An amphibious ship

Abstract

The present invention discloses an amphibious ship, comprising a hull, a propeller, a track assembly mechanism, an airbag flipping and descending mechanism, a contour wheel mechanism and a synchronous leg mechanism. The four-track independent driving mode can greatly improve the climbing performance of the amphibious ship, and the contour wheel can assist the four tracks in improving the obstacle crossing ability of the amphibious ship. The synchronous leg mechanism can be retracted on the hull for easy transportation, and can assist in landing after being unfolded. The airbag flipping and descending mechanism assists the amphibious ship to reverse and descend into the river through the large-angle flipping of the airbag. The four-track mechanism, the contour wheel mechanism, the synchronous leg mechanism and the airbag flipping and descending mechanism coordinate and cooperate to ensure that the amphibious ship can smoothly and stably complete the process of descending into the river and landing. The present invention has a compact and reasonable structure and is easy to operate. It can realize both land transportation and water navigation, and can effectively improve the efficiency of land-water transition operations.

Description

Technical Field

[0001] The invention belongs to the technical field of ships, and in particular relates to an amphibious ship. Background Art

[0002] The operating environment of traditional ships is limited to the water. They do not have amphibious capabilities, cannot move on land, and do not have the ability to go down the river and ashore on their own. They must use trucks, cranes and other transfer equipment to achieve transportation between land and water. There are problems such as time-consuming and labor-intensive transfer operations and high labor costs.

[0003] Most of the existing amphibious equipment are military products, such as amphibious tanks and amphibious transport vehicles, which all use crawler walking mechanisms, have strong maneuverability, good passability, and have the ability to go down the river and land on their own. However, the above-mentioned amphibious equipment has high requirements for the slope of the shore and is applicable to a relatively narrow range of occasions. The floating bridges used by the pontoon army and the inflatable pontoons used on the tracks of amphibious landing tanks all use additional floats to obtain additional buoyancy to support the main body floating, so as to achieve the purpose of self-landing and water travel. Therefore, the existing amphibious ships have the following problems: the buoyancy of the hull of the amphibious ship is insufficient during the process of self-landing, resulting in sinking and excessive inclination angle when entering the water; the operation environment is complex when operating on land and shallows; the distance between the front and rear crawlers is large, and the driving performance is not high; when the amphibious ship climbs the slope to land or goes down the river by itself, due to the soft soil on the shore, the adhesion coefficient of the hull is low, and the crawler is easy to slip, resulting in the problem of not being able to go ashore smoothly or being difficult to control when going down the river. Summary of the invention

[0004] In view of the above technical problems, the present invention relates to an amphibious ship, which includes a four-track independently driven walking mechanism and a contour wheel mechanism, wherein the four-track independently driven mode can greatly improve the climbing performance of the amphibious ship, and the contour wheel can assist the four tracks in improving the obstacle crossing ability of the amphibious ship. The synchronous leg mechanism can be retracted on the hull for easy transportation, and can assist in landing after being unfolded. The airbag flipping down-the-river mechanism assists the amphibious ship to go down the river backwards through the large-angle flip of the airbag. The four-track mechanism, the contour wheel mechanism, the synchronous leg mechanism and the airbag flipping down-the-river mechanism coordinate and cooperate to ensure that the amphibious ship can smoothly and steadily complete the process of going down the river and going ashore. The present invention has a compact and reasonable structure and is easy to operate. It can realize both land transportation and water navigation, and can effectively improve the efficiency of water-land transition operations.

[0005] The technical solution of the present invention is: an amphibious ship, comprising a hull, a propeller, a track assembly mechanism, an airbag flip-down mechanism, a contour wheel mechanism and a synchronous leg mechanism;

[0006] The propeller is installed at the bottom of the hull; there are four track groups, which are installed on both sides of the hull, two on each side; the contoured wheel mechanism is installed on both sides of the hull and located in the middle of the front and rear track groups; the airbag flip-down mechanism is installed on the rear deck of the hull; the synchronous leg mechanism is installed on the deck behind the cab.

[0007] In the above scheme, the airbag flipping and descending mechanism includes a base bracket, a cylinder base, an airbag flipping frame, a connecting rod, a working rocker, a piston rod square connector, a flipping drive cylinder, a rocker, an airbag and a four-rod frame;

[0008] The left and right sides of the airbag are respectively arranged with a cylinder base, a connecting rod, a working rocker, a four-bar frame, a flip drive cylinder, a piston rod square connector and a rocker; the base bracket is connected to the hull, the flip drive cylinder is hinged to the cylinder base pin, the cylinder base is installed on the base bracket, the rocker, four-bar frame, working rocker and connecting rod are hinged by pins to form a planar double rocker mechanism, the piston rod square connector is connected to the flip drive cylinder piston rod, the airbag flip frame is connected to the working rocker, and the airbag is connected to the airbag flip frame.

[0009] In the above scheme, the synchronous leg mechanism includes a rotating arm, a fixed earring, a rotating arm driving cylinder, an earring seat, a direct-acting telescopic arm, a direct-acting arm driving cylinder, a support frame, a double-rod cylinder, an extension shaft and a dovetail groove guide rail;

[0010] The left and right sides of the double-rod cylinder are respectively provided with a rotating arm, a direct-acting telescopic arm, a rotating arm driving cylinder, a direct-acting arm driving cylinder, a fixed earring, an earring seat, a dovetail groove guide rail and an extension shaft, the two ends of the extension shaft are respectively connected to the double-rod cylinder and the earring seat, the dovetail groove guide rail is connected to the bottom support frame, the support frame is installed on the hull chassis, the double-rod cylinder is connected to the support frame, the fixed earring and the earring seat are fixedly connected by two pins; the rotating arm is connected to the fixed earring by a pin, the direct-acting telescopic arm uses the inner side of the rectangular tube of the rotating arm as a slideway, the bottom of the cylinder barrel of the direct-acting arm driving cylinder is hinged to the rotating arm, and its piston rod end is hinged to the direct-acting telescopic arm, the bottom of the cylinder barrel of the rotating driving cylinder is hinged to the fixed earring, and its piston rod end is hinged to the rotating arm.

[0011] In the above scheme, the crawler assembly mechanism includes crawlers, traction wheels, tensioning mechanisms, guide wheels, driving wheels, driving motors, crawler frames and load-bearing wheels;

[0012] The track frame is connected to the hull, the driving wheel and the guide wheel are respectively hinged on the left and right sides of the track frame through the wheel axle, and the driving wheel is connected to the driving motor; the traction wheel and the load-bearing wheel are respectively installed on the upper and lower sides of the track frame, the guide wheel is connected to the tensioning mechanism, and the tensioning mechanism is installed on the track frame; the track is in contact with the traction wheel, the tensioning mechanism, the guide wheel, the driving wheel and the load-bearing wheel.

[0013] Furthermore, the output shafts of the drive motors are equipped with speed sensors, which are connected to the controller of the cab. The speed sensors measure the speed of the drive motors and transmit the speed to the controller, which controls the speed of the drive motors.

[0014] In the above scheme, the contour wheel mechanism includes a wheel frame, a solid rubber wheel, a shock absorber, a rotating spindle, a bearing seat and a swing wheel frame;

[0015] The wheel frame is connected to the hull, one end of the rotating main shaft is connected to the wheel frame, and the other end is connected to the bearing seat, the swinging wheel frame is fixed to the bearing seat by bolts, solid rubber wheels are respectively provided on both sides of the swinging wheel frame, and the wheel axles of the solid rubber wheels are hinged to the swinging wheel frame through bearings; shock absorbers are respectively provided on both sides of the bearing seat, the upper ends of the shock absorbers are hinged to the wheel frame through pins, and the lower ends of the shock absorbers are hinged to the swinging wheel frame through pins.

[0016] In the above solution, the propeller is a 360° fully rotating propeller.

[0017] In the above solution, the shock absorber is a spring shock absorber.

[0018] The present invention uses airbags to provide additional buoyancy in order to solve the problems of insufficient buoyancy of the hull entering the water, sinking, and excessive inclination angle when entering the water during the process of an amphibious ship launching into the river on its own. In order to make the hull structure compact and save deck space, the present invention provides an airbag flipping and launching mechanism, in which the airbag is bolted to the flipping frame and flips accordingly. During the process of the amphibious ship launching into the river or going ashore, the airbag is deployed to the outside of the hull to prevent the stern from sinking too much into the water, causing excessive changes in the hull attitude angle. Under other working conditions, the airbag is folded up and flipped onto the hull deck to restore the initial shape without affecting the normal navigation of the amphibious ship.

[0019] In order to enable the amphibious ship to operate on land and shallows, the present invention adopts a four-track walking mechanism in consideration of the complex operating environment. The mechanism is powered by a hydraulic system and adopts the differential steering principle. The rubber tracks reduce the damage to the soil, so that the amphibious ship can travel on land with greater passability. The specific technical solution for the amphibious ship to travel on land is to achieve the synchronization of the tracks through four synchronization valves. The tracks on the same side each have two synchronization valves to complete the forward and reverse synchronization of the front and rear tracks on the same side. The left and right tracks determine the speed of one track and use the difference comparison of the right speed sensor to change the flow rate, thereby achieving synchronous travel of the tracks on both sides.

[0020] The distance between the front and rear tracks is large. In order to protect the chassis and make the amphibious ship have higher driving performance, contoured wheels are installed in the middle part of the hull. They can swing up and down with the changes in terrain, ensuring that the wheels are in contact with the ground at all times, avoiding the chassis of the grass harvester from scratching against the uneven ground and causing damage to the chassis.

[0021] In order to solve the problem that when an amphibious ship climbs a slope to land or goes down a river by itself, the shore is made of soft soil, the hull adhesion coefficient is low, and the tracks are easy to slip, resulting in the inability to smoothly go ashore or the difficulty in controlling when going down a river. The present invention provides a synchronous leg-type mechanism with a movement process like skiing with snowballs, which cooperates with the rotation of the tracks and the flipping of the airbags to generate buoyancy to complete the amphibious ship's self-landing and going down a river. This structural design can reduce the problems of transportation time, manpower and funds, and effectively improve the efficiency of the transfer operation of the amphibious ship.

[0022] The synchronous leg mechanism of the present invention is rigidly connected to the hull chassis, and its movement is controlled by a hydraulic system. All joints are equipped with 5 hydraulic cylinders. During the landing process, the synchronous leg mechanism flips to the outside of the ship, and the ground-supporting action like a ski pole drives the hull to climb ashore repeatedly; after successfully landing, the mechanism flips to the inside of the ship and restores its initial shape, which does not affect the normal driving function of the amphibious ship.

[0023] The airbag of the present invention can not only assist in going down the river, but also play the role of counterweight when the amphibious ship is traveling on water. The water entry depth of the airbag, that is, the size of the buoyancy generated, can be adjusted according to the deviation of the center of gravity during the operation of the hull.

[0024] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention includes a four-track independently driven walking mechanism and a contour wheel mechanism, wherein the four-track independently driven mode can greatly improve the climbing performance of the amphibious ship, and the contour wheel can assist the four-track to improve the obstacle crossing ability of the amphibious ship. The synchronous leg mechanism can be retracted on the hull for easy transportation, and can assist in landing after being unfolded. The flip airbag river-going mechanism flips the airbag at a large angle to assist the amphibious ship to go back down the river. The four-track mechanism, the contour wheel mechanism, the synchronous leg mechanism and the airbag flip river-going mechanism coordinate and cooperate to ensure that the amphibious ship can smoothly and stably complete the process of going down the river and landing. The present invention has a compact and reasonable structure and is easy to operate. It can realize both land transportation and water navigation, and can effectively improve the efficiency of water-land transition operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A schematic diagram of an amphibious ship assembly according to an embodiment of the present invention

[0026] Figure 2 This is a structural diagram of the amphibious ship chassis installation according to one embodiment of the present invention;

[0027] Figure 3 A top view of the installation of the amphibious ship chassis according to one embodiment of the present invention;

[0028] Figure 4 A front view of the crawler mechanism according to one embodiment of the present invention;

[0029] Figure 5A structural diagram of a crawler frame according to an embodiment of the present invention

[0030] Figure 6 A schematic diagram of the contour wheel mechanism according to one embodiment of the present invention;

[0031] Figure 7 This is a schematic diagram of the synchronous leg-type mechanism according to one embodiment of the present invention;

[0032] Figure 8 A schematic diagram of the airbag flipping down-the-river mechanism according to an embodiment of the present invention;

[0033] Fig. 9 It is a schematic diagram of the deployment of the airbag flipping and river-going mechanism according to one embodiment of the present invention;

[0034] Fig.10 This is an initial position diagram of the synchronous leg mechanism according to one embodiment of the present invention;

[0035] Fig.11 It is an expanded view of the synchronous leg mechanism according to one embodiment of the present invention;

[0036] Fig.12 A diagram showing the process of the synchronous leg mechanism of the present invention going ashore or down to the river;

[0037] Fig.13 This is a diagram of the process of the amphibious ship of the present invention going ashore or down a river by itself.

[0038] In the figure: 1-360° full-rotation propeller, 2-airbag flip down-river mechanism, 3-track group mechanism, 4-contact wheel mechanism, 5-hull, 6-synchronous leg mechanism, 7-cab, 8-track, 9-tow wheel, 10-tensioning mechanism, 11-guide wheel, 12-drive wheel, 13-drive motor, 14-track frame, 15-load-bearing wheel, 16-wheel frame, 17-solid rubber wheel, 18-spring shock absorber, 19-rotating main shaft, 20-bearing seat, 21-swinging wheel frame , 22-straight arm driving cylinder, 23-rotating arm, 24-fixed earrings, 25-rotating arm driving cylinder, 26-earring seat, 27-straight telescopic arm, 28-support frame, 29-double-rod cylinder, 30-extension shaft, 31-dovetail groove guide rail, 32-airbag, 33-airbag flip frame, 34-connecting rod, 35-working rocker, 36-piston rod square connector, 37-flip driving cylinder, 38-cylinder base, 39-bracket, 40-rocker, 41-four-rod frame. DETAILED DESCRIPTION

[0039] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0040] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "axial", "radial", "vertical", "horizontal", "inner", "outer" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0041] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] Figure 1 , 2 Figures 3 and 4 show a preferred embodiment of the amphibious ship, which includes a hull 5, a propeller, a track assembly 3, an airbag flip down-the-river mechanism 2, a contour wheel mechanism 4, a synchronous leg mechanism 6 and a controller; the propeller is installed at the bottom of the hull 5; the propeller is a 360° full-rotation propeller 1; there are four track assembly mechanisms 3, which are respectively installed on both sides of the hull, two on each side, and distributed in a mirror image in front and back; the contour wheel mechanism 4 is installed on both sides of the hull 5 and located in the middle of the front and rear track assembly mechanisms 3; the airbag flip down-the-river mechanism 2 is installed on the rear deck of the hull 5 and is fixedly connected to the chassis through rectangular steel; the synchronous leg mechanism 6 is installed on the rear deck of the cab 7 and is fixedly connected to the chassis through a bracket. The controller is connected to the propeller, the track assembly 3, the airbag flip down-the-river mechanism 2 and the synchronous leg mechanism 6 respectively.

[0043] like Figure 8 and 9 As shown, the airbag flipping down-river mechanism 2 includes a base bracket 39, a cylinder base 38, an airbag flipping frame 33, a connecting rod 34, a working rocker 35, a piston rod square connector 36, a flipping drive cylinder 37, a rocker 40, an airbag 32 and a four-rod frame 41; the left and right sides of the airbag 32 are respectively arranged with a cylinder base 38, a connecting rod 34, a working rocker 35, a four-rod frame 41, a flipping drive cylinder 37, a piston rod square connector 36 and a rocker 40; the base bracket 39 is connected to the boat The chassis of the body 5 is welded and fixedly connected, the flip driving cylinder 37 is hinged with the cylinder base 38 by pins, the cylinder base 38 is installed on the base bracket 39, the rocker 40, the four-bar frame 41, the working rocker 35 and the connecting rod 34 are hinged by pins to form a planar double rocker mechanism, the connection is hinged by a pin, the piston rod square connector 36 is threadedly connected with the piston rod of the flip driving cylinder 37, the airbag flip frame 33 is welded and fixedly connected with the working rocker 35, and the airbag 32 is connected to the airbag flip frame 33 by bolts.

[0044] like Figure 7 As shown, the synchronous leg mechanism 6 includes a rotating arm 23, a fixed earring 24, a rotating arm driving cylinder 25, an earring seat 26, a direct-acting telescopic arm 27, a support frame 28, a double-rod cylinder 29, an extension shaft 30 and a dovetail groove guide rail 31; the left and right sides of the double-rod cylinder 29 are respectively provided with a rotating arm 23, a direct-acting telescopic arm 27, a rotating arm driving cylinder 25, a direct-acting arm driving cylinder 22, a fixed earring 24, an earring seat 26, a dovetail groove guide rail 31 and an extension shaft 30, and the left and right sides are mirror-symmetrical structures, and the two ends of the extension shaft 30 are respectively threadedly connected to the double-rod cylinder 29 and the earring seat 26, and the dovetail groove guide rail 31 It is fixedly connected with the bottom support frame 28 by bolts, and the support frame 28 is installed on the chassis of the hull 5 by welding. The double-rod cylinder 29 is fixedly connected with the support frame 28 by U-shaped fixing plates at both ends of the middle pin shaft, and the fixed earring 24 is fixedly connected with the earring seat 26 by two pin shafts; the rotating arm 23 is connected with the fixed earring 24 by a pin shaft, and the direct-acting telescopic arm 27 uses the inner side of the rectangular tube of the rotating arm 23 as a slideway. The bottom of the cylinder barrel of the direct-acting arm driving cylinder 22 is hinged to the rotating arm 23, and its piston rod end is hinged to the direct-acting telescopic arm 27. The bottom of the cylinder barrel of the rotating driving cylinder 25 is hinged to the fixed earring 24, and its piston rod end is hinged to the rotating arm 23.

[0045] like Figure 4 and 5As shown, the crawler assembly mechanism 3 includes crawler tracks 8, traction wheels 9, tensioning mechanism 10, guide wheels 11, driving wheels 12, driving motors 13, crawler frames 14 and load-bearing wheels 15; the crawler frame 14 is rigidly connected to the chassis beam of the hull 5, the driving wheels 12 and guide wheels 11 are respectively hinged on the left and right sides of the crawler frame 14 through axles, and the driving wheels 12 are connected to the driving motor 13; the traction wheels 9 and the load-bearing wheels 15 are respectively hinged on the upper and lower sides of the crawler frame 14 through axles and bearings, the guide wheels 11 are connected to the tensioning mechanism 10, and the tensioning mechanism 10 is installed on the crawler frame 14; the crawler tracks 8 are in contact with the traction wheels 9, tensioning mechanism 10, guide wheels 11, driving wheels 12 and load-bearing wheels 15. The output shafts of the driving motors 13 are all equipped with speed sensors, which are connected to the controller of the cab 7. The speed sensors measure the speed of the driving motors 13 and transmit them to the controller, and the controller controls the speed of the driving motors 13.

[0046] like Figure 6 As shown, the contoured wheel mechanism 4 includes a wheel frame 16, a solid rubber wheel 17, a spring shock absorber 18, a rotating main shaft 19, a bearing seat 20 and a swing wheel frame 21; the wheel frame 16 is rigidly connected to the chassis beam of the hull 5, one end of the rotating main shaft 19 is welded to the wheel frame 16, and the other end is connected to the bearing seat 20, the swing wheel frame 21 is fixed to the bearing seat 20 by bolts, and solid rubber wheels 17 are respectively provided on both sides of the swing wheel frame 21, and the solid rubber wheels 17 are hinged to the swing wheel frame 21 through the wheel axle and the bearing; spring shock absorbers 18 are respectively provided on both sides of the bearing seat 20, the upper end of the spring shock absorber 18 is hinged to the wheel frame 16 through a pin, and the lower end of the spring shock absorber 18 is hinged to the swing wheel frame 21 through a pin.

[0047] The amphibious ship adopts a hydrostatic drive to achieve landing and river descent. First, the four tracks are driven by independent motors, and four synchronous valves are used to control the tracks on the same side, so that the forward and reverse speeds of the tracks on both sides are the same. Therefore, the front and rear tracks on the same side can be approximately regarded as one track. The left and right tracks determine the speed of one track through the controller, and use the difference comparison of the right speed sensor to change the flow rate, thereby achieving the synchronization of the driving speed of the four tracks. The power transmission process is: engine-transmission box-hydraulic pump-multi-way valve-synchronous valve-hydraulic motor. The output shaft of each track drive motor 13 is equipped with a speed sensor. The output shaft and the drive motor 13 are connected by a spline, and the speed sensor can be used to obtain the driving speed of a single track. The initial position of the spring shock absorber 18 is half of the compression stroke. Due to the left and right symmetry, the initial state is a balanced position, and its swing amplitude is ±5°. When the road surface is uneven, the spring shock absorber 18 on one side continues to be compressed, while the spring shock absorber 18 on the other side is in a naturally extended state. The contoured wheel can rotate around the rotating main axis 19 according to the ups and downs of the road surface, thereby maximizing the obstacle crossing ability of the amphibious ship and allowing the amphibious ship to pass through uneven roads better.

[0048] When the amphibious ship starts to go down the river, the power transmission process is: engine-transmission box-hydraulic pump-multi-way valve-turning drive cylinder and rotating arm drive cylinder. Main steps: Step 1: Combine Fig. 9 The turning drive cylinder 37 starts to extend and drives the working rocker 35 to start rotating until the air bag 32 is turned to the maximum angle to generate the maximum buoyancy; the second step: the crawler 8 moves back down the river to the shore; the third step: the combination Fig.13 The synchronous leg mechanism 6 is first extended to the outside of the hull 5 by the double-rod oil cylinder 29 and locked, and then the rotating arm driving oil cylinder 25 is extended, that is, the rotating arm rotates to Fig.12 position, the straight-acting arm driving cylinder 22 begins to extend to provide adhesion for the amphibious ship; Step 4: The crawler tracks continue to move backwards, and at the same time, the rotating arm driving cylinder 25 slowly extends to prevent the amphibious ship from sliding down and losing control due to the small adhesion coefficient of the shore slope; Step 5: Repeat steps 3 and 4 in this way until the amphibious ship successfully goes down the river. When the amphibious ship goes down the river mainly by backing up, the airbag flipping river-going mechanism 2 flips to the stern to generate buoyancy. As the amphibious ship gradually goes down the river backwards, the buoyancy generated by the airbag 32 gradually increases to the maximum buoyancy, ensuring that it can smoothly and steadily complete the transition process from land to water. After successfully going down the river, the airbag 32 flips to Figure 8 In the initial state shown, the synchronous leg mechanism 6 returns to Fig.10 In the initial state shown, the crawler belt 8 stops working.

[0049] The process of landing an amphibious ship is similar to that of going down the river. The main steps are: Step 1: Flip the airbag 32 to the maximum angle to prevent the hull attitude angle from changing too much due to the large slope angle of the shore, which increases the risk of climbing the amphibious ship; Step 2: Combine Fig.13 The synchronous leg mechanism 6 is first extended to the outside of the hull by the double-rod oil cylinder 29 and locked, and then the rotating arm driving oil cylinder 25 is extended, that is, the rotating arm 23 is rotated to Fig.11 After reaching the position, the direct-acting arm driving cylinder 22 starts to extend to provide adhesion for the amphibious ship. When the direct-acting telescopic arm 27 extends to the hard soil, the hull 5 rises, and then the amphibious ship starts to climb up the slope by extending the rotating arm driving cylinder 25; the third step: the propeller provides forward thrust to the amphibious ship from beginning to end to assist it in climbing the slope when going ashore; the fourth step: when the crawler track contacts the shore slope, the multi-way valve is opened to supply oil to the crawler track driving motor 13 to provide traction for climbing the slope; the fifth step: the third step is repeated in this way until the amphibious ship successfully goes ashore.

[0050] The present invention can complete land walking through the contoured wheel mechanism 4 cooperating with four crawlers, and assist the crawler walking system and the airbag flipping river-going mechanism 2 through the synchronous movement of the two legs of the synchronous leg mechanism 6, so as to achieve the purpose of making the amphibious ship successfully go ashore and go down the river.

[0051] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0052] The series of detailed descriptions listed above are only specific descriptions of feasible embodiments of the present invention. They are not intended to limit the scope of protection of the present invention. All equivalent embodiments or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. An amphibious ship, characterized in that: It comprises a hull (5), a propeller, a track assembly mechanism (3), an airbag flip-down mechanism (2), a contour wheel mechanism (4) and a synchronous leg mechanism (6); The propeller is installed at the bottom of the hull (5); there are four track assembly mechanisms (3), which are respectively installed on both sides of the hull, two on each side; the contour wheel mechanism (4) is installed on both sides of the hull (5) and is located in the middle of the front and rear track assembly mechanisms (3); the airbag flip down-river mechanism (2) is installed on the rear deck of the hull (5); the synchronous leg mechanism (6) is installed on the rear deck of the cab (7); The airbag flipping and lowering mechanism (2) comprises a base bracket (39), a cylinder base (38), an airbag flipping frame (33), a connecting rod (34), a working rocker (35), a piston rod square connecting piece (36), a flipping driving cylinder (37), a rocker (40), an airbag (32) and a four-rod frame (41); The left and right sides of the airbag (32) are respectively provided with a cylinder base (38), a connecting rod (34), a working rocker (35), a four-rod frame (41), a flip drive cylinder (37), a piston rod square connector (36) and a rocker (40); the base bracket (39) is connected to the hull (5); the flip drive cylinder (37) is hinged to the cylinder base (38) by a pin shaft; the cylinder base (38) is mounted on the base bracket (39); the rocker (40), the four-rod frame (41), the working rocker (35) and the connecting rod (34) are hinged by a pin shaft to form a planar double rocker mechanism; the piston rod square connector (36) is connected to the piston rod of the flip drive cylinder (37); the airbag flip frame (33) is connected to the working rocker (35); and the airbag (32) is connected to the airbag flip frame (33); The synchronous leg mechanism (6) comprises a direct-acting arm driving cylinder (22), a rotating arm (23), a fixed earring (24), a rotating arm driving cylinder (25), an earring seat (26), a direct-acting telescopic arm (27), a support frame (28), a double-rod cylinder (29), an extension shaft (30) and a dovetail groove guide rail (31); The left and right sides of the double-rod oil cylinder (29) are respectively provided with a rotating arm (23), a direct-acting telescopic arm (27), a rotating arm driving oil cylinder (25), a direct-acting arm driving oil cylinder (22), a fixed earring (24), an earring seat (26), a dovetail groove guide rail (31) and an extension shaft (30). The two ends of the extension shaft (30) are respectively connected to the double-rod oil cylinder (29) and the earring seat (26). The dovetail groove guide rail (31) is connected to the bottom support frame (28). The support frame (28) is installed on the chassis of the hull (5). The double-rod oil cylinder (29) ) is connected to the support frame (28), the fixed earring (24) and the earring seat (26) are fixedly connected by two pins; the rotating arm (23) is connected to the fixed earring (24) by a pin, the direct-acting telescopic arm (27) uses the inner side of the rectangular tube of the rotating arm (23) as a slideway, the bottom of the cylinder barrel of the direct-acting arm driving cylinder (22) is hinged to the rotating arm (23), and its piston rod end is hinged to the direct-acting telescopic arm (27), the bottom of the cylinder barrel of the rotating arm driving cylinder (25) is hinged to the fixed earring (24), and its piston rod end is hinged to the rotating arm (23).

2. The amphibious vessel according to claim 1, characterized in that: The crawler track assembly mechanism (3) comprises a crawler track (8), a traction wheel (9), a tensioning mechanism (10), a guide wheel (11), a driving wheel (12), a driving motor (13), a crawler frame (14) and a load-bearing wheel (15); The crawler frame (14) is connected to the hull (5); the driving wheel (12) and the guide wheel (11) are respectively hinged to the left and right sides of the crawler frame (14) through wheel axles; the driving wheel (12) is connected to the driving motor (13); the traction wheel (9) and the load-bearing wheel (15) are respectively installed on the upper and lower sides of the crawler frame (14); the guide wheel (11) is connected to the tensioning mechanism (10); and the tensioning mechanism (10) is installed on the crawler frame (14); the crawler (8) is in contact with the traction wheel (9), the tensioning mechanism (10), the guide wheel (11), the driving wheel (12) and the load-bearing wheel (15).

3. The amphibious vessel according to claim 2, characterized in that: The output shaft of the drive motor (13) is equipped with a rotation speed sensor, which is connected to a controller of the cab (7). The rotation speed sensor measures the rotation speed of the drive motor (13) and transmits it to the controller, which controls the rotation speed of the drive motor (13).

4. The amphibious vessel according to claim 1, characterized in that: The contoured wheel mechanism (4) comprises a wheel frame (16), a solid rubber wheel (17), a shock absorber, a rotating spindle (19), a bearing seat (20) and a swing wheel frame (21); The wheel frame (16) is connected to the hull (5); one end of the rotating main shaft (19) is connected to the wheel frame (16) and the other end is connected to the bearing seat (20); the swing wheel frame (21) is fixed to the bearing seat (20) by bolts; solid rubber wheels (17) are respectively provided on both sides of the swing wheel frame (21); the wheel axles of the solid rubber wheels (17) are hinged to the swing wheel frame (21) by bearings; shock absorbers are respectively provided on both sides of the bearing seat (20); the upper ends of the shock absorbers are hinged to the wheel frame (16) by pins; and the lower ends of the shock absorbers are hinged to the swing wheel frame (21) by pins.

5. The amphibious vessel according to claim 1, characterized in that: The propeller is a 360° fully rotating propeller (1).

6. The amphibious vessel according to claim 4, characterized in that: The shock absorber is a spring shock absorber (18).

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