CN219172604U

CN219172604U - Flexible four-body unmanned ship

Info

Publication number: CN219172604U
Application number: CN202320764767.6U
Authority: CN
Inventors: 程晨; 陈茂飞; 陈裕
Original assignee: Nanjing Cangchao Technology Co ltd
Current assignee: Nanjing Cangchao Technology Co ltd
Priority date: 2023-04-10
Filing date: 2023-04-10
Publication date: 2023-06-13
Anticipated expiration: 2033-04-10

Abstract

The utility model discloses a flexible four-body unmanned ship, and belongs to the technical field of unmanned ship equipment. A flexible four-body unmanned ship comprising: a main hull; the auxiliary ship body is arranged around the main ship body and is detachably connected to the main ship body; radar components mounted around the main hull; a probe assembly rotatably coupled to the main hull; the unmanned aerial vehicle landing platform is arranged on the upper end surface of the main hull, and can provide sufficient buoyancy for the main hull through the arranged auxiliary hull, and meanwhile, the unmanned aerial vehicle landing platform can be used for rapidly monitoring a target area by being matched with the probe assembly and the radar assembly, so that the detection range is enlarged, and the operation efficiency is improved.

Description

Flexible four-body unmanned ship

Technical Field

The utility model relates to the technical field of unmanned ship equipment, in particular to a flexible four-body unmanned ship.

Background

The unmanned ship is short for unmanned water surface vehicles, and the generalized unmanned ship is a water surface robot which can execute certain appointed tasks and perform function and performance design based on task purposes; the narrow unmanned ship refers to a water surface autonomous, semi-autonomous and remote control carrier with certain maneuvering capability.

In the design process of the existing unmanned ship, the design scheme of the ship body is mostly formed by fixedly connecting single bodies or double bodies, the storm resistance of the ship body is set at the beginning of the design, and a safety margin is often arranged to ensure the safety of the ship body in the use process, so that on one hand, the manufacturing materials of the ship body are wasted, and on the other hand, the use environment of the ship body is limited.

Meanwhile, the navigation device can be mostly used for navigation in the visual range of a user, and unmanned navigation can not be performed outside the sight of the user or at night; meanwhile, the unmanned ship is provided with the image acquisition equipment, the visual range is smaller, a great amount of time is consumed on the voyage to the target area, and the unmanned ship can only survey and shoot aiming at the water surface environment.

Disclosure of Invention

The utility model aims to solve the problems in the background art, and provides a flexible four-body unmanned ship.

In order to achieve the above purpose, the present utility model adopts the following technical scheme:

a flexible four-body unmanned ship, comprising: a main hull and four subsidiary hulls located at the bottom of the main hull; the flexible connecting brackets are respectively connected between the four auxiliary hulls and the main hull to realize the relative movement between the main hull and any auxiliary hull; four groups of radar components, wherein each group of radar components are arranged on the outer wall of the main hull and are symmetrical to each other in the front-back direction and the left-right direction; a plurality of groups of probe assemblies, wherein one group of probe assemblies is arranged at the front end of the advancing direction of the main hull, and the other group of probe assemblies is arranged at the tail end of the advancing direction of the main hull; and a take-off and landing platform for carrying the unmanned aerial vehicle is formed among the plurality of groups of probe assemblies which are arranged on the main hull.

In order to facilitate driving of the auxiliary ship body, preferably, the main ship body is provided with an unmanned control device and a cockpit, and the tail part of the auxiliary ship body is provided with a propeller; the four auxiliary hulls are arranged on the water surface and the propeller is arranged in the water under the natural state, and the main hulls are not contacted with the water surface

In order to facilitate the movement of the main hull and the observation of the probe assembly, preferably, the probe assembly is provided with three groups, wherein two groups of probe assemblies are symmetrically arranged at the tail end of the main hull, and the other group of probe assemblies are arranged at the middle part of the front end of the main hull.

In order to improve the detection range of the probe assemblies, each group of probe assemblies comprises a first base fixedly arranged on the main hull and a second base capable of rotating by 360 degrees horizontally relative to the first base, and camera assemblies capable of rotating by 45 degrees in pitch angle are arranged on two sides of the second base.

In order to improve the detection effect on the nearby environment, preferably, each group of radar components is two and symmetrically arranged on the front, rear, left and right outer sides of the main hull.

In order to facilitate the connection of the main hull to the secondary hull, preferably the flexible connection bracket comprises: a connecting upper frame rotatably connected to the main hull; a connecting lower frame rotatably connected to the auxiliary ship body; wherein the upper connecting frame is rotationally connected with the lower connecting frame; the hydraulic connecting rod is arranged on the connecting lower frame, and the output end of the hydraulic connecting rod is connected with the connecting upper frame.

In order to facilitate the installation of the connecting upper frame on the main hull, further, the connecting upper frame is provided with an upper frame connecting port, and the upper frame connecting port is rotationally connected with the lower end of the main hull.

In order to facilitate the installation of the lower connecting frame on the auxiliary ship body, further, a lower frame connecting port is arranged on the lower connecting frame and is rotatably connected with the upper end of the auxiliary ship body.

In order to be convenient for link to each other to connecting the upper frame with connecting the upper frame, further, fixedly connected with goes up hinge, hydraulic stem on the upper frame of connection, fixedly connected with down hinge, hydraulic stem lower connector down on the connection lower frame, it links to each other through the hinge joint pole rotation with lower hinge to go up the hinge, the both ends of hydraulic joint pole rotate respectively and connect at the hydraulic stem connector, two sets of hydraulic stem connector rotate respectively and connect on hydraulic stem upper connector, hydraulic stem lower connector.

Compared with the prior art, the utility model provides a flexible four-body unmanned ship, which has the following beneficial effects:

the device has the advantages that the parts which are not involved in the device are the same as or can be realized by adopting the prior art, the auxiliary ship body can provide sufficient buoyancy for the main ship body, and meanwhile, the unmanned aerial vehicle landing platform can be matched with the probe assembly and the radar assembly to rapidly monitor a target area, so that the detection range is enlarged, and the operation efficiency is improved.

Drawings

Fig. 1 is a schematic perspective view of a flexible quadricycle-shaped unmanned ship according to the present utility model;

fig. 2 is a schematic top view of a flexible four-body unmanned ship according to the present utility model;

fig. 3 is a schematic perspective view of a flexible connection bracket of a flexible quadricycle-shaped unmanned ship according to the present utility model;

FIG. 4 is an exploded view of a flexible connection bracket of a flexible four-body unmanned ship according to the present utility model;

fig. 5 is a schematic structural diagram of a flexible connection bracket of a flexible quadricycle-shaped unmanned ship according to the present utility model;

fig. 6 is a schematic structural diagram II of a flexible connection bracket of a flexible quadricycle.

In the figure: 1. a main hull; 2. a secondary hull; 3. a flexible connection bracket; 4. a probe assembly; 5. a radar assembly; 6. a propeller; 7. an unmanned aerial vehicle landing platform; 8. connecting with an upper frame; 9. connecting with a lower frame; 10. a hydraulic connecting rod; 11. an upper frame connecting port; 12. an upper connecting port of the hydraulic rod; 13. a hydraulic lever lower connecting port; 14. a hydraulic rod connection port; 15. an upper hinge; 16. a lower hinge; 17. a hinge connecting rod; 18. and (5) a lower frame connecting port.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments.

In the description of the present utility model, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present utility model and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

Examples:

referring to fig. 1-6, a flexible four-body unmanned ship, comprising: the front end of the main hull 1 is arranged in a conical shape, and four auxiliary hulls 2 are positioned at the bottom of the main hull 1; the flexible connecting brackets 3 are respectively connected between the four auxiliary hulls 2 and the main hull 1 to realize the relative movement between the main hull 1 and any auxiliary hull 2; four groups of radar components 5, wherein each group of radar components 5 is arranged on the outer wall of the main hull 1 and is symmetrical to each other in the front-back and left-right directions; a plurality of probe assemblies 4, wherein one probe assembly 4 is installed at the front end of the main hull 1 in the advancing direction, and the other probe assembly 4 is installed at the rear end of the main hull 1 in the advancing direction; the unmanned aerial vehicle landing platform 7 can be used for carrying on the unmanned aerial vehicle landing platform 7 in the formation between the multiunit probe subassembly 4 that just is located on the main hull 1, can dock unmanned aerial vehicle on unmanned aerial vehicle landing platform 7, can monitor the farther department through the unmanned aerial vehicle when using, enlarges the scope of monitoring, is equipped with unmanned aerial vehicle driving, initiative obstacle avoidance and independently berth operating system in main hull 1 cabin, judges with the figure information through the barrier information and the figure information of the probe subassembly 4 feedback of radar subassembly 5 that set up, and then is convenient for plan the route, carries out the adjustment in good time to the original route.

As a preferred implementation of this example: the main hull 1 is provided with an unmanned control device and a cockpit, and the tail part of the auxiliary hull 2 is provided with a propeller 6; the auxiliary ship body 2 is provided with a battery for supplying electric energy to the propeller 6, the front end of the auxiliary ship body 2 is also in a conical shape, water can be discharged when moving, the four auxiliary ship bodies 2 are placed on the water surface, the propeller 6 is positioned in the water, and the main ship body 1 is not contacted with the water surface.

As a preferred implementation of this example: the probe assemblies 4 are provided with three groups, wherein two groups of probe assemblies 4 are symmetrically arranged at the tail end of the main hull 1, and the other group of probe assemblies 4 are arranged at the middle part of the front end of the main hull 1.

As a preferred implementation of this example: each group of probe components 4 comprises a first base fixedly arranged on the main hull 1, a second base capable of rotating by 360 degrees horizontally relative to the first base, camera components capable of rotating by 45 degrees in pitch angle are arranged on two sides of the second base, specifically, a horizontal rotating motor which is connected with the second base and used for driving the second base to rotate horizontally can be arranged in the first base, and a pitch motor which is connected with the camera components and used for realizing the camera components to rotate by 45 degrees up and down can be arranged in the second base, the embodiment is not limited to the above, for example, a gear train structure or other micro motor driving structures can be applied to the embodiment, 360-degree rotation of the probe components 4 can be realized, the motion capability of 45 degrees up and down in pitch angle is provided, the probe components 4 have an infrared night vision function, and can shoot pictures and videos in a weak light environment.

As a preferred implementation of this example: each group of radar components 5 is two, and is symmetrically arranged on the front, back, left and right outer sides of the main hull 1.

As a preferred implementation of this example: the flexible connection holder 3 includes: a connection upper frame 8 rotatably connected to the main hull 1; a connecting lower frame 9 rotatably connected to the subsidiary hull 2; wherein the upper connecting frame 8 is rotationally connected with the lower connecting frame 9; the hydraulic connecting rod 10 is installed on the connecting lower frame 9, the output end of the hydraulic connecting rod is connected with the connecting upper frame 8, the hydraulic rod in the flexible connecting support 3 can carry out passive pressure and active pressure and length adjustment, the damping effect of the flexible connecting support 3 is adjusted in real time by judging the load of incoming waves and wind, the main ship body 1 can be kept stable better and faster, and the stability of the unmanned ship is improved.

As a preferred implementation of this example: the upper frame connecting port 11 is arranged on the upper frame 8, and the upper frame connecting port 11 is rotatably connected to the lower end of the main hull 1.

As a preferred implementation of this example: the lower frame connecting port 18 is arranged on the lower connecting frame 9, and the lower frame connecting port 18 is rotatably connected to the upper end of the auxiliary ship body 2.

As a preferred implementation of this example: the upper connecting frame 8 is fixedly connected with an upper hinge 15 and a hydraulic rod upper connecting port 12, the lower connecting frame 9 is fixedly connected with a lower hinge 16 and a hydraulic rod lower connecting port 13, the upper hinge 15 is rotationally connected with the lower hinge 16 through a hinge connecting rod 17, two ends of the hydraulic connecting rod 10 are respectively rotationally connected with the hydraulic rod connecting ports 14, and two groups of hydraulic rod connecting ports 14 are respectively rotationally connected with the hydraulic rod upper connecting port 12 and the hydraulic rod lower connecting port 13.

When the device is used, the length of the hydraulic connecting rods 10 in the four groups of flexible connecting brackets 3 is adjusted, so that the flexible connecting brackets 3 can be unfolded and contracted, the center of the main ship body 1 is leveled, the buoyancy of the main ship body 1 can be improved according to actual needs, the stability of the main ship body 1 is adjusted, and external loads can be separated and weakened;

according to the utility model, through the auxiliary hull 2, sufficient buoyancy can be provided for the main hull 1, and meanwhile, the unmanned plane take-off and landing platform 7 is arranged and matched with the probe assembly 4 and the radar assembly 5, so that a target area can be rapidly monitored, the detection range is enlarged, and the operation efficiency is improved.

The foregoing is only a preferred embodiment of the present utility model, but the scope of the present utility model is not limited thereto, and any person skilled in the art, who is within the scope of the present utility model, should make equivalent substitutions or modifications according to the technical scheme of the present utility model and the inventive concept thereof, and should be covered by the scope of the present utility model.

Claims

1. A flexible four-body unmanned ship, comprising:

a main hull (1) and four subsidiary hulls (2) located at the bottom of the main hull (1);

the flexible connecting brackets (3) are respectively connected between the four auxiliary hulls (2) and the main hull (1) to realize the relative movement between the main hull (1) and any auxiliary hull (2);

four groups of radar components (5), wherein each group of radar components (5) are arranged on the outer wall of the main hull (1) and are symmetrical to each other in the front-back and left-right directions;

a plurality of groups of probe assemblies (4), wherein one group of probe assemblies (4) is arranged at the front end of the advancing direction of the main hull (1), and the other group of probe assemblies (4) is arranged at the tail end of the advancing direction of the main hull (1);

the unmanned aerial vehicle lifting platform (7) is formed among a plurality of groups of probe assemblies (4) which are arranged on the main hull (1) and are used for carrying an unmanned aerial vehicle.

2. A flexible four-body unmanned ship according to claim 1, wherein the main hull (1) is provided with an unmanned control device and a cockpit, and the tail of the auxiliary hull (2) is provided with a propeller (6);

in a natural state, the four auxiliary hulls (2) are arranged on the water surface, the propeller (6) is positioned in the water, and the main hulls (1) are not contacted with the water surface.

3. A flexible four-body unmanned ship according to claim 2, wherein the probe assemblies (4) are arranged in three groups, two groups of the probe assemblies (4) being symmetrically arranged at the tail end of the main hull (1) and the other group of the probe assemblies (4) being arranged at the middle part of the front end of the main hull (1).

4. A flexible four-body unmanned ship according to claim 3, wherein each group of probe assemblies (4) comprises a first base fixed on the main hull (1), and a second base capable of rotating horizontally by 360 degrees relative to the first base, and camera assemblies capable of rotating by 45 degrees in pitch angle are arranged on two sides of the second base.

5. A flexible four-body unmanned ship according to claim 2, wherein each group of radar modules (5) is provided in two and symmetrically arranged on the outer sides of the main hull (1) in front, back, left and right, respectively.

6. A flexible four-body unmanned ship according to claim 1, wherein the flexible connection bracket (3) comprises:

a connecting upper frame (8) rotatably connected to the main hull (1);

a connecting lower frame (9) rotatably connected to the auxiliary hull (2);

wherein the upper connecting frame (8) is rotationally connected with the lower connecting frame (9); the hydraulic connecting rod (10) is arranged on the connecting lower frame (9) and the output end of the hydraulic connecting rod is connected with the connecting upper frame (8).

7. A flexible four-body unmanned ship according to claim 6, wherein the upper frame (8) is provided with an upper frame connection port (11), and the upper frame connection port (11) is rotatably connected to the lower end of the main hull (1).

8. A flexible four-body unmanned ship according to claim 7, wherein the lower connecting frame (9) is provided with a lower frame connecting opening (18), and the lower frame connecting opening (18) is rotatably connected to the upper end of the auxiliary hull (2).

9. The flexible quadricycle of claim 7, wherein the upper connecting frame (8) is fixedly connected with an upper hinge (15) and an upper hydraulic rod connecting port (12), the lower connecting frame (9) is fixedly connected with a lower hinge (16) and a lower hydraulic rod connecting port (13), the upper hinge (15) and the lower hinge (16) are rotationally connected through a hinge connecting rod (17), two ends of the hydraulic connecting rod (10) are respectively rotationally connected to the hydraulic rod connecting ports (14), and the two groups of hydraulic rod connecting ports (14) are respectively rotationally connected to the upper hydraulic rod connecting port (12) and the lower hydraulic rod connecting port (13).