Tianhua Amphibious Car And Boat Co ltd
Priority date: 2020-10-14
Filing date: 2020-10-14
Publication date: 2021-01-26

Abstract

The invention discloses a light high-speed amphibious underwater vehicle, which consists of six system modules, namely a vehicle frame, a power module, a drive module, a buoyancy module, an electric module, an operation module and the like, wherein the vehicle frame module comprises a vehicle frame assembly, a suspension mechanism, a weapon suspension frame assembly and a housing assembly, the power module comprises a drive motor, a conduit propeller, a power battery pack and a hydraulic station, the drive module comprises a transmission part, a differential assembly and a wheel assembly, the buoyancy module (comprising a hull shell, a driver cabin, a buoyancy air bag, a high-pressure air storage tank and an oxygen supply device), the electric module comprises a mobile power station, an air compressor station and an equipment box, the operation module comprises a land driving operation control device, a water surface operation control device, an underwater navigation device, an instrument integration device and a wheel lifting operation control device, the vehicle adopts a plurality of originally-created advanced technologies, and the amphibious maneuvering and underwater navigation performance is, can better meet various practical requirements in the fields of military and business.

Description

Light high-speed amphibious diving vehicle

Technical Field

The invention relates to a general off-road vehicle, a speedboat and a submarine, in particular to a light high-speed amphibious submarine vehicle which has the characteristics of an amphibious vehicle, a water surface speedboat and a submarine, can be operated on the ground all over the area at high speed, can be submerged underwater and has various military and commercial purposes.

Background

Since the first submersible sports car "Squba" was successfully developed by Rin-speed in switzerland, 2010 of submersible speedboat "scubacraft" shown by american wald corporation, 2017 of submersible speedboat "HyperSub" shown by american HSP technology corporation, 2019 of special submarine "Victa" shown by sun Craft manufacturing company, uk, and 2019 of submersible speedboat "seekriger" shown by singapore DK naval technology corporation, singapore.

Regarding the diving automobile, the patent number is ZL 201220338884.8, the invention name "a water and land amphibious diving automobile" utility model patent, the technical scheme that discloses is: a vent hole and a cabin door are arranged at the top of a cockpit of the diving vehicle main body; a storage battery and a compressed gas cylinder are arranged at the bottom of the cockpit; a front water pressing cabin is arranged at the front part of the cockpit; the two sides of the lower part of the front water pressing cabin are respectively provided with a front driving wheel; a rear water pressing cabin is arranged at the rear part of the cockpit; rear driving wheels are respectively arranged on two sides of the lower part of the rear pressurized water cabin; the wheel shafts of each front driving wheel and each rear driving wheel are respectively provided with a driving motor, and the driving motors are electrically connected with the storage battery; a duct propeller is fixedly arranged below the tail part of the main body of the diving vehicle and is electrically connected with the storage battery.

The patent number is ZL 201020103796.0, the invention name "a submarine sightseeing diving vehicle" utility model patent, the technical scheme that discloses is: a can be divided into the underwater fixed orbit to be the route or underwater cableway cable hangs the underwater sightseeing diving vehicle as the route, including diving carriage and high-pressure storage gas cylinder, the high-pressure storage gas cylinder, used for supplying the breathing of the people in the carriage, the air that the high-pressure storage gas cylinder outputs does not circulate and use, but discharge to the water outside the carriage through the unidirectional discharger; the breathing of people in the carriage is supplied by the high-pressure storage gas cylinder in the carriage, and the high-pressure gas of the high-pressure storage gas cylinder adjusts the pressure of the diving carriage and the pressure outside the carriage through the pressure balancer to balance the diving carriage.

The patent number is ZL 201020163373.8, the invention name "a diving vehicle" utility model patent discloses the technical scheme that: the device comprises a shell with a personnel inlet and a personnel outlet, wherein a crawler propelling device is arranged at the bottom of the shell, and a far infrared observer is arranged at the front end of the shell. After a water-permeable accident causes a mine disaster, rescue workers enter the shell through the personnel inlet and outlet, then the shell is closed, the crawler propulsion device is driven by power devices such as a motor and the like, the diving vehicle can advance and retreat, the far infrared observer arranged at the front end of the shell can search for trapped personnel at any time, and the trapped personnel can be transported out by entering the shell through the personnel inlet and outlet when being found.

The patent number is ZL 94241216.8, the invention name is "a novel amphibious underwater vehicle" utility model patent, the technical scheme that discloses is: the electric vehicle comprises a sealed cabin, an engine, a generator, a gearbox and a propeller, wherein the bottom of the sealed cabin is provided with a driving wheel, and the front part of the sealed cabin is provided with a steering wheel; the sealed cabin is provided with a natural air supply system; the lower end of the tail part of the sealed cabin is provided with a rubber catching glove with a built-in spring, the two sides of the outside are respectively provided with a counter weight iron block for submergence and a floating barrel for floating, and the rubber catching glove is connected with a winch through a steel wire rope.

In addition, the patent application number is 201910895956.5, the invention name "a large heavy load underwater glider and its control method" discloses the technical scheme as follows: the glider includes glider fuselage, first buoyancy drive unit, second buoyancy drive unit, energy unit, wing unit, navigation positioning unit, the control unit, perpendicular tail vane and attitude control unit, places the component unit in the inside of glider fuselage from glider fuselage bow to stern in proper order: the device comprises a first buoyancy driving unit, an energy unit, a second buoyancy driving unit, a navigation positioning unit, a control unit and a vertical tail rudder; the posture adjusting unit is positioned below the energy unit and comprises a movable heavy object, a lead screw, a nut, a coupler and a posture adjusting motor.

The key technology of the light high-speed amphibious submersible vehicle mainly reflects the aspects of high-efficiency power transmission, light weight of the whole vehicle, resistance reduction and acceleration on the water surface, safe operation of the whole area, quick buoyancy preparation, stable propulsion during diving and the like. The submersible vehicles related to the utility model do not adopt the scheme of 'full electric single-machine driving four-propeller propulsion' to provide power for the vehicle to run on land and run in water, and do not adopt the scheme of 'buoyancy rapid preparation' to solve the buoyancy problem required by the vehicle running on the water surface; the problems of buoyancy required by the vehicle and rapid submergence and floatation are solved by adopting a buoyancy air bag device are not mentioned; the technical scheme of changing the rotating speed and the steering of the electric propeller is adopted to solve the problem of the underwater navigation attitude control; the 'wheel lifting device' is not adopted to reduce the water resistance during the operation of the water surface and the underwater diving; the scheme of 'power generation and charging equipment and vehicle separation' is adopted to solve the problems of light weight of the whole vehicle and safety guarantee. The technical scheme disclosed by the invention patent of 'a large heavy-load underwater glider and a control method thereof' with the patent application number of 201910895956.5 provides a control strategy and a navigation control strategy for realizing the grading high-precision adjustment of the pitching attitude of the whole machine through two buoyancy systems and an attitude adjusting unit, but the control strategy is huge in main structure, complex in control system and overweight in quality, and obviously does not adapt to the basic requirements of 'light high-speed amphibious diving vehicles'.

Disclosure of Invention

The invention aims to provide a light high-speed amphibious vehicle for diving, which completely overcomes the limitations that foreign diving speed boats can not be driven ashore, the speed of a diving vehicle on the water surface is low, and the endurance time is short, really realizes land universe driving, water surface high-speed driving and underwater flexible diving, has excellent performance of amphibious maneuvering and underwater diving, has obvious bright spots of light vehicle body, high speed, large carrying capacity, multiple purposes, low manufacturing cost and the like, and better meets various urgent needs in the military and commercial fields.

The invention adopts the following technical scheme to achieve the purpose of the invention. A light high-speed amphibious submersible vehicle comprises six system modules, namely a frame module 100, a power module 200, a driving module 300, a buoyancy module 400, an electric module 500, a control module 600 and the like.

Wherein: frame module 100 includes frame assembly 110, suspension mechanism 120, weapon mount assembly 130, and enclosure assembly 140; the frame assembly 110, the suspension mechanism 120, the weapon suspension bracket assembly 130, etc. are all made of titanium alloy material, and the cover component 140 is made of carbon fiber material or aluminum magnesium alloy material.

The frame assembly 110 is composed of a lower annular beam 111, suspension beams 112, a bottom cross beam 113, an upper annular beam 114, vertical beams 115, an upper cross beam 116, side beams 117, side bars 118 and the like, wherein 4 suspension beams 112 are orderly welded on the front side and the rear side of the lower annular beam 111, 2 bottom cross beams 113 are orderly welded with the suspension beams 112 on the front side and the rear side of the lower annular beam 111 respectively, the upper annular beam 114 is orderly welded with the lower annular beam 111 through 8 vertical beams 115, 2 side bars 118 are orderly welded above the two sides of the upper annular beam 114, the two ends of the upper cross beam 116 are orderly welded on the 2 side bars 118, and 2 side beams 117 are orderly welded on preset positions in the middle of the two sides of the lower annular beam 111 respectively.

The suspension mechanism 120 is composed of a hydraulic shock absorber assembly 121, an upper swing arm 122, a lower swing arm 123, a connecting seat 124, a pin shaft 125 and other components; the hydraulic damper assembly 121 is assembled by a hydraulic cylinder and a damper, and has double functions of vehicle damping and wheel lifting.

The connection relationship between the components in the suspension mechanism 120 is: connecting holes are formed in the two ends of the hydraulic shock absorber assembly 121, the upper swing arm 122 and the lower swing arm 123; the middle part of the lower swing arm 123 is provided with a mounting hole; the connecting holes at the upper ends of the hydraulic shock absorber assembly 121, the upper swing arm 122 and the lower swing arm 123 are sequentially connected with the connecting seats 124 through pin shafts 125 respectively; the connecting holes at the lower ends of the upper swing arm 122 and the lower swing arm 123 are respectively and orderly connected with the connecting holes at the upper end and the lower end of each hub assembly 321 through a pin shaft 125; the connecting holes at the lower end of each hydraulic shock absorber assembly 121 are sequentially connected with the mounting holes on each lower swing arm 123 through pin shafts 125 respectively; each connecting seat 124 is sequentially fixed on a preset position of the frame assembly 110 through a fastening bolt.

The weapon carrier 130 is welded to the upper ring beam 114 at a predetermined position in order.

And the cover component 140 is orderly and fixedly arranged on the frame assembly 110 and the preset position above the hull shell 410 through fastening bolts.

Power module 200 includes, among other components, a drive motor 210, a conduit pusher 220, a power battery pack 230, and a hydraulic station 240.

The driving motor 210 is directly powered by the power battery pack 230, the driving motor 210 is sealed and insulated by a special box body and is orderly and fixedly arranged in the middle of the frame assembly 110 through a plurality of fastening bolts, and output shafts at two ends of the driving motor 210 are orderly connected with the front transmission shaft 311 and the rear transmission shaft 313 respectively.

The duct propeller 220 is directly powered by the power battery pack 230, and the duct propeller 220 comprises a No. 1 duct propeller 221, a No. 2 duct propeller 222, a No. 3 duct propeller 223 and a No. 4 duct propeller 224, wherein the No. 1 duct propeller 221 and the No. 4 duct propeller 224 are respectively and sequentially fixedly arranged at the left side and the right side of the rear part of the frame assembly 110, and the No. 2 duct propeller 222 and the No. 3 duct propeller 223 are respectively and sequentially fixedly arranged at the middle of the rear part of the frame assembly 110.

The power battery pack 230 comprises a power battery 1# group 231 and a power battery 2# group 232, wherein the power battery 1# group 231 and the power battery 2# group 232 are sealed and insulated by a special box body and are respectively and sequentially fixedly arranged at the middle rear parts of two sides of the frame assembly 110 in the hull shell 410.

The hydraulic station 240 is composed of components such as an electric motor 241, a gear pump 242, a control valve 243, a hydraulic oil tank 244 and an oil delivery pipe 245, and is used for achieving a telescopic function and improving hydraulic energy for hydraulic elements such as the hydraulic shock absorber assembly 121; the various components of hydraulic station 240 are sequentially connected and sequentially fixed at predetermined positions on frame assembly 110.

The driving module 300 is composed of a transmission component 310, a differential assembly 320, a wheel assembly 330 and the like; wherein

The transmission component 310 comprises a front transmission shaft 311, a rear transmission shaft 312 and a transmission half-shaft assembly 313; two ends of the front transmission shaft 311 are respectively and orderly connected with a front output shaft of the driving motor 210 and an input shaft of the front differential assembly 321; two ends of the rear transmission shaft 312 are respectively connected with a rear output shaft of the driving motor 210 and an input shaft of the rear differential assembly 322 in order; two ends of the two front transmission half shaft assemblies 313 are respectively connected with output shafts on two sides of the front differential assembly 321 and the two front wheel hub assemblies 331 in order; two ends of the two rear transmission half shaft assemblies 313 are respectively connected with output shafts at two sides of the rear differential assembly 322 and the two rear wheel hub assemblies 331 in order.

The wheel assembly 330 comprises a hub assembly 331, a brake assembly 332, a rim 333, a tire 334 and the like; wherein each brake assembly 332 is sequentially connected with each hub assembly 331 respectively; each tire 334 is fixed on each rim 333 in order; each hub assembly 331 is in series connection with each rim 333.

The buoyancy module 400 is composed of a hull case 410, an occupant compartment 420, a buoyancy bladder 430, a high pressure gas tank 440, an oxygen supply device 450, and the like.

The hull 410 and the crew cabin 420 are made of carbon fiber material, and the high pressure air tank 440 is made of titanium alloy material.

The hull shell 410 is a non-sealed body; the interior of the ship is provided with a plurality of keels for increasing the strength of the ship body, the cross section of the bottom of the ship is in a shallow V shape, the bottom is a sliding surface in the longitudinal direction, and wave-absorbing diversion trenches are arranged on two sides of the bottom surface, so that the water resistance can be obviously reduced and the water-lifting power can be continuously generated; hull shell 410 is sequentially mounted to the exterior of frame assembly 110 via a plurality of fastening bolts.

The crew cabin 420 has two structural forms of pressure-bearing sealing waterproof and non-cabin pressure waterproof; under the 'non-cabin pressure waterproof' state, oxygen supply equipment 450 must be equipped, and drivers and passengers must wear diving suits; the crew cabin 420 in the form of pressure-bearing sealing and water-proof is a sealing body, and oxygen supply devices 450 are respectively arranged for all the crew members to ensure the safety of the crew members even in the form of pressure-bearing sealing and water-proof; the cockpit 420 is sequentially fixed in the hull 410 at the front portion of the frame assembly 110 via a plurality of fastening bolts.

The buoyancy airbag 430 comprises a left buoyancy airbag 431, a right buoyancy airbag 432 and a rear buoyancy airbag 433, which are respectively and sequentially fixedly arranged at the left side, the right side and the rear part of the frame assembly 110 in the hull shell 410.

The high pressure air tank 440 includes a left air tank 441 and a right air tank 442, which are sequentially and fixedly installed at the left and right sides of the frame assembly 110 in the hull 410.

The specially equipped oxygen supply device 450 has 1-4 sets, which are respectively arranged around 1-4 seats and can provide oxygen amount required by 3 hours of vehicle-mounted submergence for 1-4 drivers.

The electrical module 500 is composed of a mobile power station 510, an air compressor station 520, an equipment box 530, and the like.

The mobile power station 510 is a charging and power generating device, comprises a diesel engine 511 (optionally provided with a 140Kw diesel engine for vehicles), a generator 512 (optionally provided with a 120Kw three-phase alternating current permanent magnet generator), a charger 513 (optionally provided with a 120Kw electric vehicle charging pile) and other parts, and can be stored on a landing ship or a shore base to quickly charge the power battery pack 230 in the invention at any time; the mobile power station 510 can also be composed of a 120Kw electric vehicle charging pile and a common vehicle, and can be connected with a peripheral 220/380V alternating current power supply at any time to conveniently and rapidly charge the power battery pack 230.

The air compressor station 520 is a gas making device and comprises a motor 521, an oil-free air compressor 522 and other components; the air compressor station 520 may provide 10bar of compressed air to the high pressure air storage tank 440.

The equipment box 530 is a sealed box, all the components of the mobile power station 510 and the air compressor station 520 can be sequentially and fixedly arranged in the equipment box 530, and the equipment box 530 is sequentially and fixedly arranged at a preset position of the frame assembly 110 in the hull shell 410 through a fastening bolt.

In order to reduce the self weight of the vehicle, reduce the sealed space and improve the loading capacity, the electric module 500 can be completely separated from the whole vehicle, and all the components in the mobile power station 510 and the air compressor station 520 are intensively and independently installed in another mobile device (vehicle).

The control module 600 is composed of a land driving control device 610, a water surface operation control device 620, a submerging control device 630, an instrument integration device 640, a wheel lifting control device 650 and the like.

Wherein: the land driving control device 610 includes a steering gear assembly 611, a tie rod assembly 612, a steering column assembly 613 and a steering wheel 614; wherein, two ends of the steering gear assembly 611 are orderly connected with two tie rod assemblies 612 respectively, and the steering wheel 614 is orderly connected with the steering gear assembly 611 through a steering column assembly 613; the land driving control device 610 is sequentially and fixedly arranged at the front lower part of the frame assembly 110, and the steering wheel 614, the steering column assembly 613, the water surface operation control device 620, the submerging control device 630, the instrument integration device 640, the wheel lifting control device 650 and the like are sequentially and fixedly arranged in the passenger cabin 420.

The external dimension of the invention is not more than 6.2x2.0x1.68 m, the reconditioning mass is not more than 2000 kg, 1-4 passengers are driven, and the loading weight can reach 700 kg.

The invention is provided with three operation modes of land driving, water surface operation and underwater diving.

Wherein: the land running directly drives each wheel assembly 330 by 1 driving motor 210 through a front transmission shaft 311, a front differential assembly 321, a rear transmission shaft 312, a rear differential assembly 322 and each transmission half shaft 313; the driving motor 210 is a 53Kw permanent magnet synchronous motor, so that the speed per hour of land running can reach more than 80 kilometers, and the driving range can reach 200 kilometers.

The water surface operation is simultaneously propelled by 4 conduit propellers 220; the No. 1 duct propeller 221, the No. 2 duct propeller 222, the No. 3 duct propeller 223 and the No. 4 duct propeller 224 are all 12.5Kw duct propellers, so the speed per hour of the water surface can reach 27 sections (50 kilometers), and the endurance mileage can reach over 100 kilometers.

The underwater diving is simultaneously propelled by two duct propellers, namely a duct propeller 1# 221 and a duct propeller 4# 224 which are positioned at the two sides of the rear part of the vehicle body, so that the speed per hour can reach more than 7.5 sections (14 kilometers), and the endurance mileage can reach more than 56 kilometers; or the four catheter propellers such as the No. 1 catheter propeller 221, the No. 2 catheter propeller 222, the No. 3 catheter propeller 223 and the No. 4 catheter propeller 224 are used for simultaneous propulsion, so the speed per hour can reach more than 11 sections (20 kilometers), and the endurance mileage can reach more than 40 kilometers.

The working principle and process of the suspension mechanism 120 to complete the wheel lifting in the invention are as follows: when the vehicle enters a 'water surface running' mode or an 'underwater diving' mode, manually operating the wheel lifting control device 650 to enable the hydraulic cylinder in the hydraulic shock absorber assembly 121 to contract upwards and pull the lower swing arm 123 to rotate upwards by taking the pin shaft 125 on the connecting seat 124 as a center, so that the hub assembly 331 and the wheel assembly 330 thereof sequentially connected with the upper swing arm 122 and the lower swing arm 123 are rapidly lifted upwards by 300 millimeters (at the moment, the hydraulic cylinder is self-locked), and when the vehicle returns to the 'land running' mode, manually operating the wheel lifting control device 650 to enable the hydraulic cylinder in the hydraulic shock absorber assembly 121 to extend downwards to an initial setting position and drive the lower swing arm 123 to reversely rotate together, so that the hub assembly 331 and the wheel assembly 330 thereof sequentially descend until the initial setting position is returned (at the moment, the hydraulic cylinder is self-locked again); under the running modes of 'surface running' and 'underwater diving', the 'wheel lifting' device has the significant function of obviously reducing water resistance.

The capacity of a power battery pack 230 equipped for the diving vehicle is a 120Kw lithium battery pack (or a cobalt-free high-energy battery pack or a graphene high-energy battery pack), and the mobile power station 510 can rapidly charge the power battery pack 230; after full charge, the underwater vehicle can submerge for more than 2-4 hours.

The diving depth of the invention can reach more than 30 meters (100 feet) under water; the submergence and the floatation are determined by the amount of compressed air in the buoyancy air cells 430, that is, the air in the buoyancy air cells 430 is exhausted when submergence is needed, and the buoyancy air cells 430 are filled with compressed air in the high-pressure air storage tank 440 when floatation is needed.

Compressed air in the high-pressure air storage tank 440 is provided by the air compressor station 520, and the primary filling time is only 15 minutes; the compressed air in the air tank 440 ensures the amount of air required for the present invention to completely emerge from the water 30 meters below the water 2 consecutive times.

The operation rule of the invention in water is as follows: buoyancy required for water surface operation is provided by three buoyancy airbags 430 positioned at the two sides and the rear part of the bottom of the vehicle body, a front cockpit 420 and two high-pressure air tanks 440; the water surface steering and the underwater steering (including in-situ turning) are controlled by the rotating speed or the steering of the duct propeller 220 arranged at the two sides of the rear part; the submergence depth is controlled by the compressed air reserve in the buoyancy airbag 430; the submerging floating and submerging are controlled by duct thrusters 220 arranged on the two sides of the rear edge of the ship body; during the diving and navigation, the water surface information can be detected through the mast of the photoelectric sensor; in addition, a microcomputer-controlled "automatic depth control" system is provided in the meter integrated device 640 to ensure that the vehicle does not dive or ascend at too high a speed.

The driving operation rule of the invention is as follows: the land-based operation control device 610 operates in exactly the same manner as an off-road vehicle; when the water surface runs, only the function change-over switch in the wheel lifting control device 650 is pressed, the four wheel assemblies 330 are automatically lifted upwards by 300 mm, and 2-4 conduit thrusters 220 are started to run; when underwater diving is needed, only a diving function switch in the diving operation control device 630 and the buoyancy air bag 430 are pressed down to automatically and orderly deflate outwards, and the vehicle dives at a set speed until diving for 30 meters; the diving depth of the vehicle is displayed by the instrument board, and the driver can decide whether to continue diving or not according to the diving depth; all electronic instruments (including observation equipment such as military vehicle-mounted radar, sextant and the like) on the vehicle are sealed and independently stored in the instrument integration device 640, so that the problem that a vehicle control system is possibly invalid when the vehicle is navigated underwater can be avoided to the maximum extent; the correct underwater submerging direction of the vehicle can be ensured by the guidance of radio signals sent by the vehicle-mounted electronic instrument equipment and the base navigation station.

Due to the adoption of the technical scheme, the invention perfectly realizes the aim of the invention, comprehensively and systematically displays the key common techniques in six aspects of high-efficiency power transmission, light whole vehicle weight, resistance and speed reduction on the water surface, safe global operation, stable diving propulsion, quick buoyancy preparation and the like which are mastered at present, and has the following outstanding advantages and beneficial effects compared with similar products.

1. Scientific design, simple structure, reliable performance and excellent and super-group overall performance of the whole vehicle.

2. The component configuration is high-end, the manufacturing technology is advanced, and the energy-saving and environment-friendly effects are very obvious.

3. Light weight, high speed, large loading capacity, high cost performance and wide application.

Drawings

The invention is further described below with reference to the given figures.

FIG. 1 is a schematic diagram of six system modules according to the present invention.

Fig. 2 is a general structure of the present invention and a general arrangement diagram of its main components.

FIG. 3 is a perspective view of the frame assembly of the present invention.

Fig. 4 is a layout diagram of the main components of the power and drive system of the present invention.

Fig. 5 is a side view showing a land travel state of the present invention.

FIG. 6 is a layout view of the main components of the buoyancy system of the present invention.

Fig. 7 is a side view of the water surface operation state of the present invention.

Fig. 8 is a side view of the underwater submergence of the present invention.

Fig. 9 is a front view of the suspension mechanism of the present invention.

Fig. 10 is a front view of the invention after lifting of the wheels and operation in water.

Detailed Description

As can be seen from fig. 1, 2, 3, 4, 5, 6, 7, 8, 9 and 10, the present invention is composed of six system modules, i.e., a frame module 100, a power module 200, a driving module 300, a buoyancy module 400, an electrical module 500 and a control module 600, and has the significant technical features of "scientific design, simple structure and reliable performance".

Wherein frame module 100 includes frame assembly 110, suspension mechanism 120, weapon mount assembly 130, and enclosure assembly 140; the power module 200 comprises a driving motor 210, a conduit pusher 220, a power battery pack 230, a hydraulic station 240 and the like; the drive module 300 includes a transmission member 310, a differential assembly 320, and a wheel assembly 330; the buoyancy module 400 comprises a hull shell 410, an operator cabin 420, a buoyancy air bag 430, a high-pressure air storage tank 440, an oxygen supply device 450 and the like; the electrical module 500 comprises a mobile power station 510, an air compressor station 520, an equipment box 530 and the like; the control module 600 includes a land-based operation control device 610, a surface operation control device 620, a submergence control device 630, a meter integration device 640, a wheel lift control device 650, and the like.

As shown in fig. 1, 2 and 4, in order to reduce transmission components and improve power transmission efficiency, save space in a vehicle, reduce self weight of a war chariot and facilitate light weight of the whole vehicle, the invention thoroughly abandons a diesel-electric power system adopted by the submarine, and particularly adopts an all-electric power system composed of advanced electric components; the power system has high configuration end, reliable performance, simple operation and control, convenient assembly, disassembly and maintenance, no noise, zero emission, energy conservation and environmental protection.

As further shown in fig. 1 and 2, in order to ensure the safe operation of the electrical equipment, an equipment box 530 is specially assembled, the equipment box 530 is a sealed box body and is made of carbon fiber material, the mobile power station 510 and the air compressor station 520 are sequentially and fixedly installed in the equipment box 530, and the equipment box 530 is sequentially and fixedly installed on a preset position of the frame assembly 110 through fastening bolts. In addition, in order to save a large amount of space in the vehicle, greatly reduce the self weight, effectively reduce the accident occurrence probability, and avoid and eliminate various potential safety hazards, a configuration mode of separating the electric module 500 from the whole vehicle can be adopted, and the mobile power station 510 (including the components of the diesel engine 511, the generator 512, the charger 513 and the like) and the air compressor station 520 (including the components of the motor 521, the oil-free air compressor 522 and the like) are centralized in another movable device. Therefore, the requirements of charging and gas making of a plurality of diving war vehicles can be met simultaneously, the utilization rate of power generation charging and gas making equipment is obviously improved, and the cost of purchasing vehicles in batches is saved; and high-power generation and charging equipment can be selected, good conditions are created for quick charging, and the battle requirements are better met.

As also known from fig. 1, 2, 6, 7 and 8, in order to quickly realize submergence and ascent of a vehicle in water, a brand new mode of realizing submergence and ascent by changing the volume of the buoyancy airbag 430 (namely, deflating the buoyancy airbag 430 and inflating the buoyancy airbag 430) is adopted, so that the traditional mode of realizing submergence and ascent of the submarine by filling water or inflating the ballast water tank (namely, changing the weight) is completely abandoned. After the buoyancy air bag 430 is used for replacing the ballast water tank, the weight of the buoyancy air bag 430 is far lighter than that of the ballast water tank, so that the self weight can be greatly reduced, the mechanism and corresponding equipment are simplified, the manufacturing cost is saved, and the time required by the full-floating operation of the vehicle from underwater submerging to the water surface can be obviously shortened.

As is also apparent from fig. 1 and 3, in order to maintain the interior space of the vehicle to the maximum and to ensure sufficient strength of the vehicle, a frame assembly 110, which is manufactured from a titanium alloy material and has an advanced structure, is specially provided. The frame assembly 110 is formed by sequentially combining a plurality of components such as a lower ring beam 111, a suspension beam 112, a bottom cross beam 113, an upper ring beam 114, a vertical beam 115, an upper cross beam 116, a side beam 117, a side longitudinal bar 118 and the like through special processes, and has better safety protection performance; a plurality of connecting holes are orderly formed in the frame assembly 110, and orderly and fixedly mounting with the hull shell 410 can be conveniently realized through fastening bolts.

As further shown in fig. 1, 2, 6 and 7, in order to facilitate the performance of related tasks by the driver and the passengers, a completely new vehicle body structure with "partially sealed and integrally opened combination" is particularly adopted, and the passenger compartment 420 is designed into two structural forms of "pressure-bearing sealed waterproof (i.e. fully sealed)" and "non-cabin pressure waterproof (i.e. open type)"; under the state of 'non-cabin pressure waterproof', all drivers and passengers are respectively provided with oxygen supply equipment 450, and the drivers and passengers also need to wear diving suits; under the state of 'pressure-bearing sealing waterproof', oxygen supply equipment 450 is respectively provided for ensuring the safety of drivers and passengers; all the oxygen supply equipment 450 is orderly arranged around the seats of the drivers and the passengers; the cockpit 420 is sequentially installed at a predetermined position in the front of the frame assembly 110 inside the hull 410 through fastening bolts. After a brand new vehicle body structure form organically combining partial sealing and integral opening is adopted, a plurality of sealing points and corresponding sealing parts which are necessary for the traditional amphibious vehicle are reduced, the structure of a transmission system is simplified, and the vehicle can dive and float quickly.

As further shown in fig. 7, 8, 9 and 10, in order to achieve the driving comfort and minimize the shape resistance generated during the operation of the vehicle on the water surface, a double-wishbone wheel suspension mechanism is adopted, and a unique wheel lifting device (which is also applied for the invention patent) is provided, when the vehicle enters the "operation on the water surface" and the "underwater diving" mode, the four wheel assemblies 330 are automatically lifted upwards by 300 mm by manually operating the function switches in the wheel lifting control device 650, so that the underwater resistance of the vehicle can be significantly reduced.

As can be seen from fig. 5, 6, 7, 8 and 9, in order to further reduce the water resistance and continuously generate water lift power when the vehicle runs in water and protect the buoyancy air bag 420 from scratch, the hull 410 with wave-suppressing and high-slip properties is specially provided (another invention patent is applied); in order to improve the strength of the hull and facilitate the fixation of the hull and the frame assembly 110, a plurality of keels are orderly arranged in the hull shell 410; the hull 410 may maximize the efficiency of the engine, making the vehicle easier to skid and speed up on the water.

As further shown in fig. 1, 5, 7 and 9, in order to obtain an attractive appearance, in the aspect of appearance design, the requirements of meeting the amphibious maneuvering performance to the maximum extent and improving the speed per hour of the vehicle running on the land and on the water surface to the maximum extent are fully considered and considered, so that a unique and new appearance is compromised: namely, the lower part of the vehicle body adopts a sliding type hull shell, the upper part of the vehicle body is similar to a water drop type submarine, and is specially provided with an outer cover component 140, and the outer cover component 140 is orderly and fixedly arranged on the preset positions of the frame assembly 110 and the hull shell 410 through fastening bolts.

As further shown in fig. 2, 4 and 9, in order to realize emergency braking of the vehicle during land traveling, a brake assembly 332 is sequentially mounted on the inner shaft of each hub assembly 331.

It is further known from fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9 and fig. 10 that the present invention integrates the multiple advantages of amphibious vehicles, surface yachts and small-sized submarines, can realize land-based global mobility, rapid and flexible overwater, hidden underwater diving, and is completely independent of weather and sea conditions, thereby realizing low-cost series and deep development, rapidly forming light-weight high-speed amphibious diving vehicle families, and better meeting various practical needs in military (representing a new type of combat equipment and opening a brand new combat mode) and commercial aspects.

Claims

1. A light high-speed amphibious submersible vehicle is composed of a frame module (100), a power module (200), a driving module (300), a buoyancy module (400), an electric module (500) and a control module (600); characterized in that the frame module (100) comprises a frame assembly (110), a suspension mechanism (120), a weapon pylon assembly (130) and a hood assembly (140); the power module (200) comprises a drive motor (210), a conduit pusher (220), a power battery pack (230) and a hydraulic station (240); the drive module (300) comprises a transmission member (310), a differential assembly (320), and a wheel assembly (330); the buoyancy module (400) comprises a hull shell (410), an occupant cabin (420), a buoyancy air bag (430), a high-pressure air storage tank (440) and an oxygen supply device (450); the electrical module (500) comprises a mobile power station (510), an air compressor station (520) and an equipment cabinet (530); the control module (600) comprises a land running control device (610), a water surface running control device (620), a submerging control device (630), an instrument integration device (640) and a wheel lifting control device (650); wherein: the frame assembly (110) consists of a lower ring beam (111), a suspension beam (112), a bottom cross beam (113), an upper ring beam (114), a vertical beam (115), an upper cross beam (116), a side beam (117) and a side bar (118), the four-wheel-drive-type motorcycle frame assembly comprises a lower annular beam (111), 4 suspension beams (112) which are sequentially welded on the front side and the rear side of the lower annular beam (111), 2 bottom cross beams (113) which are sequentially welded with the suspension beams (112) on the front side and the rear side of the lower annular beam (111), an upper annular beam (114) which is sequentially welded with the lower annular beam (111) through 8 vertical beams (115), 2 edge bars (118) which are sequentially welded on the upper side of the two sides of the upper annular beam (114), two ends of the upper cross beam (116) which are sequentially welded on the 2 edge bars (118), 2 edge beams (117) which are sequentially welded on preset positions in the middle parts of the two sides of the lower annular beam (111), and all parts in the motorcycle frame assembly (110) are made of titanium alloy materials; the suspension mechanism (120) is composed of a hydraulic shock absorber assembly (121), an upper swing arm (122), a lower swing arm (123), a connecting seat (124) and a pin shaft (125), wherein connecting holes are formed in two ends of the hydraulic shock absorber assembly (121), the upper swing arm (122) and the lower swing arm (123); the middle part of the lower swing arm (123) is provided with a mounting hole; connecting holes at the upper ends of the hydraulic shock absorber assembly (121), the upper swing arm (122) and the lower swing arm (123) are sequentially connected with each connecting seat (124) through pin shafts (125) respectively; connecting holes at the lower ends of the upper swing arm (122) and the lower swing arm (123) are respectively and orderly connected with connecting holes at the upper end and the lower end of each hub assembly (321) through a pin shaft (125); connecting holes at the lower end of each hydraulic shock absorber assembly (121) are sequentially connected with mounting holes on each lower swing arm (123) through pin shafts (125) respectively; each connecting seat (124) is sequentially and fixedly arranged on a preset position of the frame assembly (110) through a fastening bolt, and each part in the suspension mechanism (120) is made of a titanium alloy material; the weapon hanger (130) is made of titanium alloy materials and orderly welded on preset positions of 2 side bars (118) on the upper ring beam (114); the outer cover component (140) is made of carbon fiber materials or aluminum-magnesium alloy materials and is sequentially and fixedly arranged at a preset position above the frame assembly (110) and the hull shell (410) through fastening bolts; the driving motor (210) is sealed and insulated by a special box body and is orderly and fixedly arranged in the middle of the frame assembly (110) through a plurality of fastening bolts, and output shafts at two ends of the driving motor (210) are orderly connected with the front transmission shaft (311) and the rear transmission shaft (313) respectively; the duct propeller (220) comprises a No. 1 duct propeller (221), a No. 2 duct propeller (222), a No. 3 duct propeller (223) and a No. 4 duct propeller (224), the No. 1 duct propeller (221) and the No. 4 duct propeller (224) are respectively and sequentially fixedly arranged on the left side and the right side of the rear part of the frame assembly (110), and the No. 2 duct propeller (222) and the No. 3 duct propeller (223) are respectively and sequentially fixedly arranged in the middle of the rear part of the frame assembly (110); the power battery pack (230) comprises a power battery 1# group (231) and a power battery 2# group (232), and all the power battery packs are sealed and insulated by a special box body and are respectively and sequentially fixedly arranged at the middle rear parts of two sides of the frame assembly (110) in the hull shell (410); the hydraulic station (240) consists of a motor (241), a gear pump (242), a control valve (243), a hydraulic oil tank (244) and an oil conveying pipe (245), and all the components are sequentially connected and sequentially and fixedly arranged at a preset position of a frame assembly (110) in the hull shell (410); the transmission component (310) comprises a front transmission shaft (311), a rear transmission shaft (312) and a transmission half shaft assembly (313); two ends of the front transmission shaft (311) are respectively and orderly connected with a front output shaft of the driving motor (210) and an input shaft of the front differential assembly (321); two ends of the rear transmission shaft (312) are respectively and orderly connected with a rear output shaft of the driving motor (210) and an input shaft of the rear differential assembly (322); two ends of the two front transmission half shaft assemblies (313) are respectively connected with output shafts on two sides of the front differential assembly (321) and the two front wheel hub assemblies (331) in order, and two ends of the two rear transmission half shaft assemblies (313) are respectively connected with output shafts on two sides of the rear differential assembly (322) and the two rear wheel hub assemblies (331) in order; the wheel assembly (330) comprises a hub assembly (331), a brake assembly (332), rims (333) and tires (334), wherein each brake assembly (332) is sequentially connected with each hub assembly (331), each tire (334) is sequentially and fixedly arranged on each rim (333), and each hub assembly (331) is sequentially connected with each rim (333); the ship body shell (410) is a non-sealing body and is made of carbon fiber materials, a plurality of keels are arranged inside the ship body shell (410), the cross section of the bottom of the ship body shell is shallow V-shaped, the bottom of the ship body shell is a sliding surface in the longitudinal direction, wave-absorbing guide grooves are formed in two sides of the bottom surface of the ship body shell, and the ship body shell (410) is sequentially and fixedly arranged outside the frame assembly (110) through a plurality of fastening bolts; the crew cabin (420) has two structural forms of 'pressure-bearing sealing waterproof' and 'non-cabin pressure waterproof', and the crew cabin (420) is manufactured by carbon fiber materials and is fixedly arranged at the front part of the frame assembly (110) in the hull shell (410) in order through a plurality of fastening bolts; the buoyancy air bags (430) comprise a left buoyancy air bag (431), a right buoyancy air bag (432) and a rear buoyancy air bag (433), and the buoyancy air bags (430) are fixedly arranged at the left side edge, the right side edge and the rear part of the frame assembly (110) in the hull shell (410) in order; the high-pressure air storage tank (440) comprises a left air storage tank (441) and a right air storage tank (442), and each high-pressure air storage tank (440) is manufactured by titanium alloy materials and sequentially and fixedly arranged on the left side and the right side of the frame assembly (110) in the hull shell (410); 1-4 oxygen supply devices (450) are provided, the oxygen supply devices can provide oxygen required by 3-hour submergence for 1-4 drivers, and each oxygen supply device (450) is respectively arranged around the seat of each driver; the mobile power station (510) comprises a diesel engine (511), a generator (512) and a charger (513), and the mobile power station (510) can provide electric energy for the power battery pack (230); the air compressor station (520) comprises an electric motor (521) and an oil-free air compressor (522), and the air compressor station (520) can provide compressed air of 10bar for the high-pressure air storage tank (440); the equipment box (530) is a sealed box body, all parts of the mobile power station (510) and the air compressor station (520) are sequentially and fixedly arranged in the equipment box (530), and the equipment box (530) is sequentially and fixedly arranged at a preset position of the frame assembly (110) through fastening bolts; in order to reduce the self weight of the vehicle, reduce the sealed space and improve the carrying capacity, the electric module (500) and the whole vehicle can be completely separated and installed and independently and intensively installed in another mobile device or vehicle; the land driving control device (610) comprises a steering machine assembly (611), a tie rod assembly (612), a steering column assembly (613) and a steering wheel (614), wherein two ends of the steering machine assembly (611) are sequentially connected with the two tie rod assemblies (612) respectively, and the steering wheel (614) is sequentially connected with the steering machine assembly (611) through the steering column assembly (613); the land running control device (610) is sequentially and fixedly arranged at the front lower part of the frame assembly (110); the steering wheel (614), the steering column assembly (613), the water surface operation control device (620), the submergence control device (630), the instrument integration device (640), the wheel lifting control device (650) and the like are sequentially and fixedly arranged in a cockpit (420).

2. A light-weight high-speed amphibious submersible vehicle as claimed in claim 1, characterised in that there are three modes of operation "land travel", "surface travel" and "underwater submergence"; wherein, the land running directly drives each wheel assembly (330) by 1 driving motor (210) through a front transmission shaft (311), a front differential assembly (321), a rear transmission shaft (312), a rear differential assembly (322) and each transmission half shaft (313); the 'water surface operation' is simultaneously propelled by 4 conduit propellers (220); the underwater diving is simultaneously pushed by two duct thrusters, namely a 1# duct thruster (221) and a 4# duct thruster (224), which are positioned on two sides of the rear part of the vehicle body, or by four duct thrusters, namely a 1# duct thruster (221), a 2# duct thruster (222), a 3# duct thruster (223) and a 4# duct thruster (224).

3. A light-weight high-speed amphibious submersible vehicle as claimed in claim 1, characterised in that the operating rules in water are: buoyancy required by water surface operation is provided by three buoyancy air bags (430) positioned at two sides and the rear part of the bottom of the vehicle body, a front driver cabin (420) and two high-pressure air storage tanks (440); the water surface steering and the underwater steering, including the in-situ turning, are controlled by the rotating speed and the steering of a No. 1 duct propeller (221) and a No. 2 duct propeller (222) or a No. 3 duct propeller (223) and a No. 4 duct propeller (224) which are arranged at the two sides of the rear part; the submergence depth is controlled by the compressed air reserve in the buoyancy airbag (430); the submerging floating and submerging are controlled by a No. 1 duct propeller (221) and a No. 4 duct propeller (224) which are arranged at the two sides behind the hull; during the diving and navigation, the water surface information can be detected through the mast of the photoelectric sensor; in addition, an automatic depth control system controlled by a microcomputer is arranged in the instrument integration device (640) to ensure that the vehicle cannot dive or ascend at an excessive speed.

4. A light-weight high-speed amphibious submersible vehicle as claimed in claim 1, characterised in that the driving manoeuvre is according to the following rules: the land-based driving control device (610) operates in the same manner as an off-road vehicle; when the water surface runs, only a function change-over switch in the wheel lifting control device (650) is pressed, the four wheel assemblies (330) are automatically lifted upwards by 300 mm, and 2-4 conduit propellers (220) are started to run; when underwater diving is needed, only a diving function switch in a diving operation control device (630) and the buoyancy air bag (430) are pressed down to automatically and orderly deflate outwards, and the vehicle dives at a set speed until 30 meters of diving; the diving depth of the vehicle is displayed by the instrument board, and the driver can decide whether to continue diving or not according to the diving depth; all electronic instruments on the vehicle, including military vehicle-mounted radar and sextant observation equipment, are sealed in the instrument integration device (640) and are independently stored; the correct underwater submerging direction of the vehicle can be ensured by the guidance of radio signals sent by the vehicle-mounted electronic instrument equipment and the base navigation station.

5. A light-weight high-speed amphibious submersible vehicle as claimed in claim 1, characterised in that the hydraulic shock absorber assembly (121) is assembled from two parts, hydraulic cylinder and shock absorber, having the dual functions of "vehicle shock absorption" and "wheel lift"; the working principle and the process of the suspension mechanism (120) for completing wheel lifting are as follows: when the vehicle enters a 'water surface running' or 'underwater diving' mode, the hydraulic cylinder in the hydraulic shock absorber assembly (121) is upwards contracted and the lower swing arm (123) is pulled to upwards rotate by taking a pin shaft (125) on the connecting seat (124) as a center through manually operating the wheel lifting control device (650), so that the hub assembly (331) and the wheel assembly (330) which are orderly connected with the upper swing arm (122) and the lower swing arm (123) are quickly upwards lifted by 300 millimeters, and the hydraulic cylinder is self-locked at the moment, when the vehicle returns to a 'land running' mode, the hydraulic cylinder in the hydraulic shock absorber assembly (121) extends downwards to an initial setting position and drives the lower swing arm (123) to rotate reversely, so that the hub assembly (331) and the wheel assembly (330) thereof descend orderly until the vehicle returns to the initial setting position, and the hydraulic cylinder is locked again at the moment through manual operation of the wheel lifting control device (650); under the running modes of 'surface running' and 'underwater diving', the 'wheel lifting' has the significant function of obviously reducing water resistance.