CN114132443A - Unmanned equipment transportation naval vessel and navigation use mode thereof - Google Patents
Unmanned equipment transportation naval vessel and navigation use mode thereof Download PDFInfo
- Publication number
- CN114132443A CN114132443A CN202111495028.3A CN202111495028A CN114132443A CN 114132443 A CN114132443 A CN 114132443A CN 202111495028 A CN202111495028 A CN 202111495028A CN 114132443 A CN114132443 A CN 114132443A
- Authority
- CN
- China
- Prior art keywords
- cabin
- floater
- ship
- propeller
- load
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 14
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 33
- 239000002131 composite material Substances 0.000 claims description 4
- 238000005192 partition Methods 0.000 claims description 4
- 238000005086 pumping Methods 0.000 claims description 3
- 238000011065 in-situ storage Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 claims 1
- 230000015572 biosynthetic process Effects 0.000 abstract description 4
- 238000000926 separation method Methods 0.000 abstract description 4
- 230000000712 assembly Effects 0.000 abstract description 3
- 238000000429 assembly Methods 0.000 abstract description 3
- 239000003921 oil Substances 0.000 description 11
- 238000010586 diagram Methods 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 210000005069 ears Anatomy 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Images
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/02—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement
- B63B1/10—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls
- B63B1/14—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected resiliently or having means for actively varying hull shape or configuration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B11/00—Interior subdivision of hulls
- B63B11/04—Constructional features of bunkers, e.g. structural fuel tanks, or ballast tanks, e.g. with elastic walls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B7/00—Collapsible, foldable, inflatable or like vessels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/02—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement
- B63B1/10—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls
- B63B1/14—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected resiliently or having means for actively varying hull shape or configuration
- B63B2001/145—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected resiliently or having means for actively varying hull shape or configuration having means for actively varying hull shape or configuration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B7/00—Collapsible, foldable, inflatable or like vessels
- B63B2007/003—Collapsible, foldable, inflatable or like vessels with foldable members
-
- 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
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to an unmanned equipment transportation naval vessel and a navigation use mode thereof, comprising a naval vessel body, wherein a fore-and-aft cockpit and a power cabin are arranged at the bow part of the naval vessel body, the naval vessel body positioned behind the power cabin is set as a load cabin, and the tail end of the load cabin is provided with a load cabin door capable of being automatically opened and closed; wing plates are symmetrically arranged on two sides of the load cabin, swing up and down relative to the ship body through a rotating power mechanism to realize unfolding or folding, and float assemblies are arranged at the outer edges of the single wing plates; the bottom of the warship bow is also provided with an automatic lifting warship bow propeller; the invention is matched with the floater components with two foldable sides to form the naval vessel with a rapid three-body ship type structure, can adapt to navigation under different sea conditions and navigation widths, effectively releases load space through the separation of the propelling devices at the two sides and the main ship body, and has the functions of cross-sea transportation, automatic unloading, autonomous return, grouping formation and collision avoidance.
Description
Technical Field
The invention relates to the technical field of transport vessels, in particular to an unmanned equipment transport vessel and a navigation use mode thereof.
Background
With the progress of science and technology and the improvement of productivity, natural resources become important factors of national development potential, and it is very necessary to actively maintain and develop marine resources. Among the prior art, because the island reef coastal depth of water is more money, large-scale ship can't lean on the shore to transport the supply operation to the island reef, can only rely on the transport ship of the shallower draft to accomplish through the mode of sitting the beach, and this transport ship often navigation resistance is bigger, and the speed of a ship is low, and transport efficiency is poor.
Disclosure of Invention
The applicant provides an unmanned equipment transport naval vessel with a reasonable structure and a navigation use mode thereof aiming at the defects in the prior art, so that the load space is effectively released through the structural form of a three-body ship, the unmanned equipment transport naval vessel is suitable for navigation under different sea conditions, the transport efficiency is greatly improved, and the unmanned equipment transport naval vessel is suitable for conditions of cross-sea transportation, automatic unloading, autonomous returning, grouping formation, collision avoidance and the like.
The technical scheme adopted by the invention is as follows:
the unmanned equipment transport naval vessel comprises a naval vessel body, wherein a fore-and-aft cockpit and a power cabin are arranged at the bow part of the naval vessel body, the naval vessel body behind the power cabin is a load cabin, and the tail end of the load cabin is provided with a load cabin door capable of being automatically opened and closed; wing plates are symmetrically arranged on two sides of the load cabin, swing up and down relative to the ship body through a rotating power mechanism to realize unfolding or folding, and float assemblies are arranged at the outer edges of the single wing plates; and a ship bow propeller capable of automatically lifting is further mounted at the bottom of the ship bow.
As a further improvement of the above technical solution:
the floater component is of a thin-shell ball-head cylindrical structure and comprises an equipment section at the front square round head part, an oil tank section is arranged behind the equipment section, and a floater propeller is arranged at the tail part of the oil tank section; partition frames are respectively arranged between the equipment section and the oil tank section, between the two oil tank sections and between the oil tank section and the floater propeller; the floater component is fixedly arranged at the edge of the wing plate through a partition frame.
The power cabin is provided with a bearing structure consisting of a ship bow supporting assembly, and the bearing structure is connected with a ship bow; the front end faces of the power cabins positioned at two sides of the cockpit are symmetrically provided with left and right air inlets, and the air inlets are provided with side doors.
The load cabin is of an axial horizontal cylindrical structure, and a truss girder thin shell structure is formed by a load frame assembly external shell; and wing plates are respectively rotatably arranged on the outer side surfaces of the longitudinal supports at the two sides of the load frame assembly.
Hinge supports are arranged at the front and back edges of the inner side of the wing plate at intervals, rotating shafts which are staggered from top to bottom and are axially horizontal are jointly arranged between the two hinge supports, lateral lugs extend outwards from the outer side of the longitudinal support, and a hydraulic power assembly is rotatably arranged on the longitudinal support above the lateral lugs; the downward output end and the side lug of the hydraulic power assembly are respectively and rotationally connected with the corresponding rotating shafts to form a rotating power mechanism.
A watertight cabin body is arranged at the bottom of the power cabin connected with the load cabin, a hydraulic lifting assembly is arranged in the watertight cabin body, a propelling assembly is arranged on the hydraulic lifting assembly through a support rod extending downwards, and the propelling assembly drives a propeller at the end to work to form a ship bow propeller; the bottom end of the watertight cabin body is symmetrically provided with a door.
The water pipe openings are arranged below the tail end of the load cabin in parallel, the sectional water tanks are arranged at the lower part of the load cabin and are respectively communicated with the water pipe openings through pipelines, and the water pumping and draining pumps, valves and the like are distributed on the pipelines and are used for controlling the real-time water amount in the sectional water tanks to form a buoyancy control unit.
A mast assembly is mounted at the front part of the top surface of the cockpit; the top of the ship bow part positioned outside the cockpit is provided with a narrow deck.
A double-layer structure is arranged above a ship bow part positioned at the cockpit, the upper layer is the cockpit, and the lower layer is the equipment cabin.
A navigation use mode of the unmanned equipment transportation vessel comprises the following modes:
the fast navigation mode: the ship bow propeller is upwards collected into the ship bow, the power mechanism is rotated to drive the wing plates to deflect, so that a downward turning angle is formed between the wing plates and the load cabin, and the floater propellers in the floater assembly are immersed in water and provide power for navigation by the floater propellers at two sides; during navigation, the downward turning angle is dynamically adjusted; and obtains the deflection torque and turns by adjusting the rotating speed difference of the propellers of the floater propellers at the two sides;
low-speed navigation mode: the ship bow propeller extends out of the ship bow downwards, the wing plate keeps a fixed downward turning angle relative to the load cabin through the rotating power mechanism, and the ship bow propeller and the floater propeller provide forward power together;
when the narrow channel sails, the downward turning angle between the wing plates and the load cabin is adjusted to a large angle;
during rotation, the ship bow propeller rotates quickly or rotates in place at a low speed at a push angle of +/-90 degrees in cooperation with the floater propellers at two sides at the maximum reverse differential speed;
the ship bow thruster forms composite traverse vector thrust by matching with the back thrust differential of the floater thrusters at two sides at a thrust angle of 70-80 degrees, and the ship is subjected to traverse maneuvering.
The invention has the following beneficial effects:
the invention has compact and reasonable structure and convenient operation, forms a naval vessel with a rapid three-body vessel structure by matching the hull with the floater components with two foldable sides, can adapt to navigation under different sea conditions and navigation widths, effectively releases load space by separating the propulsion devices at two sides from the main hull, has the functions of cross-sea transportation, automatic unloading and loading, autonomous return, grouping formation and collision avoidance, and greatly contributes to improving the transportation efficiency;
the invention also comprises the following advantages:
the wing plates on the two sides are rotatably arranged on the two sides of the load cabin, meet the requirements of rapid navigation, resistance reduction and stabilization when unfolded, reduce the effective navigation width of the ship body when folded, and are suitable for the requirements of narrow navigation channels and berthing;
the arrangement of the sectional water tank under the load cabin changes the buoyancy, draft and gravity center of the ship body through the control of water inflow and outflow, and the power is assisted in realizing that landing equipment carried in the load cabin floats by itself and is pushed out of the cabin.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural view (another view) of the present invention.
Fig. 3 is an exploded view of fig. 2.
Fig. 4 is a schematic view of the installation of the wing and float assembly of the present invention.
Fig. 5 is a partially enlarged view of a portion a in fig. 4.
Fig. 6 is a schematic structural diagram of the ship bow thruster.
Fig. 7 is a schematic view of the present invention in a stowed position of the wing.
Fig. 8 is a schematic view of the present invention in a loaded state.
Wherein: 1. a warship bow; 2. a ship bow propeller; 3. a float assembly; 4. a wing plate; 5. a load port door; 6. a load compartment; 7. a power compartment; 8. a mast assembly; 9. a cockpit; 10. a narrow deck;
11. a warship bow support assembly;
21. a watertight compartment; 22. opening the door; 23. a hydraulic lifting assembly; 24. a support bar; 25. a propulsion assembly; 26. a propeller;
31. an equipment section; 32. a bulkhead; 33. an oil tank section; 34. a float thruster;
41. a hinge support; 42. a hydraulic power assembly; 43. a rotating shaft;
61. a water pipe opening; 62. a load frame assembly; 621. longitudinal support; 622. and (4) side ears.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1, 2 and 3, the transportation vessel of unmanned equipment in the embodiment includes a vessel body, a fore-and-aft cockpit 9 and a power cabin 7 are arranged at a bow 1 of the vessel body, the vessel body behind the power cabin 7 is a load cabin 6, and a tail end of the load cabin 6 is provided with a load cabin door 5 which can be opened and closed automatically; wing plates 4 are symmetrically arranged on two sides of the load cabin 6, the wing plates 4 swing up and down relative to the ship body through a rotating power mechanism to realize unfolding or folding, and the outer edges of the single wing plates 4 are respectively provided with a floater component 3; the bottom of the warship bow part 1 is also provided with a warship bow propeller 2 which can automatically lift; the naval vessel with the rapid three-body vessel structure is formed by matching the naval vessel body with the floater assemblies 3 with two sides capable of being folded, can adapt to sailing under different sea conditions and navigation widths, and effectively releases load space through the separation of the propelling devices at the two sides and the main vessel body.
As shown in fig. 4, the float assembly 3 is a thin-shell ball-head-tube structure, and comprises an equipment section 31 at the front round head part, and a sonar device can be installed in the equipment section 31; an oil tank section 33 is installed behind the equipment section 31, a floater propeller 34 is installed at the tail of the oil tank section 33, and the floater propeller 34 comprises a water-cooling motor, a planetary reducer and a ducted propeller (four-blade fixed-distance high-speed propeller); the separation frames 32 are respectively arranged between the equipment section 31 and the oil tank section 33, between the two oil tank sections 33 and between the oil tank section 33 and the floater propeller 34; the floater assembly 3 is fixedly arranged at the edge of the wing plate 4 through a frame 32, and the frame 32 plays a reliable connecting and supporting role.
The power cabin 7 is provided with a bearing structure consisting of a ship bow supporting component 11, and the bearing structure is connected with the ship bow part 1; the front end surfaces of the power cabins 7 positioned at two sides of the cockpit 9 are symmetrically provided with left and right air inlets, the air inlets are provided with side doors, the side doors have water-gas separation and radar radiation absorption functions, and personnel in the cockpit 9 pay attention to entering and exiting through the side doors; the left side wall and the right side wall of the power cabin 7 are respectively provided with a watertight door and a lighting window; a pedal which can extend outwards can be arranged under the watertight door to assist people to enter and exit.
The inner wall of the power cabin 7 is adhered with sound absorption materials to reduce the transmission of mechanical vibration and noise to the ship body.
The load cabin 6 is an axial horizontal cylindrical structure, and a truss girder thin shell structure is formed by an external shell of the load frame assembly 62; the outer side surfaces of the longitudinal supports 621 on both sides of the load frame assembly 62 are respectively and rotatably provided with wing plates 4.
The left bulkhead and the right bulkhead of the load cabin 6 are provided with a lighting window and an escape watertight door.
In this embodiment, the ceiling slide rails are welded on the top of the load frame assembly 62, the trusses are welded on the left and right side walls of the interior, and the unpowered roller slide rails are welded on the bottom of the interior, so that equipment can be conveniently dragged or automatically enter and exit through the combined use of the ceiling slide rails and the roller slide rails, and the structural strength of the cabin body is enhanced; after entering the load cabin, the towed or self-propelled sea crossing equipment is fixed by an automatic locking device in the cabin.
As shown in fig. 5, hinge supports 41 are arranged at the inner side edge of the wing plate 4 at intervals in the front-back direction, a rotating shaft 43 which is staggered from top to bottom and is axially horizontal is installed between the two hinge supports 41, a side lug 622 extends outwards from the outer side surface of the longitudinal support 621, and a hydraulic power assembly 42 is rotatably installed on the longitudinal support 621 above the side lug 622; the downward output end of the hydraulic power assembly 42 and the side lug 622 are respectively connected with the corresponding rotating shafts 43 in a rotating mode to form a rotating power mechanism.
As shown in fig. 6, a watertight cabin body 21 is arranged at the bottom of the power cabin 7 connected with the load cabin 6, a hydraulic lifting assembly 23 is arranged in the watertight cabin body 21, the hydraulic lifting assembly 23 is provided with a propulsion assembly 25 through a support rod 24 extending downwards, and the propulsion assembly 25 drives a propeller 26 at the end part to work to form the ship bow thruster 2; the bottom end of the watertight compartment 21 is provided with symmetrical door openings 22.
A water pipe port 61 is arranged below the tail end of the load cabin 6 in parallel, sectional water tanks are arranged at the lower part of the load cabin 6 and are respectively communicated with the water pipe port 61 through pipelines, and a water pumping and draining pump, a valve and the like are distributed on the pipelines and are used for controlling the real-time water amount in the sectional water tanks to form a buoyancy control unit, and a centralizing air bag is arranged on the side wall.
The arrangement of the sectional type water tank at the lower part of the load cabin 6 changes the buoyancy, draft and gravity center of the ship body through the control of water inflow and outflow, and assists in realizing the self-floating and pushing-out of the landing equipment carried in the load cabin 6; and when the ship body overturns under the high sea condition, the overturning restoration of the ship body can be realized by matching with the automatic inflation of the righting air bag.
The front part of the top surface of the cockpit 9 is provided with a mast assembly 8 for installing facilities such as a navigation radar, a navigation signal lamp, an antenna, a navigation path camera and the like; the narrow deck 10 is arranged at the top of the bow part 1 positioned outside the cockpit 9 and is a platform for overhauling a manual mooring cable and a bridge external device, and the surge on the narrow deck 10 automatically flows out from a gap at the tail end of a bulwark during navigation.
A double-layer structure is arranged above the ship bow part 1 at the cockpit 9, the upper layer is the cockpit 9, and the lower layer is the equipment cabin; a driving cabin 9 is provided with a driving console required by manual driving, and a plurality of foldable stools and necessary life rescue facility storage boxes are provided for navigation equipment drivers and passengers along with a ship; and a damping suspension frame is arranged in the lower-layer equipment cabin and is used for mounting equipment of each relevant device of the navigation control system.
In the embodiment, the wing plates 4 on the two sides are rotatably arranged on the two sides of the load cabin 6, the requirements of rapid navigation, drag reduction and stabilization are met when the wing plates are unfolded, the effective navigation width of the ship body is reduced when the wing plates are folded, and the wing plates are suitable for the requirements of narrow channels and berthing.
In the embodiment, a cabin door hinge structure is arranged at the lower edge of the tail end head of the load cabin 6, the load cabin door 5 is installed through the cabin door hinge structure to form a downward-turning door type, and the opening, closing and locking of the load cabin door 5 are controlled by combining hydraulic pressure; an inflatable sealing groove structure is arranged on the joint surface of the load cabin 6 and the load cabin door 5, and the load cabin door 5 can be automatically inflated after being folded to realize a good water sealing effect.
In this embodiment, the design that the main hull and the thrust device are separated is adopted for the transportation vessel, and specifically: the main ship body is used for bearing main buoyancy, transportation load, energy supply and navigation control, and the left floater and the right floater are used for bearing ship body propulsion, navigation balance control and fuel oil storage.
In the embodiment, the wing plates 4 on two sides of the main ship body are of a rib beam skin structure, and the skin is mainly used for the structure protection effect.
The navigation using mode of the unmanned equipment transportation vessel of the embodiment comprises the following modes:
the fast navigation mode: the ship bow propeller 2 is upwards collected into the ship bow 1, the opening door 22 of the watertight cabin 21 is closed to keep the low-resistance appearance of the ship body, the rotating power mechanism drives the wing plate 4 to deflect, so that a downward turning angle is formed between the wing plate 4 and the load cabin 6, the floater propeller 34 in the floater component 3 is immersed in water to the optimal depth to obtain the optimal ratio of thrust, buoyancy and wave-making resistance, and the floater propellers 34 on two sides provide navigation power; during navigation, the downward turning angle is dynamically adjusted and is between-15 degrees and-30 degrees; and obtains the deflection torque and turns by adjusting the propeller rotation speed difference of the floater propellers 34 at the two sides;
low-speed navigation mode: the ship bow propeller 2 extends out of the ship bow part 1 downwards, the opening door 22 of the watertight cabin body 21 is folded and closed after the ship bow propeller 2 extends out downwards so as to keep the low-resistance appearance of the ship body, the wing plate 4 keeps a fixed downward turning angle relative to the load cabin 6 through a rotating power mechanism, the downward turning angle is positioned between minus 15 degrees and minus 80 degrees, and the ship bow propeller 2 and the float propeller 34 provide forward power together;
when the narrow channel sails, the downward turning angle of the wing plate 4 relative to the load cabin 6 is adjusted to a large angle, so that the sailing requirements of a water area with narrow sailing width and shallow water depth are met. Under the full-load condition, when the downward turning angle of the left and right cantilever wing plates 4 is adjusted to-80 degrees, the limit navigation width of the boat is about 6 meters, and the limit navigation water depth is 2.3 meters;
during rotation, the ship bow propeller 2 rotates at a thrust angle of +/-90 degrees (the thrust direction is 90 degrees with the ship bow angle and can be equivalent to a rudder angle), and the ship bow propeller 2 is matched with the floater propellers 34 at two sides to rotate at a high speed or rotate at a low speed in situ at the maximum reverse differential speed;
the ship bow thruster 2 forms composite traverse vector thrust by reversely thrusting and differentially matching the floater thrusters 34 at two sides at a thrust angle of 70-80 degrees, performs traverse maneuvering on the naval vessel, and is mainly used for wharf mooring, berth conversion and marine dynamic supply application.
The transport ship can control the ship bow thruster 2 to dynamically position the water surface of the ship body by a push angle of +/-15 degrees and composite vector impulse thrust formed by forward pushing and differential motion of the left floater thruster 34 and the right floater thruster 34, and is mainly used for ship-off operation, berth conversion and marine dynamic supply application of equipment when a sea-crossing arrives at a landing shoal.
In this embodiment, the downward-turning angle is an included angle formed between the upper surface of the wing plate 4 and the horizontal plane, and the downward-turning angle is a negative value when the wing plate 4 is located below the horizontal plane.
As shown in fig. 7, which is a schematic diagram of the wing plate 4 in the retracted state, the hydraulic power assembly 42 in the rotary power mechanism operates to push the wing plate 4 downward through the corresponding rotating shaft 43, so that the wing plate 4 is turned downward relative to the load compartment 6 to a preset position, and the retracted state is achieved;
as shown in fig. 8, this is a schematic view in the loading state, i.e. the load compartment door 5 is opened outwards in relation to the load compartment 6 for driving-in or driving-out use of external equipment.
The naval vessel with the three-body structure has large loading space, has the functions of cross-sea transportation, automatic unloading, autonomous return, grouping formation and collision avoidance, and greatly contributes to improving the transportation efficiency.
The above description is intended to be illustrative and not restrictive, and the scope of the invention is defined by the appended claims, which may be modified in any manner within the scope of the invention.
Claims (10)
1. The utility model provides an unmanned equipment transportation naval vessel, includes the naval hull, its characterized in that: a cockpit (9) and a power cabin (7) which are arranged in front and at the back are arranged at the bow part (1) of the ship body, a ship body positioned behind the power cabin (7) is set as a load cabin (6), and a tail end head of the load cabin (6) is provided with a load cabin door (5) which can be automatically opened and closed; wing plates (4) are symmetrically arranged on two sides of the load cabin (6), the wing plates (4) swing up and down relative to the ship body through a rotating power mechanism to realize unfolding or folding, and the outer edges of the single wing plates (4) are respectively provided with a floater component (3); and a ship bow propeller (2) capable of automatically lifting is further mounted at the bottom of the ship bow (1).
2. The unmanned equipment transport vessel of claim 1, wherein: the floater component (3) is of a thin-shell ball-head-tube-shaped structure and comprises an equipment section (31) at the front square round head part, an oil tank section (33) is installed behind the equipment section (31), and a floater propeller (34) is installed at the tail part of the oil tank section (33); partition frames (32) are respectively arranged between the equipment section (31) and the oil tank section (33), between the two oil tank sections (33) and between the oil tank section (33) and the floater propeller (34); the floater component (3) is fixedly arranged at the edge of the wing plate (4) through a partition frame (32).
3. The unmanned equipment transport vessel of claim 1, wherein: the power cabin (7) is provided with a bearing structure consisting of a ship bow supporting assembly (11), and the bearing structure is connected with the ship bow (1); the front end faces of the power cabins (7) positioned at two sides of the cockpit (9) are symmetrically provided with left and right air inlets, and the air inlets are provided with side doors.
4. The unmanned equipment transport vessel of claim 1, wherein: the load cabin (6) is of an axial horizontal cylindrical structure, and a truss girder thin shell structure is formed by an external shell of a load frame assembly (62); and wing plates (4) are respectively and rotatably arranged on the outer side surfaces of the longitudinal supports (621) at the two sides of the load frame assembly (62).
5. The unmanned equipment transport vessel of claim 4, wherein: hinge supports (41) are arranged at the inner side edge of the wing plate (4) at intervals in the front-back direction, rotating shafts (43) which are staggered up and down and are axially horizontal are jointly installed between the two hinge supports (41), lateral lugs (622) extend outwards from the outer side of the longitudinal support (621), and a hydraulic power assembly (42) is rotatably installed on the longitudinal support (621) above the lateral lugs (622); the downward output end and the side lug (622) of the hydraulic power assembly (42) are respectively and rotationally connected with the corresponding rotating shaft (43) to form a rotating power mechanism.
6. The unmanned equipment transport vessel of claim 1, wherein: a watertight cabin body (21) is arranged at the bottom of the power cabin (7) connected with the load cabin (6), a hydraulic lifting assembly (23) is arranged in the watertight cabin body (21), a propelling assembly (25) is arranged on the hydraulic lifting assembly (23) through a support rod (24) extending downwards, and the propelling assembly (25) drives a propeller (26) at the end part to work to form a ship bow propeller (2); the bottom end of the watertight cabin body (21) is provided with symmetrical door openings (22).
7. The unmanned equipment transport vessel of claim 1, wherein: and a water pipe opening (61) is arranged below the tail end of the load cabin (6) in parallel, sectional water tanks are arranged at the lower part of the load cabin (6), all the sectional water tanks are respectively communicated with the water pipe opening (61) through pipelines, and a water pumping and draining pump, a valve and the like are arranged on the pipelines and used for controlling the real-time water amount in the sectional water tanks to form a buoyancy control unit.
8. The unmanned equipment transport vessel of claim 1, wherein: a mast assembly (8) is mounted at the front part of the top surface of the cockpit (9); the narrow deck (10) is arranged at the top of the bow part (1) positioned outside the cockpit (9).
9. The unmanned equipment transport vessel of claim 1, wherein: a double-layer structure is arranged above the ship bow (1) at the cockpit (9), the upper layer is the cockpit (9), and the lower layer is the equipment cabin.
10. A navigational use of the unmanned equipped transport vessel of claim 2, wherein: the method comprises the following steps:
the fast navigation mode: the ship bow propeller (2) is upwards collected into the ship bow part (1), the power mechanism is rotated to drive the wing plate (4) to deflect, so that a downward turning angle is formed between the wing plate (4) and the load cabin (6), the floater propellers (34) in the floater assembly (3) are immersed in water, and the floater propellers (34) at two sides provide power for navigation; during navigation, the downward turning angle is dynamically adjusted; and obtains the deflection torque and turns by adjusting the propeller rotation speed difference of the floater propellers (34) at the two sides;
low-speed navigation mode: the ship bow propeller (2) extends out of the ship bow part (1) downwards, the wing plate (4) keeps a fixed downward turning angle relative to the load cabin (6) through a rotating power mechanism, and the ship bow propeller (2) and the floater propeller (34) provide forward power together;
when the narrow channel sails, the downward turning angle between the wing plate (4) and the load cabin (6) is adjusted to a large angle;
during rotation, the ship bow propeller (2) rotates fast or rotates in situ at low speed at a push angle of +/-90 degrees in cooperation with the floater propellers (34) at the two sides at the maximum reverse differential speed;
the ship bow thruster (2) is matched with the floater thrusters (34) at the two sides to reversely thrust and differentially form composite transverse moving vector thrust at a thrust angle of 70-80 degrees, so that the ship is transversely moved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111495028.3A CN114132443B (en) | 2021-12-08 | 2021-12-08 | Unmanned equipment transport ship and navigation using mode thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111495028.3A CN114132443B (en) | 2021-12-08 | 2021-12-08 | Unmanned equipment transport ship and navigation using mode thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114132443A true CN114132443A (en) | 2022-03-04 |
| CN114132443B CN114132443B (en) | 2024-09-27 |
Family
ID=80385419
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111495028.3A Active CN114132443B (en) | 2021-12-08 | 2021-12-08 | Unmanned equipment transport ship and navigation using mode thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114132443B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116176756A (en) * | 2023-03-21 | 2023-05-30 | 深海技术科学太湖实验室 | Three-body transport ship |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB814309A (en) * | 1956-01-26 | 1959-06-03 | Ray S Motor Cycle Depot Ltd | Improvements in or relating to the spring suspension of motor cycle side cars |
| US7144285B1 (en) * | 2003-07-15 | 2006-12-05 | Tareah John Hendricks | Hydrofoil surfing board |
| CN102020010A (en) * | 2009-09-23 | 2011-04-20 | 田晓江 | Wing-type symmetric controllable propeller for naval ships, vessels and submarines |
| CN105172501A (en) * | 2015-09-26 | 2015-12-23 | 哈尔滨工程大学 | Independent suspension structure of amphibious air powerboat |
| CN106428421A (en) * | 2016-09-19 | 2017-02-22 | 哈尔滨工程大学 | Multi-navigation-state in-water aircraft |
| CN106741584A (en) * | 2016-12-19 | 2017-05-31 | 中国科学院沈阳自动化研究所 | Lift-type high speed ocean robot |
| CN109250031A (en) * | 2018-07-30 | 2019-01-22 | 上海大学 | Unmanned combination ship |
| CN111661234A (en) * | 2020-05-25 | 2020-09-15 | 哈尔滨工程大学 | Underwater variable-structure multi-navigation-state aircraft |
| CN212766708U (en) * | 2020-08-06 | 2021-03-23 | 无锡市鸿声船用玻璃钢有限公司 | Seat type unmanned mechanical arm device for boat-driving |
| CN113212084A (en) * | 2021-06-09 | 2021-08-06 | 江苏科技大学 | Ice-water amphibious unmanned ship suitable for polar region sea area |
| CN113320655A (en) * | 2021-06-07 | 2021-08-31 | 上海交通大学 | Buoyancy tank at bottom of semi-submersible platform and design method thereof |
| CN113400871A (en) * | 2021-07-01 | 2021-09-17 | 益阳天华两栖车艇有限公司 | Hydrofoil device adapted to light amphibious vehicle |
-
2021
- 2021-12-08 CN CN202111495028.3A patent/CN114132443B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB814309A (en) * | 1956-01-26 | 1959-06-03 | Ray S Motor Cycle Depot Ltd | Improvements in or relating to the spring suspension of motor cycle side cars |
| US7144285B1 (en) * | 2003-07-15 | 2006-12-05 | Tareah John Hendricks | Hydrofoil surfing board |
| CN102020010A (en) * | 2009-09-23 | 2011-04-20 | 田晓江 | Wing-type symmetric controllable propeller for naval ships, vessels and submarines |
| CN105172501A (en) * | 2015-09-26 | 2015-12-23 | 哈尔滨工程大学 | Independent suspension structure of amphibious air powerboat |
| CN106428421A (en) * | 2016-09-19 | 2017-02-22 | 哈尔滨工程大学 | Multi-navigation-state in-water aircraft |
| CN106741584A (en) * | 2016-12-19 | 2017-05-31 | 中国科学院沈阳自动化研究所 | Lift-type high speed ocean robot |
| CN109250031A (en) * | 2018-07-30 | 2019-01-22 | 上海大学 | Unmanned combination ship |
| CN111661234A (en) * | 2020-05-25 | 2020-09-15 | 哈尔滨工程大学 | Underwater variable-structure multi-navigation-state aircraft |
| CN212766708U (en) * | 2020-08-06 | 2021-03-23 | 无锡市鸿声船用玻璃钢有限公司 | Seat type unmanned mechanical arm device for boat-driving |
| CN113320655A (en) * | 2021-06-07 | 2021-08-31 | 上海交通大学 | Buoyancy tank at bottom of semi-submersible platform and design method thereof |
| CN113212084A (en) * | 2021-06-09 | 2021-08-06 | 江苏科技大学 | Ice-water amphibious unmanned ship suitable for polar region sea area |
| CN113400871A (en) * | 2021-07-01 | 2021-09-17 | 益阳天华两栖车艇有限公司 | Hydrofoil device adapted to light amphibious vehicle |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116176756A (en) * | 2023-03-21 | 2023-05-30 | 深海技术科学太湖实验室 | Three-body transport ship |
| CN116176756B (en) * | 2023-03-21 | 2024-02-02 | 深海技术科学太湖实验室 | Three-body transport ship |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114132443B (en) | 2024-09-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US5237947A (en) | Variable draft hull | |
| US7712426B1 (en) | Multi-purpose expedition vessel | |
| US5517940A (en) | Variable width multi-hulled boat with telescoping mast | |
| CN111572701B (en) | Catamaran ship | |
| JP2013006578A (en) | Ship antirolling and levitation apparatus | |
| US20120024211A1 (en) | Articulated marine vehicle | |
| CN113291444A (en) | Novel reverse sailing structure device of water sailing body | |
| US7040244B1 (en) | Watercraft having plural narrow hulls and having submerged passive flotation devices | |
| US5850801A (en) | Pushing unit | |
| CN106218807B (en) | The efficient hydrofoil landing craft of multifunction caterpillar and operating method | |
| CN112173054A (en) | Bridge-erecting motorboat | |
| WO2005095201A1 (en) | Semisubmersible trimaran | |
| CN114132443B (en) | Unmanned equipment transport ship and navigation using mode thereof | |
| EP2152567B1 (en) | Sail pleasure craft | |
| CN218400937U (en) | Inland river small ship body arrangement structure | |
| US4304190A (en) | Ferry boat | |
| CN216684791U (en) | Large-capacity equipment transportation naval vessel | |
| US5325804A (en) | Fuel-efficient watercraft with improved speed, stability, and safety characteristics | |
| KR101769843B1 (en) | Multifunctional ship | |
| EP4072935B1 (en) | Hull unit with a hydrofoil system and marine vessel | |
| US5377613A (en) | Submersible boat | |
| US10000258B2 (en) | Vessel with selectively deployable hull members | |
| CN111891301A (en) | Multifunctional transport ship for sea, land and air | |
| JP6198232B1 (en) | Hull shape and propulsion device | |
| AU2007231696B2 (en) | Vessel |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |