CN210653541U - Modularized double-body unmanned boat - Google Patents

Abstract

The utility model discloses a modularized twin-hull unmanned ship, which comprises two parallel hulls, wherein the two hulls have the same structure and are detachably and fixedly connected through a connecting part; the connecting part comprises two parallel cross beams and a fixed connecting piece fixedly connected between the two cross beams, and the length direction of the cross beams is vertical to the length direction of the ship body; the top of hull have with the mounting groove of the tip looks adaptation of crossbeam, the tip inlay card of crossbeam in the mounting groove, and with the rigid coupling can be dismantled to the mounting groove. Each component part of this unmanned ship of modularization binary can dismantle the connection, and convenient transportation and use are nimble.

Description

Modularized double-body unmanned boat

Technical Field

The utility model relates to an unmanned ship technical field especially relates to an unmanned ship of modularization binary.

Background

With the continuous development of the unmanned control technology, research on unmanned boats by various organizations is gradually emerging worldwide, and as an unmanned platform, the unmanned boat can replace an existing platform in some dangerous fields, so that the danger of working in the fields is greatly reduced.

Common unmanned ship is mostly single hull structure, and the equipment that can carry is limited, can't satisfy more user demands, so the unmanned ship of two hull structures (hereinafter referred to as binary unmanned ship) has appeared, the unmanned ship of binary that has at present, and its two hull rigid couplings are together undetachable, are unfavorable for the flexibility of transportation and use.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a modularization binary unmanned ship, each component part of this modularization binary unmanned ship can dismantle the connection, but its control system's each component module distributes in the hull, and convenient transportation and use are nimble.

In order to solve the technical problem, the utility model provides a modularized twin-hull unmanned boat, which comprises two parallel hulls, wherein the two hulls have the same structure and are detachably and fixedly connected through a connecting part; the connecting part comprises two parallel cross beams and a fixed connecting piece fixedly connected between the two cross beams, and the length direction of the cross beams is vertical to the length direction of the ship body; the top of hull have with the mounting groove of the tip looks adaptation of crossbeam, the tip inlay card of crossbeam in the mounting groove, and with the rigid coupling can be dismantled to the mounting groove.

Optionally, the diapire of crossbeam sets firmly downwardly extending's fixed plate, the tip card of crossbeam inlay in under the state of mounting groove, the fixed plate with the hull butt, and both can dismantle the rigid coupling through the fastener.

Optionally, the fixed connecting piece includes two longitudinal beams arranged in parallel, two ends of the longitudinal beam are respectively fixedly connected with the two cross beams, and the fixed connecting piece further includes a transverse beam fixedly connected between the two longitudinal beams.

Optionally, the device cabin is mounted on the connecting component, two step surfaces facing downward are arranged at the rear section of the bottom of the device cabin, the device cabin is clamped against the connecting component through the two step surfaces, the two step surfaces are respectively abutted against the two longitudinal beams, and the side walls of the step surfaces are abutted against the outer side walls of the beams; the bottom wall of the equipment cabin is provided with connecting plates extending towards the rear side and the two sides, and the connecting plates are detachably and fixedly connected with the longitudinal beam or the cross beam through fasteners.

Optionally, the lifting frame is further included, two mounting seats are fixedly arranged on each cross beam, and four corners of the lifting frame are detachably and fixedly connected with the four mounting seats respectively.

Optionally, the control system further comprises a control system, wherein the control system comprises a ship-borne control part and an on-shore control part, and a plurality of control modules of the ship-borne control part are distributed inside the two ship bodies.

Optionally, each hull is provided with a propeller;

the shipboard control part comprises a main control module, a navigation module, a positioning module, a driving module, a power supply module and a shipboard communication module, and the main control module is in communication connection with the navigation module, the main control module is in communication connection with the driving module, and the main control module is in communication connection with the shipboard communication module; the navigation module is in communication connection with the positioning module;

the navigation module is used for acquiring the position and posture information of the modularized double-body unmanned ship; the main control module is used for controlling the twin-hull unmanned ship to sail according to a preset path through the navigation module, and the main control module is used for sending an instruction to the driving module to drive the propeller to work; the power supply module is used for supplying power to the main control module, the on-board communication module and the navigation module.

Optionally, the shore control part includes shore communication equipment, conversion module, remote controller, power and computer, the computer with conversion module communication connection, the remote controller with conversion module communication connection, conversion module with shore communication equipment communication connection, shore communication equipment with ship communication module communication connection, the power with conversion module links to each other, is used for doing conversion module power supply.

Optionally, a hatch cover assembly is arranged on the hull, the hatch cover assembly includes a hatch frame and a hatch cover, the hatch frame is used for being fixedly connected with the hull and being matched with the opening of the hull, and the hatch cover is used for being matched with the hatch frame to open or close the opening; a sealing structure is arranged between the cabin cover and the cabin frame, the sealing structure comprises at least one group of groove parts and boss parts which are inserted and matched, the groove parts are arranged along the circumferential direction of the opening, one of the groove parts and the boss parts is arranged on the cabin cover, and the other one of the groove parts and the boss parts is arranged on the cabin frame; and a sealing ring is also arranged in the groove part.

Optionally, the groove gap of the groove portion is the same at all positions and is greater than the thickness of the boss portion; the sealing ring is arranged on the bottom wall of the groove portion, and the boss portion is inserted into the groove portion and presses against the sealing ring when the hatch cover closes the opening.

Has the advantages that:

the utility model provides a modularized twin-hull unmanned ship, the two ship bodies are detachably and fixedly connected through a connecting part, and the ship control part of the modularized twin-hull unmanned ship is also formed by connecting a plurality of modules, which is convenient for the disassembly and assembly of the modularized twin-hull unmanned ship so as to be transported and stored; because two hulls can be disassembled, the ship can be assembled for use, and the flexibility is high.

In addition, the opening of the hull of the modularized twin-hull unmanned ship is matched with the cabin cover assembly, a sealing structure is arranged between the cabin cover and the cabin frame, specifically, a groove part and a boss part which are matched with each other in a plug-in mounting mode are arranged between the cabin cover and the cabin frame, a sealing ring is arranged in the groove part, when the cabin cover is closed, the boss part is inserted into the groove part, the sealing ring in the groove part seals the space between the groove part and the boss part, the design is carried out, in the sailing process of the unmanned ship, when water splash occurs, the sealing ring is firstly separated from the boss part by the groove part and the boss part which are matched with each other.

Drawings

Fig. 1 is a schematic structural diagram of a specific embodiment of a modular twin-hull unmanned boat provided by the present invention;

FIG. 2 is a schematic view of an assembled structure of a connecting member and a lifting frame of the modular catamaran of FIG. 1;

FIG. 3 is a schematic view of an assembled structure of connecting parts, equipment bays and a lifting frame of the modular twin-hull unmanned boat of FIG. 1;

FIG. 4 is a schematic view of the equipment bay of the modular twin hull unmanned boat of FIG. 1;

FIG. 5 is a side view of the equipment bay of FIG. 4;

fig. 6 is a schematic block diagram of a control system of the modular twin-hull unmanned boat provided by the present invention;

FIG. 7 is a schematic view of the structure of the canopy assembly of FIG. 1;

FIG. 8 is a schematic cross-sectional view of a seal between a hatch cover and a hatch frame in an exemplary embodiment.

Description of reference numerals:

a ship body 1, a propeller 11 and a heightening layer 12;

the connecting part 2, the cross beam 21, the fixing plate 211, the mounting seat 212, the fixing connecting piece 22, the longitudinal beam 221 and the transverse beam 222;

the equipment compartment 3, a step surface 31, a step side wall 32 and a connecting plate 33;

a lifting frame 4, a lifting rod 41 and a reinforcing rod 42;

the system comprises a control system 5, a main control module 511, a navigation LED lamp 5111, an expansion I/O port 5112, a navigation module 512, a GPS antenna 5121, a driving module 513, a positioning module 514, a compass 515, a power supply module 516, a ship-borne communication module 517, a radio station antenna 5171, a microphone 5172, a camera module 518, a shore-borne communication device 521, a conversion module 522, a remote controller 523, a computer 524 and a power supply 525;

the hatch 6, the groove part 61, the first convex part 611, the second convex part 612, the partition plate 62, the extension part 621, the flap part 622, the fixing bolt 63, the first reinforcing rib 64, the second reinforcing rib 65, and the hinge mechanism 66;

a cabin frame 7, a boss portion 71;

and a seal ring 8.

Detailed Description

In order to make the technical field better understand the solution of the present invention, the following detailed description of the present invention is provided with reference to the accompanying drawings and the detailed description.

Referring to fig. 1 to 5, fig. 1 is a schematic structural diagram of an embodiment of a modular catamaran unmanned surface vehicle according to the present invention; FIG. 2 is a schematic view of an assembled structure of a connecting member and a lifting frame of the modular catamaran of FIG. 1; FIG. 3 is a schematic view of an assembled structure of connecting parts, an equipment bay and a lifting frame of the modular catamaran of FIG. 1; FIG. 4 is a schematic view of the equipment bay of the modular twin hull unmanned boat of FIG. 1; fig. 5 is a side view of the equipment bay of fig. 4.

The utility model provides an unmanned ship of modularization binary, including two parallel arrangement's hull 1, two hulls 1's structure is the same, can dismantle fixed connection through adapting unit 2 between two hulls 1.

As shown in fig. 2 and 3, the connecting member 2 includes two parallel beams 21 and a fixed connecting member 22 fixed between the two beams 21.

The length direction of crossbeam 21 is perpendicular mutually with the length direction of hull 1, and the top of hull 1 has the mounting groove with the tip looks adaptation of crossbeam 21, and the tip inlay card of crossbeam 21 is in the mounting groove, and can dismantle the rigid coupling with the mounting groove. Specifically, the cross beam 21 may be fixedly connected to the bottom wall of the mounting groove of the hull 1 by a fastener penetrating through the cross beam 21, and the fastener may be selected from a screw, a bolt, or the like as needed.

It will be appreciated that the two ends of the beam 21 are connected to the tops of the two hulls 1, respectively, and that the positions of the mounting slots at the tops of the two hulls 1 correspond.

Preferably, the connection position of the two transverse beams 21 to the hull 1 is approximately at the middle position of the hull 1, obviously, the middle position is a relatively wide range and not only refers to the central point of the hull 1, so that the reliability and stability of the connection between the two hulls 1 can be ensured, and the balance of the two hulls 1 after the connection can be ensured.

The two ship bodies 1 of the modularized two-body unmanned ship are detachably and fixedly connected through the connecting part 2, so that the modularized two-body unmanned ship is convenient to transport and store, and meanwhile, the two ship bodies 1 can be detached and can be used after being assembled, and the flexibility is high; the beam 21 of the connecting part 2 is in clamping fit with the mounting groove of the ship body 1 and then is detachably and fixedly connected, so that the relative positions of the two ship bodies 1 are ensured, and the fixing reliability of the two ship bodies can be guaranteed.

In the concrete scheme, the diapire of crossbeam 21 still sets firmly downwardly extending's fixed plate 211, and the tip card of crossbeam 21 inlays under the state of the corresponding mounting groove in hull 1 top, and fixed plate 211 and hull 1 butt, and still can dismantle the rigid coupling through fastener (such as screw) between fixed plate 211 and the hull 1.

Thus, on the one hand, the length of the beam 21 matched with the ship body 1 can be limited through the fixing plate 211, and on the other hand, the reliability of fixedly connecting the beam 21 with the ship body 1 can be further improved.

The two cross beams 21 are connected through the fixed connecting piece 22, so that the connecting strength between the two ship bodies 1 can be improved.

In this embodiment, the fixed connection member 22 is an H-shaped structure, and includes two longitudinal beams 221 arranged in parallel and a transverse beam 222 connected between the two longitudinal beams 221, wherein the longitudinal beam 221 has a length direction parallel to the length direction of the hull 1, two ends of the longitudinal beam 221 are respectively fixedly connected to the two transverse beams 21, and the transverse beam 222 has a length direction parallel to the length direction of the transverse beams 21.

The fixed link 22 may have other configurations than the above configuration, as long as it can connect the two cross members 21 and improve the connection strength.

In a specific arrangement, the fixed connecting member 22 may be an integrally formed structure, or may be formed by separate processing and then fixedly connected together.

In a specific scheme, two ship bodies 1 are connected through a connecting part 2, and on the basis of ensuring the structural strength of the connecting part 2, an equipment cabin 3 of the modularized double-body unmanned boat can be installed on the connecting part 2 so as to reasonably utilize space.

The bottom rear section of the equipment compartment 3 is provided with two step surfaces 31 facing downwards, the equipment compartment 3 is clamped to the connecting component 2 through the step surfaces, specifically, after installation, the two step surfaces 31 at the bottom of the equipment compartment 3 are respectively abutted to the two longitudinal beams 221, the step side walls 32 of the step surfaces are abutted to the outer side walls of the cross beams 21 at the corresponding positions, and thus the relative positions of the equipment compartment 3 and the connecting component 2 are limited. As shown in fig. 1, the equipment bay 3 is provided near the head of the hull 1.

Meanwhile, the bottom wall of the equipment compartment 3 is further provided with a connecting plate 33 extending towards the rear side and towards both sides, as shown in fig. 4, after the equipment compartment 3 is clamped with the connecting part 2, the connecting plate 33 is detachably and fixedly connected with the longitudinal beam 221 or the corresponding cross beam 21 through a fastener.

In the specific scheme, two mounting seats 212 are fixedly arranged on each cross beam 21 of the connecting part 2 and are detachably connected with four corners of the lifting frame 4, the lifting frame 4 can be selectively mounted or dismounted according to actual application requirements, and the lifting frame 4 is arranged to facilitate launching and recovery of the modularized twin-hull unmanned ship.

As shown in fig. 1 and 2, the lifting frame 4 specifically includes a left lifting rod assembly and a right lifting rod assembly, one end of the lifting rod assembly is mounted on a lifting seat, the other end is provided with a mounting structure matched with the mounting seat 212, the lifting rod assembly includes two lifting rods 41, and a reinforcing rod 42 can be connected between the two lifting rods 41 of the lifting rod assembly for improving the strength of the lifting frame 4.

As above, all parts of the modularized double-body unmanned boat can be detachably connected, and transportation and storage are facilitated.

Referring to fig. 6, fig. 6 is a schematic block diagram of a control system of a modular twin-hull unmanned ship according to the present invention.

The control system 5 comprises a ship control part and a shore control part, wherein a plurality of control modules of the ship control part are distributed inside the two ship bodies 1 and are placed inside the two ship bodies 1 as evenly as possible with experimental equipment carried by the unmanned ship during working, so that the overall balance of the modular twin-hull unmanned ship is ensured.

In a specific scheme, each hull 1 of the modular catamaran is provided with a propeller 11 at the tail part, and the propeller 11 is controlled by the shipboard control part to push the unmanned boat to advance.

The shipboard control part comprises a main control module 511, a navigation module 512, a positioning module 514, a driving module 513, a power supply module 516 and a shipboard communication module 517, wherein the main control module 511 and the navigation module 512, the main control module 511 and the driving module 513 and the main control module 511 and the shipboard communication module 517 are in communication connection, in actual setting, two driving modules 513 can be arranged, and one driving module 513 is used for driving one propeller 11.

The navigation module 512 is integrated with a compass 515, and is in communication connection with the positioning module 514, the positioning module 514 can specifically use a GPS, specifically, a main body of the GPS is in communication connection with the navigation module 512, the main control module 511 and the navigation module 512 are both installed inside the hull 1, and the GPS antenna 5121 is installed at the top of the hull 1.

The navigation module 512 is configured to obtain position and posture information of the modular catamaran, the main control module 511 is configured to control the modular catamaran to sail according to a preset path through the navigation module 512, and the main control module 511 is further configured to send an instruction to the driving module 513 to drive the propeller 11 to operate.

The main control module 511 can also be connected with a navigation LED lamp 5111 to realize illumination of the unmanned ship working in a dark environment and facilitate discovery and search, and the main control module 511 can also be provided with an expansion I/O port 5112 in addition to a communication interface connected with other modules to connect subsequent experimental equipment as required.

The power supply module 516 is used for supplying power to the main control module 511, the on-board communication module 517, the positioning module 514 and the navigation module 512.

The driving module 513 is configured with a power supply battery, and independent power supply is realized through the power supply battery.

The shipboard control part further comprises a camera module 518, and the camera module 518 is in communication connection with the main control module 511, so that the main control module 511 transmits information shot by the camera module 518 to the onshore control part through the shipboard communication module 517.

The camera module 518 and the shipboard communication module 517 are also powered by the power module 516.

Specifically, communication module 517 on the ship can select the radio station form for use, and the host computer and the host control module 511 of radio station are connected, and radio station antenna 5171 is located hull 1 top, specifically can set up two, is located hull 1's preceding, back both ends respectively. A microphone 5172, such as a microphone, may be provided on the shipboard radio station, as desired.

The shore control part comprises shore communication equipment 521, a conversion module 522, a remote controller 523, a power supply 525 and a computer 524, wherein the computer 524 and the remote controller 523 can be in communication connection with the conversion module 522 through a communication interface, and the conversion module 522 can be in communication connection with the shore communication equipment 521 through the communication interface.

The power source 525 is connected to the conversion module 522 for supplying power to the conversion module 522, and the power source 525 may also supply power to the onshore communication device 521 as required.

The conversion module 522 is used for converting information of the computer 524 and the remote controller 523 and transmitting the converted information to the shore communication equipment 521, and transmitting the converted information to the ship communication module 517 through the shore communication equipment 521, so that communication between the shore end and the modular twin-hull unmanned ship is realized.

The on-shore communication device 521 is also preferably a radio. Besides the modules, the control system can also be provided with other modules according to application requirements.

It is understood that the shore communication device 521 is in wireless communication with the shipboard communication module 517.

Referring to fig. 7 and 8 together, fig. 7 is a schematic structural view of the cover assembly of fig. 1; FIG. 8 is a schematic cross-sectional view of a seal between a hatch cover and a hatch frame in an exemplary embodiment.

Each hull 1 of the modularized catamaran is provided with an opening, and correspondingly, the hull 1 is provided with a hatch cover assembly matched with the opening.

In this embodiment, the hatch cover assembly includes a hatch frame 7 and a hatch cover 6, the hatch frame 7 is used for being fixedly connected with the hull 1 and is positioned at the periphery of the opening, and the hatch cover 6 is used for being matched with the hatch frame 7 to open or close the opening; structures such as a control system of the unmanned ship can be placed inside the ship body 1 through the opening of the ship body 1, and preferably, the opening is formed in the top of the ship body 1, so that the distance between the opening and the sea surface during navigation is as maximum as possible, and the probability of splashing water to reach the opening position is reduced. In actual installation, according to the size and application requirements of the ship body 1, a plurality of openings can be formed in the top of the ship body 1, and correspondingly, a cabin cover 6 and a cabin frame 7 which are matched with each other are arranged at each opening. In the solution shown in fig. 1, the top of one ship hull 1 is exemplarily shown to be provided with three openings, and it can be understood that the sizes of the openings may be uniform or non-uniform according to the requirement.

A sealing structure is arranged between the cabin cover 6 and the cabin frame 7, the sealing structure comprises at least one group of groove parts 61 and boss parts 71 which are inserted and matched, the groove parts 61 are arranged along the circumferential direction of the opening, one of the groove parts 61 and the boss parts 71 is arranged on the cabin cover 6, and the other one is arranged on the cabin frame 7; the groove portion 61 is also provided with a seal ring 8.

By adopting the design, when water splashes to the hatch cover 6, part of water is blocked by the boss part 71 and the groove part 61 which are in plug fit, the residual water is prevented from entering the inside of the ship body by the sealing ring 8 in the groove part 61, and compared with a structure which is only provided with the sealing ring, the sealing effect of the sealing structure design of the ship body is better.

Of course, a plurality of boss portions and groove portions which are inserted and matched with each other may be arranged between the cabin frame 7 and the cabin cover 6 along the circumferential direction to form a multi-layer barrier, so as to further improve the sealing performance between the cabin cover 6 and the cabin frame 7, and achieve a better sealing effect.

In addition, the hatch cover 6 can be made of aluminum alloy, is firmer, more stable and less prone to deformation compared with a plastic material, and can prevent the reduction of the sealing effect caused by the deformation of the hatch cover 6; the hull 1 may be made of aluminum alloy or carbon fiber, which greatly reduces the weight of the hatch cover 6 and the hull 1 while ensuring the strength thereof.

In a specific embodiment, the boss portion 71 is disposed on the cabin frame 7, and the groove portion 61 is disposed on the cabin cover 6, so that after the cabin cover 6 is closed, the boss portion 71 is inserted into the groove portion 61, and an opening of the groove portion 61 faces the cabin frame 7, as shown in fig. 8, when water splashes, water blocked by the groove portion 61 and the boss portion 71 can flow down along the current, and cannot enter the inside of the groove portion 61, thereby avoiding water from accumulating inside the groove portion 61 and affecting the sealing ring 8 disposed in the groove portion 61.

Of course, in actual installation, the groove portion 61 may be disposed on the cabin frame 7, and the boss portion 71 may be disposed on the cabin cover 6, which may be determined according to processing requirements and actual application requirements.

In the specific arrangement, the frame body of the tank frame 7 is bent upward from the inner peripheral wall thereof to form the boss portion 71, and the frame body and the hull 1 may be fixedly connected by a fastening member or may be connected by welding or the like.

Wherein, the height of boss portion 71 is 2 ~ 4 times of the thickness of the frame body of cabin frame 7 to the splash that splashes when effectively separating the navigation, of course, in practical application, the height of boss portion 71 can set up as required, and the groove depth phase-match of concave part 61 sets up.

In this embodiment, after the tank frame 7 is fixed to the hull 1, a sealing layer is further provided therebetween.

The sealing layer has the function of ensuring the sealing between the cabin frame 7 and the ship body 1 and preventing water from entering the inside of the ship body 1 from the cabin frame 7.

The specific type of the above-mentioned sealing layer is not limited, and a seal ring, a sealant (e.g., polyurethane glue), or a seal coating may be used, as the case may be.

Two convex parts extending towards the cabin frame 7 direction are arranged on the bottom wall (towards one side wall surface of the cabin frame 7) of the cabin cover 6 along the circumferential direction, namely a first convex part 611 and a second convex part 612, and a groove part 61 is formed between the first convex part 611, the second convex part 612 and the bottom wall of the cabin cover 6; specifically, the groove gap of the groove portion 61 is larger than the thickness of the boss portion 71.

With the arrangement, when the hatch 6 is covered and opened, the boss part 71 can be normally inserted into the groove part 61, and the blockage caused by the interference of the boss part and the groove part due to machining errors and the like is avoided.

In practice, the hatch 6 provided with the groove portion 61 and the hatch frame 7 provided with the boss portion 71 are both integrally formed structures to ensure the strength of the hatch 6 and hatch frame 7 structures and to reduce the connecting portions to further ensure the sealing property.

As shown in fig. 8, the seal ring 8 is specifically provided on the groove bottom wall of the groove portion 61, and the boss portion 71 is inserted into the groove portion 61 and pressed against the seal ring 8 in a state where the hatch 7 closes the opening.

This design allows the seal ring 8 to be tightly fitted to the groove bottom walls of the boss portion 71 and the groove portion 81, thereby achieving a better sealing effect.

In the illustrated embodiment, the cross section of the sealing ring 8 is substantially rectangular, and when the hatch 6 is closed, the sealing ring 8 is located between the top wall of the boss portion 71 and the bottom wall of the groove portion 61; in actual installation, the cross section of the sealing ring 8 may be similar to a U shape, so that when the boss portion 71 is inserted into the groove portion 61, the boss portion 71 is also inserted into the U-shaped groove of the sealing ring 8 and is pressed against the bottom wall of the groove portion 61, and thus, not only is a seal formed between the top wall of the boss portion 71 and the bottom wall of the groove portion 61, but also a seal is formed between the two side walls at the top of the boss portion 71 and the groove side walls corresponding to the groove portion 61, and the sealing effect is better.

Of course, the arrangement of the sealing ring 8 is not limited to the above-described arrangement, and other arrangements are possible, for example: two sealing rings may be provided, which are respectively provided on two opposite sidewalls of the boss portion 71 or two opposite groove walls of the groove 61, specifically, an annular mounting groove for accommodating the sealing rings may be opened on the corresponding wall surface, and in a state where the hatch 6 closes the opening, the sidewall of the boss portion 71 and the groove wall of the groove portion 61 on the corresponding side press the sealing rings therebetween, so as to realize sealing between the hatch 6 and the hatch frame 7, and ensure a sealing effect of the hull 1; for another example: it is also possible to provide only one sealing ring 8, and the sealing ring 8 can be sleeved on the boss portion 71, and the sealing ring 8 is squeezed between the boss portion 71 and the second boss 612 in the closed state of the hatch 6, so that the sealing function can be achieved, and the structure is simpler compared with the above manner.

In addition to the above-mentioned solution, the bulkhead 62 is further provided on the hatch 6 along the circumferential direction, the bulkhead 62 includes the extending plate portion 621 extending outward from the connection portion between the sealing structure and the hatch 6, and the flap portion 622 bent from the outer periphery of the extending plate portion 621 toward the hatch frame 7, and in the embodiment shown in the drawing, the groove portion 61 is formed on the hatch 6, that is, the bulkhead 62 includes the extending plate portion 621 extending outward from the connection portion between the second protruding portion 612 and the hatch 6, and the flap portion 622 bent from the extending plate portion 621 toward the hatch frame 7, and when the hatch 6 closes the opening, a gap exists between the flap portion 622 and the hatch frame 7 so as not to affect the fit between the groove portion 61 and the flap portion 71.

The arrangement of the partition plate 62 can further improve the waterproof function, and water splashed on the ship body 1 is partially blocked by the partition plate 62, and then further waterproof is realized through the sealing structure.

Other structures having a waterproof function may be provided in addition to the partition plate 62, such as: the periphery of the cabin frame 7 is provided with a baffle plate perpendicular to the plane of the cabin frame 7, the cabin cover 6 is provided with an extending plate part extending outwards from the connection part of the sealing structure and the cabin cover 6, and a gap is formed between the baffle plate and the extending plate part.

This arrangement has the effect of blocking a portion of the water by the baffle and the extension, and the sealing structure is used to block the remaining portion of the water, similar to the baffle 62. Meanwhile, the selection of the scheme is more diversified, and different schemes can be selected according to different situations.

As shown in fig. 7, at least one first bead 64 is disposed between the flap portion 622 and the sealing structure. Specifically, the first bead 64 is provided between the flap portion 622 and the second projection portion 612.

The first reinforcing rib 64 is provided to reinforce the strength of the connection between the flap 622 and the body of the hatch 6, and to prevent the flap 622 from breaking and damaging. The shape, structure, number and arrangement of the first ribs 64 between the folded portion 622 and the second protruding portion 612 can be set according to practical requirements, and are not limited herein.

In addition to the mode of providing the reinforcing rib, the folded plate portion 622 may be reinforced by increasing the thickness of the folded plate portion 622 and making the transition of the connection portion between the folded plate portion 622 and the extension plate portion 621 smoother.

In this embodiment, as shown in fig. 1, the bottom of the hull 1 is provided with a hollow elevated layer 12.

The arrangement of the heightening layer 12 increases the overall height of the ship body 1, so that splash during navigation is difficult to splash to the position of the hatch 6 at the top of the ship body 1, the splashed splash can be effectively prevented from entering the interior of the ship body, and the tightness of the ship body is further improved.

When the ship body 1 is arranged specifically, the heightening layer 12 is mainly arranged at the middle position of the ship body 1, the length of the heightening layer is not required to be consistent with the whole length of the ship body 1, the front part of the heightening layer 12 can be of a streamline structure with gradually increased section from front to back, for example, the front part can be of a streamline structure with sharp corners, so that the resistance of the ship body 1 during navigation is reduced; the provision of the elevated layer 12 should not affect the structure of the propeller 11 or the like provided at the rear of the hull 1. The front and the back are based on the sailing direction of the unmanned boat.

As shown in fig. 1 and 7, the top surface of the hatch 6 is provided with a plurality of grooves, and the bottom surface of the hatch 6 is provided with a plurality of second reinforcing ribs 65.

The provision of the groove in the hatch 6 makes the hatch 6 lighter in weight, while the provision of the second bead 65 on the underside of the hatch 6 ensures the strength of the hatch 6.

It is to be noted that the shape of the grooves and the shape of the ribs are not restricted here as long as the normal function of the hatch 6 is not impaired.

In this embodiment, the hatch cover 6 and the hatch frame 7 are connected by a hinge mechanism 66, meanwhile, the hatch cover 6 is further provided with a fixing bolt 63, through holes corresponding to the positions are formed in the hatch cover 6 and the hatch frame 7, a threaded hole matched with the fixing bolt 63 is formed in the corresponding position of the ship body 1, and the fixing bolt 63 penetrates through the through hole and is matched with the threaded hole of the ship body 1, so that the hatch cover 6 is fixed with the ship body 1.

It is to be understood that the connection structure between the hatch 6 and the hatch frame 7 and the fixing structure between the hatch 6 and the hull 1 are not limited to the above-described manner in practical use.

The above is to the utility model provides a modular binary unmanned ship has introduced in detail. The principles and embodiments of the present invention have been explained herein using specific examples, and the above descriptions of the embodiments are only used to help understand the method and its core ideas of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, the present invention can be further modified and modified, and such modifications and modifications also fall within the protection scope of the appended claims.

Claims (10)

1. A modularized double-body unmanned boat comprises two boat bodies which are arranged in parallel, and is characterized in that the two boat bodies have the same structure and are detachably and fixedly connected through a connecting part; the connecting part comprises two parallel cross beams and a fixed connecting piece fixedly connected between the two cross beams, and the length direction of the cross beams is vertical to the length direction of the ship body; the top of hull have with the mounting groove of the tip looks adaptation of crossbeam, the tip inlay card of crossbeam in the mounting groove, and with the rigid coupling can be dismantled to the mounting groove.

2. The unmanned catamaran of claim 1, wherein a fixing plate extending downward is fixedly arranged on a bottom wall of the beam, an end of the beam is clamped in the mounting groove, the fixing plate abuts against the hull, and the fixing plate and the hull are detachably and fixedly connected through a fastener.

3. The modular catamaran unmanned ship of claim 2, wherein the fixed connection member comprises two longitudinal beams disposed in parallel, two ends of the longitudinal beams are respectively fixedly connected to the two cross beams, and the fixed connection member further comprises a transverse beam fixedly connected between the two longitudinal beams.

4. The unmanned modular catamaran craft as recited in claim 3, further comprising an equipment bay mounted on the connecting member, wherein a bottom rear section of the equipment bay is provided with two step surfaces facing downward, the equipment bay is clamped against the connecting member by the two step surfaces, the two step surfaces are respectively abutted against the two longitudinal beams, and side walls of the step surfaces are abutted against outer side walls of the cross beams; the bottom wall of the equipment cabin is provided with connecting plates extending towards the rear side and the two sides, and the connecting plates are detachably and fixedly connected with the longitudinal beam or the cross beam through fasteners.

5. The unmanned catamaran craft as recited in claim 1, further comprising a lifting frame, wherein two mounting seats are fixedly disposed on each of the beams, and four corners of the lifting frame are detachably and fixedly connected with the four mounting seats respectively.

6. The modular catamaran unmanned boat of any one of claims 1 to 5, further comprising a control system including an on-board control section and an on-shore control section, a plurality of control modules of the on-board control section being distributed inside both of the hulls.

7. The modular catamaran unmanned boat of claim 6, wherein each of the hulls is fitted with a propeller;

the shipboard control part comprises a main control module, a navigation module, a positioning module, a driving module, a power supply module and a shipboard communication module, and the main control module is in communication connection with the navigation module, the main control module is in communication connection with the driving module, and the main control module is in communication connection with the shipboard communication module; the navigation module is in communication connection with the positioning module;

the navigation module is used for acquiring the position and posture information of the modularized double-body unmanned ship; the main control module is used for controlling the twin-hull unmanned ship to sail according to a preset path through the navigation module, and the main control module is used for sending an instruction to the driving module to drive the propeller to work; the power supply module is used for supplying power to the main control module, the on-board communication module and the navigation module.

8. The modular catamaran unmanned boat of claim 7, wherein the onshore control portion comprises an onshore communication device, a conversion module, a remote controller, a power source, and a computer, the computer is communicatively coupled to the conversion module, the remote controller is communicatively coupled to the conversion module, the conversion module is communicatively coupled to the onshore communication device, the onshore communication device is communicatively coupled to the onboard communication module, and the power source is coupled to the conversion module for providing power to the conversion module.

9. The unmanned, modular catamaran craft as recited in any one of claims 1 to 5, wherein the hull is provided with a hatch assembly, the hatch assembly including a hatch frame and a hatch, the hatch frame being adapted to be secured to the hull and to engage with an opening of the hull, the hatch being adapted to engage with the hatch frame to open or close the opening; a sealing structure is arranged between the cabin cover and the cabin frame, the sealing structure comprises at least one group of groove parts and boss parts which are inserted and matched, the groove parts are arranged along the circumferential direction of the opening, one of the groove parts and the boss parts is arranged on the cabin cover, and the other one of the groove parts and the boss parts is arranged on the cabin frame; and a sealing ring is also arranged in the groove part.

10. The modular catamaran unmanned boat of claim 9, wherein a groove gap of the groove portion is the same throughout and is greater than a thickness of the boss portion; the sealing ring is arranged on the bottom wall of the groove portion, and the boss portion is inserted into the groove portion and presses against the sealing ring when the hatch cover closes the opening.

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