Dual-hull unmanned surface vehicle

Abstract

The application provides a folding frame mechanism and a double-plate unmanned ship, wherein the folding frame mechanism comprises a first connecting pipe, two connecting frame bodies, at least two supporting pipes, a first hinge module for hingedly connecting the first connecting pipe and the connecting frame bodies, and a second hinge module for hingedly connecting the connecting frame bodies and the supporting pipes; the first hinge module comprises a first movable hinge and a first limiting hinge in limiting connection, so that the connecting frame bodies can be kept in an unfolded position and a folded position relative to the first connecting pipe; the second hinge module comprises a second movable hinge and a second limiting hinge in limiting connection, so that the supporting pipes can be kept in the unfolded position and the folded position relative to the connecting frame bodies. By adopting the above technical scheme, the folding frame mechanism of the embodiment has a smaller folding level compared with a conventional folding structure, and can ensure the strength of the overall structure while having a small folding level, thereby solving the structural problems of the conventional folding structure, such as insufficient strength or easy deformation caused by too many folding levels.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned ships, and more particularly to a double-body unmanned ship. Background Art

[0002] Unmanned vessels, with their advantages of high efficiency, safety, speed, and time-saving labor, are widely used in ocean exploration, environmental monitoring, hydrology, and environmental protection. To improve the stability and speed of unmanned vessels, various types of twin-hull unmanned vessels have been developed. These vessels offer advantages such as high stability, high speed, and excellent maneuverability, and have been adopted in a wide range of fields. However, twin-hull unmanned vessels are sensitive to draft. Furthermore, to withstand greater stress, the inter-hull connectors are typically constructed as a single, heavy structure, which consumes more of the vessel's weight and significantly reduces the overall carrying capacity of the twin-hull unmanned vessel. Furthermore, the integrated connectors are bulky and require significant space during storage and transportation, making them difficult to load and transport on standard trucks. Furthermore, the integrated structure often requires a crane to connect the connectors to the hulls, creating significant inconvenience for the user.

[0003] In order to solve the major problems of the heavy weight and large space occupancy of the connecting frame between the two pieces, which make storage and transportation inconvenient, and to eliminate the concerns of users and buyers of two-piece unmanned boats, the connecting frame is designed as a folding frame, which solves the technical problems of the traditional two-piece connecting frame, such as the heavy weight resulting in deep draft and affected endurance, and improves the overall performance of the unmanned boat.

[0004] However, conventional folding racks have many folding levels, are prone to deformation during use, and have difficulty maintaining structural strength. Furthermore, the numerous levels of conventional folding structures increase potential dangers for users during operation. Summary of the Invention

[0005] The purpose of the present invention is to provide a double-body unmanned boat to solve the technical problems existing in the prior art of the double-body unmanned boat, such as easy deformation of the folding frame, weak structural strength and high operation risk.

[0006] To achieve the above object, the technical solution adopted by the present invention is:

[0007] In a first aspect, a folding stand mechanism is provided, comprising:

[0008] A first connecting tube, two connecting frames respectively provided on both sides of the first connecting tube, at least two support tubes respectively provided on a side of each connecting frame facing away from the first connecting tube, a first hinge module hingedly connecting the first connecting tube and the connecting frames, and a second hinge module hingedly connecting the connecting frames and the support tubes;

[0009] The first hinge module includes a first position-limiting hinge and a first movable hinge. The first position-limiting hinge is provided on the first connecting tube, and the first movable hinge is provided on the connecting frame. The first movable hinge is positionally connected to the first position-limiting hinge, so that the connecting frame can stay in an unfolded position and a folded position relative to the first connecting tube.

[0010] The second hinge module includes a second limiting hinge and a second movable hinge. The second limiting hinge is arranged on the connecting frame, and the second movable hinge is arranged on the support tube. The second movable hinge is limitedly connected to the second limiting hinge, so that the support tube can stay in the unfolded position and the folded position relative to the connecting frame.

[0011] By adopting the above technical solution, the traditional folding structure has many folding levels, which are usually prone to deformation during use and difficult to ensure structural strength. The folding frame mechanism of this embodiment has smaller folding levels than the traditional folding structure, and uses a limit hinge connection. While the folding level is small, it can still ensure the strength of the overall structure, solving the structural problems of the traditional folding structure that are insufficient in strength or easy to deform due to the large number of folding levels. In addition, the traditional folding structure has many layers, which increases the potential dangers for users during operation. The new connection structure of the limit hinge adopted by the folding frame greatly reduces the seams, and the folded shape can also greatly avoid the risk of users' hands being pinched. The folding frame is extremely advantageous in assembly and operation, solving the problem that the traditional folding structure has many hidden dangers for users.

[0012] In one embodiment, the first hinge module also includes a first rotating shaft provided on the first limiting hinge, the first movable hinge is connected to the first rotating shaft and can rotate around the first rotating shaft, the first limiting hinge is provided with a first limiting portion, the first movable hinge is provided with a second limiting portion cooperating with the first limiting portion, the second limiting portion and the first limiting portion cooperate to limit the rotation angle of the first movable hinge, so that the connecting frame can stay in the unfolded position and the folded position.

[0013] By adopting the above technical solution, the cooperation between the first limiting portion and the second limiting portion limits the rotation angle of the first movable hinge, so that the connecting frame can stay in the unfolded position and the folded position.

[0014] In one embodiment, the first limit hinge is provided with a first limit surface connected to the first movable hinge, the first limit boss is used to form the first limit part, the first limit surface is provided with a first limit boss located on the periphery of the first rotating shaft, the first movable hinge is provided with a first movable surface connected to the first limit hinge, the first movable surface is provided with a first movable groove slidingly matched with the first limit boss, the first movable groove is used to form the second limit part, and the first movable groove is formed with a first expansion limit groove wall and a first folding limit groove wall in the circumferential direction of the first rotating shaft, and the first limit boss is respectively against the first expansion limit groove wall and the first folding limit groove wall, so that the connecting frame can stay in the expansion position and the folding position.

[0015] By adopting the above technical solution, the limiting cooperation between the first limiting boss and the first movable groove is simple, highly reliable, and easy to implement.

[0016] In one embodiment, the second hinge module also includes a second rotating shaft provided on the second limiting hinge, the second movable hinge is connected to the second rotating shaft and can rotate around the second rotating shaft, the second limiting hinge is provided with a third limiting portion, and the second movable hinge is provided with a fourth limiting portion that cooperates with the third limiting portion, the fourth limiting portion and the third limiting portion cooperate to limit the rotation angle of the second movable hinge, so that the support tube can stay in the expanded position and the folded position.

[0017] By adopting the above technical solution, the fourth limiting portion and the third limiting portion cooperate to limit the rotation angle of the second movable hinge, so that the support tube can stay in the expanded position and the folded position. In one embodiment, the second limiting hinge is provided with a second limiting surface connected to the second movable hinge, and the second limiting surface is provided with a second limiting boss located on the periphery of the second rotation axis, and the second limiting boss is used to form the third limiting portion; the second movable hinge is provided with a second movable surface connected to the second limiting hinge, and the second movable surface is provided with a second movable groove that slides with the second limiting boss, and the second movable groove is used to form the fourth limiting portion, and the second movable groove is formed with a second expansion limiting groove wall and a second folding limiting groove wall in the circumferential direction of the second rotation axis, and the second limiting boss abuts against the second expansion limiting groove wall and the second folding limiting groove wall respectively, so that the support tube can stay in the expanded position and the folded position.

[0018] By adopting the above technical solution, the limiting cooperation between the second limiting boss and the second movable groove is simple, reliable, and easy to implement.

[0019] In one embodiment, the first rotation axis is parallel to the horizontal plane, so that the connecting frame can be unfolded and folded relative to the first connecting tube in a direction parallel to the horizontal plane; the second rotation axis is parallel to the horizontal plane, so that the support tube can be unfolded and folded relative to the connecting frame in a direction parallel to the horizontal plane.

[0020] By adopting the above technical solution, it is convenient to fold the connection press and the support tube, reduce the occupation of horizontal space, and also facilitate transfer.

[0021] In one embodiment, the first hinge module also includes a first fixing pin, which is used to be inserted into the first limiting hole of the first limiting hinge and the first movable hole of the first movable hinge, so that the first limiting hinge and the first movable hinge are relatively fixed in the expanded position; the second hinge module also includes a second fixing pin, which is used to be inserted into the second limiting hole of the second limiting hinge and the second movable hole of the second movable hinge, so that the second limiting hinge and the second movable hinge are relatively fixed in the expanded position; the second fixing pin is also used to be inserted into the second limiting hole of the second limiting hinge and the third movable hole of the second movable hinge, so that the second limiting hinge and the second movable hinge are relatively fixed in the folded position.

[0022] By adopting the above technical solution, the first fixing pin and the second fixing pin are easy to disassemble and assemble, thereby improving operating efficiency and reducing the risk of injury to operators.

[0023] In one embodiment, the connecting frame includes two second connecting tubes and one third connecting tube, wherein the two second connecting tubes are arranged at intervals and one first connecting tube is connected therebetween, and at the same time, the second connecting tubes are connected to the corresponding support tubes, and the third connecting tube is spaced parallel to the first connecting tube.

[0024] By adopting the above technical solution, the folding frame mechanism has a simple structure, high strength, and lightweight. Specifically, the ends of the third connecting tube are fixed to the second connecting tube, strengthening the overall structure, preventing the second connecting tube from deforming under stress in relatively severe sea conditions, which may cause abnormal hinge movement, and extending the service life of the folding frame mechanism.

[0025] In one embodiment, the folding frame mechanism further includes at least one of a hook, a net hanging rod and a net hanging seat.

[0026] By adopting the above technical solution, the functionality of the folding frame mechanism is improved.

[0027] In a second aspect, a double-hull unmanned boat is provided, comprising two boat hulls and the above-mentioned folding frame mechanism, wherein the folding frame mechanism connects the two boat hulls.

[0028] By adopting the above technical solution, the folding frame mechanism can be applied to various twin-hull unmanned vessels due to its advantages of light weight, large space, and small footprint for storage and transportation. In the marine sector, twin-hull unmanned vessels have an advantage over single-hull unmanned vessels due to their high stability. Twin-hull unmanned vessels equipped with a folding frame mechanism occupy a small space and are relatively low-cost when accompanying a mother vessel to perform patrol, ocean monitoring, and seabed exploration missions. Using multiple twin-hull unmanned vessels to achieve large-scale monitoring is more economical and efficient than using a small number of large unmanned vessels or patrol boats, thus solving the economic and efficiency challenges of large-scale operations. In rivers and lakes, twin-hull unmanned vessels equipped with a folding frame mechanism can also play a key role in surface garbage removal, water quality testing, surface patrols, and water rescue operations. Their large space and ability to load equipment independently provide operators with more options, solving the technical challenges of traditional unmanned vessels in river operations, such as endurance and equipment installation space. Moreover, after the double-piece unmanned boat completes the operation, the folding structure occupies very little space, making it convenient for storage and transportation. It can be moved to multiple locations for continuous operation, solving the technical problem that traditional unmanned boats cannot operate continuously due to the large space and difficulty in transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0030] Figure 1 is a three-dimensional structural diagram of a folding frame mechanism provided by an embodiment of the present invention in an unfolded state;

[0031] Figure 2 is an exploded view of the folding frame mechanism provided by an embodiment of the present invention in an unfolded state;

[0032] Figure 3 is a three-dimensional structural diagram of the folding frame mechanism provided by an embodiment of the present invention in a folded state;

[0033] Figure 4 yes Figure 2 An enlarged view of the “A” of FIG.

[0034] Figure 5 yes Figure 2 An enlarged view of point "B" of FIG.

[0035] Figure 6 yes Figure 2 An enlarged view of the “C” of FIG;

[0036] Figure 7 yes Figure 2 An enlarged view of the “D” of FIG.

[0037] The reference numerals in the figures are:

[0038] 1. First connecting tube; 2. Connecting frame; 3. Support tube; 4. First hinge module; 5. Second hinge module; 6. Hook; 7. Net hanging rod; 8. Net hanging seat;

[0039] 21. Second connecting tube; 22. Third connecting tube; 31. Base; 41. First limiting hinge; 42. First movable hinge; 43. First rotation axis; 44. First fixing pin; 51. Second limiting hinge; 52. Second movable hinge; 53. Second rotation axis; 54. Second fixing pin;

[0040] 311, fixing plate; 312, first reinforcing rib; 313, second reinforcing rib; 411, first limiting boss; 412, first limiting hole; 421, first movable groove; 422, first movable hole; 511, second limiting boss; 512, second limiting hole; 521, second movable groove; 522, second movable hole; 523, third movable hole;

[0041] 4211, first expansion limit groove wall; 4212, first folding limit groove wall; 5211, second expansion limit groove wall; 5212, second folding limit groove wall; 4111, first expansion abutment surface; 4112, first folding abutment surface; 5111, second expansion abutment surface; 5112, second folding abutment surface. DETAILED DESCRIPTION

[0042] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0043] It should be noted that when an element is referred to as being “fixed to” or “disposed on” another element, it may be directly located on the other element or indirectly located on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0044] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate that the device or element must have a specific orientation, be constructed and operate in a specific orientation. Therefore, it should not be understood as a limitation on the present invention.

[0045] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating relative importance or the number of technical features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined. The following is a more detailed description of the specific implementation of the present invention in conjunction with specific embodiments:

[0046] like Figures 1 to 3 As shown, an embodiment of the present invention provides a folding frame mechanism, which is applied to a two-piece unmanned boat. The folding frame mechanism connects the two boat sections so that the two boat sections are symmetrically arranged. At the same time, the folding frame mechanism can be folded and unfolded, thereby adjusting the distance between the two boat sections, so that the two-piece unmanned boat can be in a folded state and an unfolded state. The following is an explanation through a specific embodiment:

[0047] The folding frame mechanism of this embodiment includes: a first connecting tube 1, two connecting frames 2 respectively arranged on both sides of the first connecting tube 1, at least two support tubes 3 respectively arranged on the side of each connecting frame 2 facing away from the first connecting tube 1, a first hinge module 4 hingedly connecting the first connecting tube 1 and the connecting frame 2, and a second hinge module 5 hingedly connecting the connecting frame 2 and the support tube 3; it can be understood that the two connecting frames 2 are respectively located on both sides of the first connecting tube 1, and are hingedly connected to the first connecting tube 1 and the connecting frame 2 by the first hinge module 4, so that the two connecting frames 2 can rotate respectively relative to the first connecting tube 1; the two support tubes 3 are respectively located on the side of the two connecting frames 2 facing away from the first connecting tube 1, and are hingedly connected to the connecting frame 2 and the support tube 3 by the second hinge module 5, so that the two support tubes 3 can rotate respectively relative to the connecting frame 2;

[0048] The first hinge module 4 includes a first limiting hinge 41 and a first movable hinge 42. The first limiting hinge 41 is provided on the first connecting tube 1, and the first movable hinge 42 is provided on the connecting frame 2. The first movable hinge 42 is limitedly connected to the first limiting hinge 41, so that the connecting frame 2 can stay in the unfolded position and the folded position relative to the first connecting tube 1. It can be understood that in order to allow the connecting frame 2 to rotate within a preset angle relative to the first connecting tube 1, the first movable hinge 42 and the first limiting hinge 41 are limitedly connected, that is, the rotation angle of the first movable hinge 42 relative to the first limiting hinge 41 is limited, and the rotation angle of the connecting frame 2 relative to the first connecting tube 1 is also limited, so that the connecting frame 2 can stay in the unfolded position and the folded position relative to the first connecting tube 1.

[0049] The second hinge module 5 includes a second limiting hinge 51 and a second movable hinge 52. The second limiting hinge 51 is provided on the connecting frame 2, and the second movable hinge 52 is provided on the support tube 3. The second movable hinge 52 is connected to the second limiting hinge 51 in a limiting manner, so that the support tube 3 can remain in the deployed position and the folded position relative to the connecting frame 2. It can be understood that in order to allow the support tube 3 to rotate within a preset angle relative to the connecting frame 2, the second movable hinge 52 and the second limiting hinge 51 are connected in a limiting manner. That is, the rotation angle of the second movable hinge 52 relative to the second limiting hinge 51 is limited, and the rotation angle of the support tube 3 relative to the connecting frame 2 is also limited. In this way, the support tube 3 can remain in the deployed position and the folded position relative to the connecting frame 2.

[0050] The working principle of the folding frame mechanism provided in this embodiment is as follows:

[0051] A folding frame mechanism is connected to two ship panels to form a double-panel unmanned boat, wherein the distance between the two ship panels can be adjusted by changing the working state of the folding frame mechanism. When the folding frame mechanism is in a folded state, the distance between the two ship panels is shortened, reducing the occupied space of the double-panel unmanned boat and facilitating the transfer and storage of the double-panel unmanned boat; when the folding structure is in an unfolded state, the distance between the two ship panels is enlarged, enabling the double-panel unmanned boat to work normally.

[0052] Specifically, when the folding frame mechanism is converted from the folded state to the unfolded state, the two connecting frames 2 rotate away from each other, that is, the two connecting frames 2 are unfolded relative to the first connecting tube 1 until the first movable hinge 42 cooperates with the first limiting hinge 41 to limit the connecting frame 2 in the unfolded position. Similarly, the two supporting tubes 3 rotate away from each other, that is, the two supporting tubes 3 are unfolded relative to the corresponding connecting frame 2 until the second movable hinge 52 cooperates with the second limiting hinge 51 to limit the supporting tube 3 in the unfolded position. At this time, the connecting frame 2 and the supporting tube 3 are both unfolded outward. Since the two supporting tubes 3 are respectively connected to the two ship panels, the distance between the two ship panels becomes larger, and normal operation can be achieved.

[0053] When the folding frame mechanism is converted from the unfolded state to the folded state, the two connecting frame bodies 2 rotate closer to each other, that is, the two connecting frame bodies 2 are folded relative to the first connecting tube 1 until the first movable hinge 42 cooperates with the first limiting hinge 41 to limit the connecting frame body 2 in the folded position. Similarly, the two supporting tubes 3 rotate closer to each other, that is, the two supporting tubes 3 are unfolded relative to the corresponding connecting frame body 2 until the second movable hinge 52 cooperates with the second limiting hinge 51 to limit the supporting tube 3 in the folded position; at this time, the connecting frame body 2 and the supporting tube 3 are both folded inward. Since the two supporting tubes 3 are respectively connected to the two ship sheet bodies, the distance between the two ship sheet bodies becomes smaller, which is conducive to storage and transfer.

[0054] Traditional folding structures have many folding levels, which are often prone to deformation during use and difficult to ensure structural strength. The folding frame mechanism of this embodiment has smaller folding levels than traditional folding structures and uses a limit hinge connection. While the folding levels are small, it can still ensure the strength of the overall structure, solving the structural problems of traditional folding structures that are insufficient in strength or easy to deform due to the large number of folding levels. In addition, the traditional folding structure has many levels, which increases the potential dangers for users during operation. The new connection structure of the limit hinge adopted by the folding frame greatly reduces the seams, and the folded shape can also greatly avoid the risk of users' hands being pinched. The folding frame is extremely advantageous in assembly and operation, solving the problem that traditional folding structures have many hidden dangers to users.

[0055] Furthermore, when the folding frame mechanism is retracted or extended, the first hinge module 4 in the middle section acts as a limiter, while the second hinge module 5 provides a reinforced limiter and double insurance. This also prevents deformation of the middle section of the folding frame mechanism due to its own gravity after long-term use. The two front and rear second hinge modules 5 are fixedly connected by the connecting frame body 2. This prevents deformation of the hinge joint caused by excessive force on one side of the two-piece unmanned boat equipped with the folding frame mechanism, ensures parallelism between the hinge joint surfaces, reduces repair and maintenance of the folding frame mechanism, and extends the service life of key components.

[0056] like Figure 4 and Figure 5 As shown, in one embodiment, the first hinge module 4 also includes a first rotating shaft 43 provided on the first limiting hinge 41, the first movable hinge 42 is connected to the first rotating shaft 43 and can rotate around the first rotating shaft 43, the first limiting hinge 41 is provided with a first limiting portion, the first movable hinge 42 is provided with a second limiting portion that cooperates with the first limiting portion, the second limiting portion and the first limiting portion cooperate to limit the rotation angle of the first movable hinge 42, so that the connecting frame 2 can stay in the unfolded position and the folded position.

[0057] By adopting the above technical solution, the cooperation between the first limiting portion and the second limiting portion limits the rotation angle of the first movable hinge 41, so that the connecting frame 2 can stay in the unfolded position and the folded position.

[0058] In one embodiment, the first limiting hinge 41 is provided with a first limiting surface connected to the first movable hinge 42, and the first limiting surface is provided with a first limiting boss 411 located on the periphery of the first rotating shaft 43, and the first limiting boss 411 is used to form the first limiting portion, and the first movable hinge 42 is provided with a first movable surface connected to the first limiting hinge 41, and the first movable surface is provided with a first movable groove 421 that slides with the first limiting boss 411, and the first movable groove 421 is used to form a second limiting portion, and the first movable groove 421 is formed with a first unfolding limiting groove wall 4211 and a first folding limiting groove wall 4212 in the circumferential direction of the first rotating shaft 43, and the first limiting boss 411 respectively abuts against the first unfolding limiting groove wall 4211 and the first folding limiting groove wall 4212, so that the connecting frame 2 can stay in the unfolded position and the folded position.

[0059] It can be understood that the connection frame 2 rotates relative to the first connection tube 1 and drives the first movable hinge 42 to rotate relative to the first limiting hinge 41, that is, the first movable hinge 42 rotates around the first rotation axis 43 on the first limiting hinge 41, and a first limiting boss 411 is provided on the first limiting surface of the first limiting hinge 41, and the first limiting boss 411 is slidably fitted in the first movable groove 421 of the first movable surface of the first movable hinge 42, that is, the first limiting boss 411 is moved in the first movable groove 421 as the connection frame 2 and the first connection tube 1 rotate relative to each other. The movable groove 421 slides along the circumference of the first rotating shaft 43; at the same time, the first movable groove 421 is formed with a first expansion limit groove wall 4211 and a first folding limit groove wall 4212 on the circumference of the first rotating shaft 43, so that when the first limit boss 411 abuts against the first expansion limit groove wall 4211, the connecting frame body 2 stops rotating relative to the first connecting tube 1 and stays in the expanded position; and when the first limit boss 411 abuts against the first folding limit groove wall 4212, the connecting frame body 2 stops rotating relative to the first connecting tube 1 and stays in the folded position.

[0060] By adopting the above technical solution, the limiting cooperation between the first limiting boss 411 and the first movable groove 421 is simple, highly reliable, and easy to implement.

[0061] In one embodiment, the first limiting boss 411 has a first deployment abutment surface 4111 and a first folding abutment surface 4112 circumferentially along the first rotation axis 43. The first deployment abutment surface 4111 is configured to abut against the first deployment limiting groove wall 4211, while the first folding abutment surface 4112 is configured to abut against the first folding limiting groove wall. The first deployment abutment surface 4111 and the first folding abutment surface 4112 form a 90° angle, while the first deployment limiting groove wall 4211 and the first folding limiting groove wall 4212 form a 180° angle. In actual use, the angles formed by the first deployment abutment surface 4111 and the first folding abutment surface 4112 and the angle formed by the first deployment limiting groove wall 4211 and the first folding limiting groove wall 4212 can be determined based on the actual rotation angle required for the connecting frame 2 and the first connecting tube 1.

[0062] By adopting the above technical solution, the connecting frame 2 can be rotated within a range of 90° relative to the first connecting pipe 1, that is, the connecting frame 2 can be rotated from a horizontal direction to a vertical direction.

[0063] like Figure 6 and Figure 7 As shown, in one embodiment, the second hinge module 5 also includes a second rotating shaft 53 provided on the second limiting hinge 51, the second movable hinge 52 is connected to the second rotating shaft 53 and can rotate around the second rotating shaft 53, the second limiting hinge 51 is provided with a third limiting portion, and the second movable hinge 52 is provided with a fourth limiting portion that cooperates with the third limiting portion. The fourth limiting portion and the third limiting portion cooperate to limit the rotation angle of the second movable hinge 52, so that the support tube 3 can stay in the unfolded position and the folded position.

[0064] By adopting the above technical solution, the fourth limiting portion and the third limiting portion cooperate to limit the rotation angle of the second movable hinge 52, so that the support tube can stay in the unfolded position and the folded position.

[0065] In one embodiment, the second limiting hinge 51 is provided with a second limiting surface connected to the second movable hinge 52, and the second limiting surface is provided with a second limiting boss 511 located on the periphery of the second rotating shaft 53, and the second limiting boss 511 is used to form a third limiting portion; the second movable hinge 52 is provided with a second movable surface connected to the second limiting hinge 51, and the second movable surface is provided with a second movable groove 521 that slides with the second limiting boss 511, and the second movable groove 521 is used to form a fourth limiting portion, and the second movable groove 521 is formed with a second expansion limiting groove wall 5211 and a second folding limiting groove wall 5212 in the circumferential direction of the second rotating shaft 53, and the second limiting boss 511 respectively abuts against the second expansion limiting groove wall 5211 and the second folding limiting groove wall 5212, so that the support tube 3 can stay in the expanded position and the folded position.

[0066] It can be understood that the support tube 3 rotates relative to the connecting frame 2 and drives the second movable hinge 52 to rotate relative to the second limiting hinge 51, that is, the second movable hinge 52 rotates around the second rotation axis 53 on the second limiting hinge 51, and a second limiting boss 511 is provided on the second limiting surface of the second limiting hinge 51, and the second limiting boss 511 is slidably fitted in the second movable groove 521 of the second movable surface of the second movable hinge 52, that is, the second limiting boss 511 is moved in the second movable groove 521 along with the relative rotation between the support tube 3 and the connecting frame 2. The movable groove 521 slides along the circumference of the second rotating shaft 53; at the same time, the second movable groove 521 is formed with a second expansion limit groove wall 5211 and a second folding limit groove wall 5212 on the circumference of the second rotating shaft 53, so that when the second limit boss 511 abuts against the second expansion limit groove wall 5211, the support tube 3 stops rotating relative to the connecting frame body 2 and stays in the expanded position; and when the second limit boss 511 abuts against the second folding limit groove wall 5212, the support tube 3 stops rotating relative to the connecting frame body 2 and stays in the folded position.

[0067] By adopting the above technical solution, the limiting cooperation between the second limiting boss 511 and the second movable groove 521 is simple, reliable, and easy to implement.

[0068] In one embodiment, the second limiting boss 511 has a second deployment abutment surface 5111 and a second folding abutment surface 5112 circumferentially of the second rotation axis 53. The second deployment abutment surface 5111 is used to abut against the second deployment limiting groove wall 5211, and the second folding abutment surface 5112 is used to abut against the second folding limiting groove wall 5212. The second deployment abutment surface 5111 and the second folding abutment surface 5112 form a 180° angle, and the second deployment limiting groove wall 5211 and the second folding limiting groove wall 5212 form a 90° angle. Of course, in actual application, the angles formed by the second deployment abutment surface 5111 and the second folding abutment surface 5112 and the angles formed by the second deployment limiting groove wall 5211 and the second folding limiting groove wall 5212 can be determined based on the actual rotation angle required for the connecting frame 2 and the support tube 3.

[0069] By adopting the above technical solution, the support tube 3 can rotate within a range of 90° relative to the connecting frame body 2. When the rotation direction of the connecting frame body 2 relative to the first connecting tube 1 is opposite to the rotation direction of the support tube 3 relative to the connecting frame body 2, the support tube 3 can offset the rotation of the connecting frame body 2 relative to the first connecting tube 1, so that the support tube 3 can be fixed relative to the ship body.

[0070] In one embodiment, the first rotating axis 43 is parallel to the horizontal plane, so that the connecting frame body 2 can be unfolded and folded relative to the first connecting tube 1 in a direction parallel to the horizontal plane; the second rotating axis 53 is parallel to the horizontal plane, so that the support tube 3 can be unfolded and folded relative to the connecting frame body 2 in a direction parallel to the horizontal plane.

[0071] It can be understood that the two connecting frames 2 can be folded horizontally relative to the first connecting tube 1. In this way, the first connecting tube 1 is set to move upward when the two connecting frames 2 are folded. After the connecting frames 2 are completely folded, the first connecting tube 1 is located at a high place, which is conducive to setting a lifting seat on the first connecting tube 1, making it convenient for the lifting equipment to perform lifting operations.

[0072] By adopting the above technical solution, the folding of the connecting group and the support tube 3 is facilitated, the occupation of horizontal space is reduced, and the transfer is also facilitated.

[0073] In one embodiment, the rotation direction of the connecting frame 2 relative to the first connecting tube 1 is opposite to the rotation direction of the supporting tube 3 relative to the connecting frame 2 .

[0074] By adopting the above technical solution, the support tube 3 can offset the rotation of the connecting frame body 2 relative to the first connecting tube 1, so that the support tube 3 can be fixed relative to the ship body.

[0075] In one embodiment, when the folding frame mechanism is unfolded, the two connecting frame bodies 2 form an obtuse angle greater than 90° and the height of the first connecting tube 1 is greater than the height of the two connecting frame bodies 2. At the same time, the supporting legs and the corresponding connecting frame bodies 2 also form an obtuse angle greater than 90°, and the height of the connecting frame body 2 is greater than the height of the supporting legs, so that the first connecting tube 1, the two connecting frame bodies 2 and the two supporting legs form an arch bridge structure, thereby improving the mechanical strength of the folding frame mechanism when unfolded.

[0076] Preferably, the two connecting frames 2 form an angle of 180°, and the supporting legs form an angle of 120° with the corresponding connecting frames 2 .

[0077] In one embodiment, the first hinge module 4 also includes a first fixing pin 44, which is used to be inserted into the first limiting hole 412 of the first limiting hinge 41 and the first movable hole 422 of the first movable hinge 42, so that the first limiting hinge 41 and the first movable hinge 42 are relatively fixed in the expanded position; the second hinge module 5 also includes a second fixing pin 54, which is used to be inserted into the second limiting hole 512 of the second limiting hinge 51 and the second movable hole 522 of the second movable hinge 52, so that the second limiting hinge 51 and the second movable hinge 52 are relatively fixed in the expanded position; the second fixing pin 54 is also used to be inserted into the second limiting hole 512 of the second limiting hinge 51 and the third movable hole 523 of the second movable hinge 52, so that the second limiting hinge 51 and the second movable hinge 52 are relatively fixed in the folded position.

[0078] It is understood that the first fixing pin 44 is of a detachable design. That is, when the operator needs to fix the connecting frame 2 in the extended position, the operator inserts the first fixing pin 44 into the first limiting hole 412 and the first movable hole 422 at the same time, so that the first limiting hinge 41 and the first movable hinge 42 are relatively fixed, thereby enabling the connecting frame 2 to be fixed in the extended position relative to the first connecting tube 1. When the first fixing pin 44 is removed, the connecting frame 2 can rotate freely relative to the first connecting tube 1.

[0079] The second fixing pin 54 is of detachable design, that is, when the operator needs to fix the support tube 3 in the expanded position, the second fixing pin 54 is inserted into the second limiting hole 512 and the second movable hole 522 at the same time, so that the second limiting hinge 51 and the second movable hinge 52 are relatively fixed, thereby fixing the support tube 3 in the expanded position relative to the connecting frame body 2; and when the second fixing pin 54 is taken out, the support tube 3 can rotate freely relative to the connecting frame body 2; when the operator needs to fix the support tube 3 in the folded position, the second fixing pin 54 is inserted into the second limiting hole 512 and the third movable hole 523 at the same time, so that the second limiting hinge 51 and the second movable hinge 52 are relatively fixed, thereby fixing the support tube 3 in the folded position relative to the connecting frame body 2.

[0080] By adopting the above technical solution, the first fixing pin 44 and the second fixing pin 54 are easy to assemble and disassemble, thereby improving operating efficiency and reducing the risk of injury to operators.

[0081] In addition, the first fixing pin 44 and the second fixing pin 54 can be used in conjunction with the B-type buckle to further enhance the stability of the fixation and achieve rapid assembly and disassembly.

[0082] Please refer again Figure 2 In one embodiment, the folding frame mechanism includes four support tubes 3, each connecting frame body 2 is connected to two support tubes 3, and the connecting frame body 2 includes two second connecting tubes 21 and one third connecting tube 22, wherein the two second connecting tubes 21 are arranged at intervals and a first connecting tube 1 is connected therebetween. At the same time, the second connecting tube 21 is connected to the corresponding support tube 3, and the third connecting tube 22 is parallel to and spaced apart from the first connecting tube 1.

[0083] By adopting the above technical solution, the folding frame mechanism is simple in structure, strong, and lightweight. Specifically, the third connecting tube 22 is fixed at both ends to the second connecting tube 21, strengthening the overall structure and preventing the second connecting tube 21 from deforming under stress in relatively severe sea conditions, which could cause abnormal hinge movement, thereby extending the service life of the folding frame mechanism.

[0084] In one embodiment, the antenna mounting base is fixed to at least one of the first connecting tube 1, the second connecting tube 21, and the third connecting tube 22. This allows the antenna to remain unaffected when the folding frame mechanism is deployed and folded. The sideways location also facilitates installation and replacement by operators. This antenna mounting position helps increase the communication range of the unmanned vessel, allowing a two-piece unmanned vessel equipped with a folding frame mechanism to have a greater operating radius.

[0085] In one embodiment, a lifting ring is fixed on the first connecting pipe 1, and the double-piece unmanned boat using the folding frame mechanism can be lifted ashore by a crane when it needs to be operated or when the operation is completed, thereby reducing the risk of users falling into the water when retrieving the boat from the shore and ensuring the safety of users' lives.

[0086] In one embodiment, a base 31 is further provided on the support tube 3 , and the base 31 includes a fixing plate 311 connected to the bottom end of the support tube 3 , a first reinforcing rib 312 and a second reinforcing rib 313 connecting the fixing plate 311 and the support tube 3 .

[0087] By adopting the above technical solution, the bottom of the overall structure of the folding frame mechanism is strengthened. When large waves hit the ship body, the folding frame mechanism will not be deformed and can continue to operate normally, thereby ensuring the overall structural strength and navigation stability of the double-body unmanned boat.

[0088] In one embodiment, the folding frame mechanism further includes at least one of a hook 6 , a net hanging rod 7 and a net hanging seat 8 .

[0089] It is understood that the hook 6 and net-hanging rod 7 can be arranged on the base 31, including but not limited to welding or threaded connection methods. The net-hanging seat 8 can be fixed to the first hinge module 4 or the second connecting tube 21. When the folding frame mechanism is equipped with a salvage net or other underwater equipment, the net or other equipment can be secured using the hook 6 and net-hanging rod 7 on the base 31. The net-hanging rod 7 has an opening on one side, which can be used as a slide to slide the fixture out and remove the equipment, facilitating equipment installation and replacement. This also expands the application field of the folding frame and increases its versatility.

[0090] By adopting the above technical solution, the functionality of the folding frame mechanism is improved.

[0091] In a second aspect, a double-hull unmanned boat is provided, comprising two boat hulls and the above-mentioned folding frame mechanism, wherein the folding frame mechanism connects the two boat hulls.

[0092] By adopting the above technical solution, the folding frame mechanism can be applied to various twin-hull unmanned vessels due to its advantages of light weight, large space, and small footprint for storage and transportation. In the marine sector, twin-hull unmanned vessels have an advantage over single-hull unmanned vessels due to their high stability. Twin-hull unmanned vessels equipped with a folding frame mechanism occupy a small space and are relatively low-cost when accompanying a mother vessel to perform patrol, ocean monitoring, and seabed exploration missions. Using multiple twin-hull unmanned vessels to achieve large-scale monitoring is more economical and efficient than using a small number of large unmanned vessels or patrol boats, thus solving the economic and efficiency challenges of large-scale operations. In rivers and lakes, twin-hull unmanned vessels equipped with a folding frame mechanism can also play a key role in surface garbage removal, water quality testing, surface patrols, and water rescue operations. Their large space and ability to load equipment independently provide operators with more options, solving the technical challenges of traditional unmanned vessels in river operations, such as endurance and equipment installation space. Moreover, after the double-piece unmanned boat completes the operation, the folding structure occupies very little space, making it convenient for storage and transportation. It can be moved to multiple locations for continuous operation, solving the technical problem that traditional unmanned boats cannot operate continuously due to the large space and difficulty in transportation.

[0093] In order to verify the actual usage data of the folding frame mechanism of this embodiment, a simulation test was conducted on the folding frame mechanism installed on a two-piece unmanned vessel. The following is a simulation test report:

[0094] Parameters of the folding frame mechanism used in this simulation verification:

[0095] 1. Folding frame mechanism parameters

[0096] Dimensions: 2.1m long, 1.3m wide, 0.5m high;

[0097] Steel pipe: diameter 40mm, wall thickness 2mm;

[0098] Material: The overall structure is made of stainless steel;

[0099] Weight: Approximately 33.7 kg.

[0100] 2. Grid Division

[0101] The folding frame mechanism was imported into Workbench for meshing, and a total of 560,167 nodes and 243,425 units were obtained.

[0102] 3. Simulation

[0103] For example, when a two-piece unmanned vessel equipped with a folding frame mechanism is traveling at full speed at 12 knots, and one of the pieces strikes a fixed object, the impulse is calculated over a 0.1s period, indicating that the folding frame will experience a force of approximately 2022N. This is then applied to a simulation. The maximum deformation is 0.03175m, located around the fixing holes of base 31; the maximum stress is 205MPa, located at the movable hinge, just reaching its strength limit.

[0104] For example, when a twin-hulled vessel equipped with a folding frame mechanism is traveling at full speed at 15 knots, and one of the hulls strikes a fixed object, the impulse is calculated over a 0.1s period, indicating that the folding frame mechanism will experience a force of approximately 2527.5N. This is then applied to a simulation. The maximum deformation is 0.040125m, located around the mounting holes of the seat, and the maximum stress is 259.5MPa, located at the movable hinge.

[0105] When a twin-hulled vessel equipped with a folding frame mechanism is traveling at full speed of 20 knots, and one of the hulls strikes a fixed object, the impulse is calculated over a 0.1s period, indicating that the folding frame mechanism will experience a force of approximately 3370N. This is then applied to a simulation. The maximum deformation is 0.053499m, located around the fixing holes of base 31; the maximum stress is 346MPa, located at the movable hinge. Therefore, for twin-hulled unmanned vessels with higher speed requirements, the folding frame mechanism can be strengthened by reinforcing the base 31 with ribs or increasing its thickness.

[0106] IV. Conclusion

[0107] The yield strength of stainless steel is 205 MPa. Simulation tests show that this size of folding frame can support a twin-hulled unmanned vessel with a maximum speed of 12 knots. Of course, for twin-hulled unmanned vessels with higher speeds and heavier payloads, the maximum deformation or stress-bearing areas can be reinforced by thickening the fixed base 31 and increasing the ribs.

[0108] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A two-piece unmanned ship, characterized in that: The invention comprises two ship sheet bodies and a folding frame mechanism, wherein the folding frame mechanism connects the two ship sheet bodies; the folding frame mechanism comprises a first connecting tube (1), two connecting frames (2) respectively arranged on both sides of the first connecting tube (1), at least two support tubes (3) respectively arranged on the side of each connecting frame (2) facing away from the first connecting tube (1), a first hinge module (4) hingedly connecting the first connecting tube (1) and the connecting frame (2), and a second hinge module (5) hingedly connecting the connecting frame (2) and the support tube (3); The first hinge module (4) comprises a first position-limiting hinge (41) and a first movable hinge (42), wherein the first position-limiting hinge (41) is provided on the first connecting tube (1), and the first movable hinge (42) is provided on the connecting frame (2), and the first movable hinge (42) is position-limitingly connected to the first position-limiting hinge (41), so that the connecting frame (2) can stay in an unfolded position and a folded position relative to the first connecting tube (1); The second hinge module (5) comprises a second position-limiting hinge (51) and a second movable hinge (52), wherein the second position-limiting hinge (51) is provided on the connecting frame (2), and the second movable hinge (52) is provided on the supporting tube (3), and the second movable hinge (52) is position-limitingly connected to the second position-limiting hinge (51), so that the supporting tube (3) can stay in an unfolded position and a folded position relative to the connecting frame (2); The first hinge module (4) and the second hinge module (5) both achieve angular limitation through the sliding cooperation between the limiting boss and the movable groove.

2. The two-piece unmanned ship according to claim 1, wherein: The first hinge module (4) further comprises a first rotation axis (43) provided on the first limiting hinge (41), the first movable hinge (42) is connected to the first rotation axis (43) and can rotate around the first rotation axis (43), the first limiting hinge (41) is provided with a first limiting portion, the first movable hinge (42) is provided with a second limiting portion cooperating with the first limiting portion, the second limiting portion and the first limiting portion cooperate to limit the rotation angle of the first movable hinge (42), so that the connecting frame (2) can stay in the unfolded position and the folded position.

3. The twin-body unmanned ship according to claim 2, wherein: The first limiting hinge (41) is provided with a first limiting surface connected to the first movable hinge (42), and the first limiting surface is provided with a first limiting boss (411) located on the periphery of the first rotating shaft (43), and the first limiting boss (411) is used to form the first limiting portion. The first movable hinge (42) is provided with a first movable surface connected to the first limiting hinge (41), and the first movable surface is provided with a first movable groove (421) that slides with the first limiting boss (411), and the first movable groove (421) is used to form the second limiting portion. The first movable groove (421) is formed with a first unfolding limiting groove wall (4211) and a first folding limiting groove wall (4212) in the circumferential direction of the first rotating shaft (43), and the first limiting boss (411) respectively abuts against the first unfolding limiting groove wall (4211) and the first folding limiting groove wall (4212), so that the connecting frame (2) can stay in the unfolded position and the folded position.

4. The two-piece unmanned ship according to claim 2, wherein: The second hinge module (5) further includes a second rotation axis (53) provided on the second limiting hinge (51), the second movable hinge (52) is connected to the second rotation axis (53) and can rotate around the second rotation axis (53), the second limiting hinge (51) is provided with a third limiting portion, the second movable hinge (52) is provided with a fourth limiting portion cooperating with the third limiting portion, the fourth limiting portion and the third limiting portion cooperate to limit the rotation angle of the second movable hinge (52), so that the support tube (3) can stay in the unfolded position and the folded position.

5. The two-piece unmanned ship according to claim 4, characterized in that: The second limiting hinge (51) is provided with a second limiting surface connected to the second movable hinge (52), and the second limiting surface is provided with a second limiting boss (511) located on the periphery of the second rotating shaft (53), and the second limiting boss (511) is used to form the third limiting portion; the second movable hinge (52) is provided with a second movable surface connected to the second limiting hinge (51), and the second movable surface is provided with a second movable groove (521) that slides with the second limiting boss (511), and the second movable groove (521) is used to form the fourth limiting portion, and the second movable groove (521) is formed with a second unfolding limiting groove wall (5211) and a second folding limiting groove wall (5212) in the circumferential direction of the second rotating shaft (53), and the second limiting boss (511) respectively abuts against the second unfolding limiting groove wall (5211) and the second folding limiting groove wall (5212), so that the support tube (3) can stay in the unfolded position and the folded position.

6. The two-piece unmanned ship according to claim 4, characterized in that: The first rotation axis (43) is parallel to the horizontal plane, so that the connecting frame (2) can be unfolded and folded relative to the first connecting tube (1) in a direction parallel to the horizontal plane; the second rotation axis (53) is parallel to the horizontal plane, so that the supporting tube (3) can be unfolded and folded relative to the connecting frame (2) in a direction parallel to the horizontal plane.

7. The double-hull unmanned ship according to any one of claims 1 to 6, characterized in that: The first hinge module (4) further comprises a first fixing pin (44), the first fixing pin (44) being used to be inserted into the first limiting hole (412) of the first limiting hinge (41) and the first movable hole (422) of the first movable hinge (42), so that the first limiting hinge (41) and the first movable hinge (42) are relatively fixed in the expanded position; the second hinge module (5) further comprises a second fixing pin (54), the second fixing pin (54) being used to be inserted into the second limiting hinge (51) ) and the second movable hole (522) of the second movable hinge (52), so that the second limiting hinge (51) and the second movable hinge (52) are relatively fixed in the unfolded position; the second fixing pin (54) is also used to be inserted into the second limiting hole (512) of the second limiting hinge (51) and the third movable hole (523) of the second movable hinge (52), so that the second limiting hinge (51) and the second movable hinge (52) are relatively fixed in the folded position.

8. The double-hull unmanned ship according to any one of claims 1 to 6, characterized in that: The connecting frame (2) comprises two second connecting tubes (21) and a third connecting tube (22), wherein the two second connecting tubes (21) are arranged at intervals and a first connecting tube (1) is connected therebetween, and the second connecting tubes (21) are connected to the corresponding supporting tubes (3), and the third connecting tube (22) is parallel and spaced from the first connecting tube (1).

9. The double-hull unmanned ship according to any one of claims 1 to 6, characterized in that: The folding frame mechanism further comprises at least one of a hook (6), a net hanging rod (7) and a net hanging seat (8).

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