Amphibious vehicle heave motion adaptive stability regulation device and working method thereof

Abstract

This invention discloses an adaptive stability adjustment device for the heave motion of an amphibious vehicle and its working method. The device includes a fixed deck at the stern of the amphibious vehicle, a folding deck at the bow, and buffer decks on both sides of the amphibious vehicle. The fixed deck is fixedly connected to the stern and has semi-cylindrical strip structures evenly spaced at its bottom. The folding deck is rotatably connected to the bow via a rotating shaft and has cylindrical strip structures evenly spaced at its bottom. This invention, through the folding and fixed decks, combined with buffer decks at different positions on both sides of the amphibious vehicle, can quickly adjust the large-amphibious heave motion of the amphibious vehicle after being impacted by waves, based on the principle of increasing impact resistance and restoring torque, allowing it to reach an adaptive dynamic equilibrium state in a short time.

Description

Technical Field

[0001] This invention relates to the field of structure of unmanned underwater vehicles, and particularly to an adaptive stability adjustment device for heave motion of amphibious vehicles and its working method. Background Technology

[0002] Unmanned aerial vehicles (UAVs) have great potential for civilian applications such as marine resource development. Countries around the world have been pursuing the technological development of UAVs, especially the stability of UAVs, which has always been a research hotspot. With the urgent need for marine resource development, amphibious vehicles have developed rapidly. However, wave disturbances can cause amphibious vehicles to heave, affecting their balance. Therefore, further design is needed to allow the vehicles to quickly regain their balance. To address this need, the inventors studied the heave motion of amphibious vehicles after being impacted by waves at sea, improved existing amphibious vehicles, and proposed a solution. Summary of the Invention

[0003] Purpose of the invention: The purpose of this invention is to provide an adaptive stability adjustment device for the heave motion of an amphibious vehicle and its working method, which can realize the function of adjusting the heave motion of the vehicle after it is impacted by waves, so that it can quickly restore its balance.

[0004] Technical solution: The amphibious vehicle heave motion adaptive stability adjustment device of the present invention includes a fixed deck at the tail of the amphibious vehicle, a folding deck at the bow of the amphibious vehicle, and buffer decks on both sides of the amphibious vehicle. The fixed deck is fixedly connected to the tail of the amphibious vehicle and has semi-cylindrical strip structures evenly spaced at the bottom. The folding deck is rotatably connected to the bow of the amphibious vehicle through a rotating shaft and has cylindrical strip structures evenly spaced at the bottom. The rotating shaft is connected to a control lever inside the amphibious vehicle, and the control lever controls the rotating shaft to drive the folding deck to rotate.

[0005] Preferably, the fixed deck is positioned at one-fifth of the amphibious vehicle's height, with a thickness equal to one-fifth of the amphibious vehicle's height. The fixed deck's axial length is the same as the vehicle's height, and its radial length is the same as the vehicle's width. The axial cross-sectional profile of the fixed deck is a combination of straight lines, arcs, and curved straight lines from bow to stern. The length of the straight segment at the bow of the axial cross-sectional profile is three-quarters of the overall length of the fixed deck, the arc segment is an arc structure with an inner angle of 25°, and the straight segment at the stern is tangent to the outer side of the arc segment.

[0006] Preferably, three semi-cylindrical strip structures are evenly spaced below the fixed deck. The diameter of the semi-cylindrical strip structure is the same as one-fifth of the longitudinal length of the fixed deck. The spacing between adjacent semi-cylindrical strip structures is the same as the diameter of the semi-cylindrical strip structure. The length of the semi-cylindrical strip structure is the same as the width of the amphibious vehicle.

[0007] Preferably, the thickness of the folding deck is one-fifth of the height of the amphibious vehicle. When placed horizontally, the length of the folding deck is the same as the height of the amphibious vehicle, and the width is the same as the width of the amphibious vehicle.

[0008] Preferably, six cylindrical strip structures are evenly distributed from the bottom of the bow end to the bottom of the folding deck. The diameter of each cylindrical strip structure is one-eighth of the longitudinal length of the folding deck, and its length is the same as the width of the amphibious vehicle. The spacing between adjacent cylindrical strip structures is the radius of the cylindrical strip structure. The cylindrical strip structures located at the bottom of the bow end and the bottom of the folding deck have a cross-section with 270° inner corner circles, while the cylindrical strip structures located between the bottom of the bow end and the bottom of the folding deck have a cross-section with 180° inner corner circles.

[0009] Preferably, the angle at which the joystick controls the rotating shaft to rotate the folding deck is between 0° and 90°, and the diameter of the rotating shaft is not less than one-sixth of the longitudinal length of the folding deck.

[0010] Preferably, the buffer decks are arranged in pairs on both sides of the amphibious vehicle, with each pair of buffer decks positioned at the front and rear of the amphibious vehicle's side. The buffer decks are cuboid structures with a thickness between one-tenth and one-eighth of the height of the amphibious vehicle's side and a width equal to half of its length. They are welded to the side of the amphibious vehicle. One end of the buffer deck closest to the center of the amphibious vehicle's side is lower than the other end, and the entire structure forms an angle of 25°-30° with the horizontal plane. The lowest end of the buffer deck is one-quarter of the amphibious vehicle's height away from the bottom of the amphibious vehicle.

[0011] The working method of the amphibious vehicle heave motion adaptive stability adjustment device is characterized in that: before the amphibious vehicle travels on the water surface, the folding deck is adjusted to the unfolded state by the control lever, so that the folding deck is flush with the horizontal plane. When the amphibious vehicle is impacted by waves, the amphibious vehicle generates heave motion. The folding deck at the bow and the fixed deck at the stern of the amphibious vehicle come into contact with the water surface during the heave motion. The contact area with the water is increased by the semi-cylindrical strip structure and the cylindrical strip structure, and the impact resistance is increased, thereby increasing the damping moment and reducing the amplitude of its heave. At the same time, the increase in impact resistance can also act as a restoring torque.

[0012] The buffer deck on the side of the amphibious vehicle increases the contact area with the water surface during heave, thereby increasing the overall contact area between the front or rear of the amphibious vehicle and the water surface. This, in turn, increases the impact drag and restoring torque at the front or rear of the amphibious vehicle, thus reducing heave.

[0013] Beneficial effects: This application, through the combination of folding decks and fixed decks, along with buffer decks at different positions on both sides of the amphibious vehicle, can quickly adjust the large-amphibious vehicle's heave motion after being impacted by waves by increasing impact resistance and restoring torque, so that it can reach an adaptive dynamic equilibrium state in a short time. Attached Figure Description

[0014] Figure 1 This is an overall structural diagram of the present invention;

[0015] Figure 2 This is the left view of the present invention;

[0016] Figure 3 This is a left rear view of the present invention;

[0017] Figure 4 This is a schematic diagram of the folding deck in this invention;

[0018] Figure 5 This is a structural diagram of the folding deck in this invention;

[0019] Figure 6 This is a design drawing of the rotating shaft at the lower front of the aircraft in this invention;

[0020] Figure 7 This is a schematic diagram of the fixed deck in this invention;

[0021] Figure 8 This is a structural diagram of the fixed deck in this invention;

[0022] Figure 9 This is a schematic diagram of the buffer deck in this invention;

[0023] Figure 10 This is a demonstration of the installation of a buffer deck in this invention;

[0024] Figure 11 This is a diagram of the joystick structure in this invention;

[0025] Among them, 1 is a fixed deck, 2 is a folding deck, 3 is a buffer deck, 4 is a rotating shaft, 5 is a semi-cylindrical strip structure, 6 is a cylindrical strip structure, and 7 is a control lever. Detailed Implementation

[0026] The present application will be further described below with reference to specific embodiments.

[0027] like Figure 1-11 The diagram shown is a schematic diagram of the overall structure of this application and a schematic diagram of the structure of each component. In this embodiment, it includes an amphibious vehicle body, a fixed deck 1 at the tail of the amphibious vehicle, a folding deck 2 at the bow of the amphibious vehicle, and buffer decks 3 on both sides of the amphibious vehicle. The fixed deck 1 is fixedly connected to the tail of the amphibious vehicle, and semi-cylindrical strip structures 5 are provided at equal intervals at the bottom. The folding deck 2 is rotatably connected to the bow of the amphibious vehicle through a rotating shaft 4, and cylindrical strip structures 6 are provided at equal intervals at the bottom. The rotating shaft 4 is connected to a control lever 7 inside the amphibious vehicle, and the control lever 7 controls the rotating shaft 4 to drive the folding deck 2 to rotate.

[0028] In this embodiment, the fixed deck 1 is located at one-fifth of the height of the amphibious vehicle, and its thickness is one-fifth of the height of the amphibious vehicle. The length of the fixed deck 1 in the axial direction of the amphibious vehicle is the same as the height of the vehicle, and the length in the radial direction of the amphibious vehicle is the same as the width of the vehicle. The axial cross-sectional profile of the fixed deck 1 is a straight line, an arc, and a curved straight line design from bow to stern. The length of the straight line segment at the bow of the axial cross-sectional profile is three-quarters of the overall length of the fixed deck. The arc segment is an arc structure with an inner angle of 25°. The straight line segment at the stern is tangent to the outer side of the arc segment.

[0029] In this embodiment, three semi-cylindrical strip structures 5 are equally spaced below the fixed deck 1. The diameter of the semi-cylindrical strip structure 5 is the same as one-fifth of the longitudinal length of the fixed deck. The spacing between adjacent semi-cylindrical strip structures 5 is the same as the diameter of the semi-cylindrical strip structure 5. The length of the semi-cylindrical strip structure 5 is the same as the width of the amphibious vehicle.

[0030] In this embodiment, the thickness of the folding deck 2 is one-fifth of the height of the amphibious vehicle. When placed horizontally, the length of the folding deck 2 is the same as the height of the amphibious vehicle, and the width is the same as the width of the amphibious vehicle.

[0031] In this embodiment, six cylindrical strip structures 6 are evenly distributed from the bottom of the bow end to the bottom of the stern end of the folding deck 2. The diameter of the cylindrical strip structure 6 is one-eighth of the longitudinal length of the folding deck 2, and the length is consistent with the width of the amphibious vehicle. The spacing between adjacent cylindrical strip structures 6 is the radius of the cylindrical strip structure 6. The cylindrical strip structures 6 located at the bottom of the bow end and the bottom of the stern end of the folding deck 2 have a cross-section with 270° inner corner circles, while the cylindrical strip structure 6 located between the bottom of the bow end and the bottom of the stern end of the folding deck 2 has a cross-section with 180° inner corner circles.

[0032] In this embodiment, the joystick 7 controls the rotating shaft 4 to rotate the folding deck 2 at an angle between 0° and 90°, and the diameter of the rotating shaft 4 is not less than one-sixth of the longitudinal length of the folding deck 2.

[0033] In this embodiment, buffer decks 3 are arranged in pairs on both sides of the amphibious vehicle. Each pair of buffer decks 3 is arranged at the front and rear of the side of the amphibious vehicle. The buffer deck 3 is a cuboid structure with a thickness between one-tenth and one-eighth of the height of the side of the amphibious vehicle and a width equal to half of the length. It is welded to the side of the amphibious vehicle. One end of the buffer deck 3 near the center of the side of the amphibious vehicle is lower than the other end. The whole buffer deck 3 is inclined at an angle of 25°-30° with the horizontal plane. The lowest end of the buffer deck 3 is one-quarter of the height of the amphibious vehicle from the bottom of the amphibious vehicle.

[0034] In this embodiment, the folding deck 2 at the bow of the amphibious vehicle is unfolded by adjusting the control lever 7 before navigation on the water. After the amphibious vehicle is disturbed and impacted by waves on the water surface, the tail of the vehicle has a downward velocity due to heaving motion. The fixed deck 1 at the tail first comes into contact with the water, and its protruding semi-cylindrical strip structure 5 can increase the contact area with the water, thereby increasing the impact resistance, increasing the damping moment and reducing the amplitude of heaving. At the same time, the increase in impact resistance can also act as a restoring torque. Thus, the fixed deck 1 at the tail can limit the heaving effect of the vehicle to the rear. Meanwhile, the buffer deck 3 near the tail of the vehicle also comes into contact with the water surface. Its inclined design allows the buffer deck 3 to have a larger contact area with the water surface when heaving, further increasing the contact area between the rear of the vehicle and the water, thereby increasing the impact resistance and restoring torque at the rear, thus reducing heaving. Therefore, the buffer deck 3 at the rear of the vehicle can further limit the heaving effect of the vehicle.

[0035] Similar to the backward heave of the amphibious vehicle, when the vehicle heaves forward, the folding deck 2 at the bow unfolds, which can limit the forward heave effect. At the same time, the multiple protruding cylindrical strip structures 6 increase the contact area with the water, increasing the impact drag at the front of the vehicle, thereby increasing the damping moment at the front and reducing the amplitude of the heave. The increased impact drag can also act as a restoring torque. Thus, the folding deck 2 at the bow can limit the forward heave effect. Meanwhile, the buffer deck 3 near the front works on the same principle as the buffer deck 3 at the rear, and can also help to alleviate the forward heave motion of the vehicle. Therefore, based on the folding deck 2 at the bow and the fixed deck 1 at the stern, in conjunction with the buffer decks 3 at different positions, the large-amphibious vehicle's heave motion after being hit by waves can be quickly adjusted by increasing impact drag and restoring torque, allowing it to reach an adaptive dynamic equilibrium state in a short time.

Claims

1. Adaptive stability adjustment device for heaving motion of an amphibious vehicle, characterized in that: It includes a fixed deck arranged at the tail of the amphibious vehicle, a folding deck arranged at the head of the amphibious vehicle, and buffer decks arranged on both sides of the amphibious vehicle. The fixed deck is fixedly connected to the tail of the amphibious vehicle, and semi-cylindrical strip structures are arranged at equal intervals at the bottom. The folding deck is rotationally connected to the head of the amphibious vehicle through a rotating shaft, and cylindrical strip structures are arranged at equal intervals at the bottom. The rotating shaft is connected to a control lever inside the amphibious vehicle, and the control lever controls the rotating shaft to drive the folding deck to rotate; The buffer decks are fixedly arranged on both sides of the amphibious vehicle, and the whole makes an inclination angle of 25° - 30° with the horizontal plane; The fixed deck is arranged at one-fifth of the height of the amphibious vehicle, and its own thickness is one-fifth of the height of the amphibious vehicle. The length of the fixed deck in the axial direction of the amphibious vehicle is the same as the height of the vehicle, and the length in the radial direction of the amphibious vehicle is the same as the body width of the vehicle. The axial cross-sectional profile of the fixed deck is a curved design with a straight line, an arc, and a straight line from the head to the tail. The length of the straight line segment at the head end of the axial cross-sectional profile is three-quarters of the overall length of the fixed deck. The arc segment is an arc-shaped structure with an interior angle of 25°, and the straight line segment at the end is tangent to the outer side of the arc segment; The thickness of the folding deck is one-fifth of the height of the amphibious vehicle. When placed horizontally, the length of the folding deck is the same as the height of the amphibious vehicle, and the width is the same as the body width of the amphibious vehicle.

2. The amphibious vehicle heaving motion adaptive stability adjustment device according to claim 1, wherein: Three semi-cylindrical strip structures are arranged at equal intervals below the fixed deck. The diameter of the semi-cylindrical strip structure is the same as one-fifth of the longitudinal length of the fixed deck. The spacing between adjacent semi-cylindrical strip structures is the same as the diameter of the semi-cylindrical strip structure. The length of the semi-cylindrical strip structure is the same as the body width of the amphibious vehicle.

3. The amphibious vehicle heaving motion adaptive stability adjustment device according to claim 1, wherein: Six cylindrical bar structures are evenly distributed from the bottom of the head end to the bottom of the tail end of the folding deck. The diameter of the cylindrical bar structure is one-eighth of the longitudinal length of the folding deck, and the length is the same as the body width of the amphibious vehicle. The spacing between adjacent cylindrical bar structures is the radius length of the cylindrical bar structure. The cylindrical bar structures arranged at the bottom of the head end and the bottom of the tail end of the folding deck are structures with a 270° interior angle circle in cross-section, and the cylindrical bar structures arranged between the bottom of the head end and the bottom of the tail end of the folding deck are structures with a 180° interior angle circle in cross-section.

4. The amphibious vehicle heaving motion adaptive stability adjustment device according to claim 1, wherein: The angle by which the control lever controls the rotating shaft to drive the folding deck to rotate is between 0° and 90°, and the diameter of the rotating shaft is not less than one-sixth of the longitudinal length of the folding deck.

5. The amphibious vehicle heaving motion adaptive stability adjustment device according to claim 1, wherein: The buffer decks are arranged in pairs on both sides of the amphibious vehicle. Each pair of buffer decks are respectively arranged at the front and rear of the side of the amphibious vehicle. The buffer deck is of a cuboid structure, with a thickness between one-tenth and one-eighth of the height of the side of the amphibious vehicle, and a width of half of the length. It is welded to the side of the amphibious vehicle. One end of the buffer deck close to the center of the side of the amphibious vehicle is lower than the other end, and the whole forms an inclination angle of 25° - 30° with the horizontal plane. And the lowest end of the buffer deck is at a distance of one-fourth of the height of the amphibious vehicle from the bottom of the amphibious vehicle.

6. The working method of the heaving motion adaptive stability adjustment device for the amphibious vehicle according to claim 1, characterized in that: Before the amphibious vehicle travels on the water surface, the folding deck is adjusted to the unfolded state through the joystick to make the folding deck flush with the horizontal plane. When the amphibious vehicle is impacted by waves, the amphibious vehicle generates heaving motion. The folding deck at the head of the amphibious vehicle and the fixed deck at one-fifth of the height of the tail of the amphibious vehicle contact the water surface during the heaving motion. The contact area with water is increased through the semi-cylindrical strip structure and the cylindrical strip structure, and the impact resistance is increased, thereby increasing the damping moment and then reducing the amplitude of its heaving. At the same time, the increase in the impact resistance also acts as a restoring moment. The buffer deck fixedly arranged on the side of the amphibious vehicle and inclined at an angle of 25° - 30° with the horizontal plane increases the contact area with the water surface during heaving, generally increasing the contact area between the front end or the rear end of the amphibious vehicle and the water surface, thereby increasing the impact resistance and the restoring moment at the front end or the rear end of the amphibious vehicle, and thus reducing heaving.

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