Small amphibious shoal autonomous platform

Abstract

The invention relates to a small amphibious shoal autonomous platform. The platform structure comprises a drive-by-wire shoal underwater crawling assembly, an underwater propelling assembly, a power shell assembly and an electronic cabin section. The drive-by-wire shoal water bottom crawling assembly is composed of a dual-drive motor speed reducer, a crawler walking mechanism and an oil gas suspension and can provide strong crawling driving force in a shoal area. The underwater propulsion assembly is composed of a buoyancy tank, a buoyancy adjusting device and a propeller set and is responsible for underwater propulsion of the platform and transition of a shoal area. The hydrodynamic shell assembly is composed of a shell frame and a skirt edge. And a variable crawler walking mechanism is matched to adapt to the platform motion state. The amphibious shoal platform is flexible in structure, high in adaptability and capable of dealing with various complex terrains, and a solid technical foundation is provided for development of amphibious combat equipment.

Description

Technical Field

[0001] The invention relates to the technical field of underwater robots and amphibious combat platforms, and in particular to a small-sized amphibious shoal autonomous platform. Background Art

[0002] Existing amphibious underwater platforms often face the problem of insufficient adaptability when dealing with changeable underwater and shallow environments. Traditional underwater propulsion and shallow crawling systems mostly use fixed structures, which are difficult to switch efficiently between different environments, resulting in low combat efficiency, especially in complex terrains, which are prone to problems such as insufficient stability and excessive energy consumption. Therefore, there is an urgent need for an underwater platform that can automatically adjust its structure according to environmental changes to improve its adaptability and operational efficiency in various combat environments.

[0003] Variable mechanism technology plays a vital role in the design and functional realization of amphibious combat platforms. The application of these technologies not only improves the flexibility and adaptability of the platform, but also enhances its combat capability in various environments. Dynamic shape adjustment: Amphibious platforms need to perform tasks on land, in water, and underwater, so variable mechanisms enable the platform to adjust its shape and structure in different environments. For example, through variable mechanisms, the platform can shrink in the water to maintain a hydrodynamic streamline shape to obtain the minimum sailing resistance. When underwater, the forward mechanism such as the track is released to improve maneuverability. Versatility: Variable mechanisms can achieve multiple functions, such as changing the load capacity of the platform, improving stability, and enhancing protection performance. By integrating variable stiffness mechanisms, these platforms can adjust their stiffness and load-bearing capacity according to mission requirements to adapt to different combat environments. Improve survivability: In modern combat, survivability is crucial. Variable mechanisms can help the platform quickly adjust its shape when attacked to reduce the risk of damage. For example, some amphibious platforms can reconfigure their structure when impacted through variable mechanisms, thereby enhancing their survivability. Summary of the invention

[0004] The present invention provides an innovative structural design for an amphibious underwater platform, particularly in terms of all-round optimization of structural deformation, power transmission and environmental adaptability.

[0005] The present invention provides a small-scale amphibious shoal autonomous platform which organically combines a wire-controlled shoal underwater crawling assembly, an underwater propulsion assembly, a hydrodynamic shell assembly and an electronic cabin. The platform can seamlessly switch between land, underwater and shoal and has high adaptability and stability.

[0006] The wire-controlled shallow underwater crawling assembly is a key drive system for small amphibious platforms to achieve efficient crawling in shallow and underwater environments. Its core components include dual drive motors, reducers, track travel mechanisms and oil-gas suspension systems. The track travel mechanism includes: balance shaft, drive wheel, road wheel, track, traction wheel and tension wheel. The left and right sides of the main body are symmetrical. Located at the left and right rear of the cabin

[0007] The underwater propulsion assembly includes a buoyancy box, a buoyancy adjustment device and a thruster group; the buoyancy box is made of high-strength composite materials and is located in the middle and upper part of the amphibious platform shell, and is connected to the buoyancy adjustment device below to control the buoyancy of the platform in the water. The thruster group includes multiple electric thrusters distributed on the rear side of the amphibious platform.

[0008] The hydrodynamic hull assembly consists of a hull frame and a skirt, and is matched with a variable crawler walking mechanism to adapt to the platform's motion state.

[0009] The electronic compartment is located in the middle and rear part of the amphibious platform, at the lower part of the pontoon, and in the upper and middle part of the wire-controlled shallow underwater crawling assembly.

[0010] As a further optimization of the present invention, the power transmission design of the wire-controlled shallow underwater crawling assembly is as follows: the dual drive motors provide a strong initial torque, which is further reduced in speed and increased in torque via a high-precision reducer, and then transmitted to the crawler walking mechanism to achieve smooth forward movement of the platform.

[0011] As a further optimization of the present invention, the track walking mechanism of the wire-controlled shallow underwater crawling assembly is made of high-strength wear-resistant material to ensure durability in complex terrain.

[0012] As a further optimization of the present invention, the oil-gas suspension system of the wire-controlled shallow underwater crawling assembly includes multiple cylinders and a hydraulic control unit, and the cylinders are made of high-strength aluminum alloy. The crawler walking mechanism can be retracted and extended through the lifting and lowering adjustment of the oil-gas suspension system.

[0013] As a further optimization of the present invention, the buoyancy regulating device of the underwater propulsion assembly includes multiple airbags and control valves, and the airbag material is pressure-resistant rubber; the electric propeller blades of the propeller group are made of titanium alloy material.

[0014] As a further optimization of the present invention, the underwater propulsion assembly thruster group is composed of four longitudinal main thrusters and two vertical side thrusters, which are integrated and installed on the thruster bracket.

[0015] As a further optimization of the present invention, the hydrodynamic hull assembly is made of carbon fiber reinforced polymer composite material (CFRP) and adopts a low-resistance streamlined shape design.

[0016] As a further optimization of the present invention, the platform can realize multi-state conversion of walking on land, sailing in water and crawling in shallow water through the coordinated work of various assemblies.

[0017] The small-sized amphibious shoal autonomous platform provided by the present invention has at least the following beneficial effects:

[0018] 1. The invention can realize the folding and lowering of the crawler track through the oil and gas spring in the wire-controlled shallow water crawling assembly, which can meet the needs of underwater sneaking, shallow water crawling and land crawling respectively;

[0019] 2. The present invention is equipped with an underwater propulsion assembly, which can adjust the buoyancy reserve of the amphibious platform by configuring a buoyancy device to achieve maneuverability and stability of underwater navigation;

[0020] 3. The present invention is driven by the driving wheel of the crawler walking mechanism and the auxiliary drive of the propeller group. In the horizontal direction, it mainly relies on the driving wheel of the crawler and the auxiliary drive of four horizontal propellers; in the vertical direction, four vertical propellers are used to coordinate with the bottom pressure sensor to adjust the vertical propellers in real time, so that the shoal autonomous platform can be stably attached to the bottom of the water.

[0021] 4. The present invention provides a solid support by designing a hydrodynamic shell, while reducing the overall weight of the platform and improving its movement performance on land and in water. The low-resistance streamlined shape design can effectively reduce the fluid resistance when sailing in water and improve the propulsion efficiency of the platform. In addition, the skirt of the hydrodynamic shell assembly can not only provide additional protection to prevent foreign matter from entering the track system, but also reduce resistance and enhance the stability of the platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0023] Attached Figure 1 : Side view of the overall structure of a small amphibious shoal autonomous platform;

[0024] Attached Figure 2 : Rear view of the overall structure of the small amphibious shoal autonomous platform;

[0025] Attached Figure 3 : A top view of the overall structure of a small amphibious shoal autonomous platform;

[0026] Attached Figure 4 : Small amphibious shoal autonomous platform (on land, shoal walking mode);

[0027] Attached Figure 5 : Small amphibious shoal autonomous platform (water navigation mode);

[0028] Among them, a is a wire-controlled shallow underwater crawling assembly, 1 is a driving wheel, 2 is a motor + reducer assembly, 3 is an oil-gas suspension device, 4 is a balance shaft, 5 is a road wheel, 6 is a high-strength wear-resistant track, 7 is a towing wheel, 8 is a tensioning wheel, b is an underwater propulsion assembly, 9 is a pontoon, 10 is a buoyancy adjustment device, 11 is a thruster group, 12 is a thruster mounting bracket, c is a hydrodynamic hull assembly, 13 is a hydrodynamic outer hull, 14 is a hull skirt, 15 is an electronic compartment, and 16 is a power supply. DETAILED DESCRIPTION

[0029] The following is combined with Figure 1-5 The principles and features of the present invention are described, and the examples are only used to explain the present invention and are not used to limit the scope of the present invention. In the following paragraphs, the present invention is described in more detail by way of example with reference to the accompanying drawings. The advantages and features of the present invention will become clearer according to the following description and claims. It should be noted that the drawings are all in a very simplified form and are not in precise proportions, and are only used to facilitate and clearly assist in explaining the purpose of the embodiments of the present invention.

[0030] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may also be a component centered. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may also be a component centered. When a component is considered to be "set on" another component, it may be directly set on the other component or there may also be a component centered. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0032] Embodiment 1

[0033] like Figure 1 As shown, the small amphibious shoal autonomous platform in this example includes four core components: a wire-controlled shoal underwater crawling assembly a, an underwater propulsion assembly b, a hydrodynamic hull assembly c, and an electronic compartment 15. Through the coordinated work of precise mechanical design and control systems, these components enable the platform to flexibly switch operating modes in land, underwater, and shoal environments, and have strong adaptability and stability.

[0034] The wire-controlled shallow water crawling assembly A is a bilaterally symmetrical structure:

[0035] Dual drive motor reducer 2: A dual motor drive system is adopted, with one drive motor on each side, connected to the crawler travel mechanism through an independent gear reducer. The design of this system ensures the synchronization and independence of the power output on the left and right sides, making the platform crawling more stable and reliable in the shallow environment. The dual drive motor adopts a high-torque DC motor with good response speed and stability, which can provide the powerful power required for the platform to crawl. The high-precision gear reducer converts the high-speed rotation of the motor into low-speed high-torque output through multi-stage gear transmission, providing continuous and stable driving power for the crawler travel mechanism. The reducer adopts high-strength alloy steel gears with high wear resistance and long life, which is suitable for complex shallow and underwater environments.

[0036] The balancing shaft 4 connects the platform body and the crawler walking mechanism to play a role of balancing and supporting.

[0037] The driving wheel 1 is connected to the dual driving motor reducer 2 to directly drive the crawler 6 to move

[0038] The road wheels 5 bear the weight of the platform and are evenly distributed under the tracks to provide support and stability.

[0039] Track 6 is made of high-strength wear-resistant composite material and is designed with anti-slip patterns that adapt to various complex terrains to ensure grip on different terrains such as mud, sand and rocks.

[0040] The traction wheel 7 and the tension wheel 8 are used to maintain the tension and track stability of the crawler track. The traction wheel is installed at the rear of the platform, and the tensioning system is used to ensure that the crawler track will not derail during the movement.

[0041] The oil-gas suspension system 3 is closely integrated with the crawler track 6, and can realize automatic adjustment of the height and pressure of the crawler track 6 through the cylinder and hydraulic control unit therein, so as to adapt to different terrains.

[0042] Underwater propulsion assembly b:

[0043] The pontoon 9 is located in the middle and upper part of the amphibious platform shell. It is made of high-strength composite materials and filled with high-density foam materials to provide basic buoyancy support and enhance the structural strength and impact resistance of the platform. The pontoon is seamlessly integrated with the platform shell through structural design to ensure fluid dynamics performance when sailing in the water.

[0044] The buoyancy regulating device 10 is installed at the bottom of the buoyancy box 9, and is used to accurately control the buoyancy of the platform in the water, so that it can maintain stable buoyancy in different water depths and environments. The buoyancy regulating device 10 includes multiple air bags and control valves. The air bags are made of pressure-resistant rubber materials and can maintain good sealing and durability in deep water. The control valve adjusts the inflation and deflation states of the air bags in real time through an electric control system to achieve dynamic adjustment of buoyancy.

[0045] The thruster group 11 includes a plurality of electric thrusters, and the blades are made of titanium alloy, which have the characteristics of high strength, corrosion resistance and low noise. The four main thrusters at the rear of the platform are used to provide the forward and backward power of the platform, and can achieve efficient propulsion output according to the mission requirements. The two vertical thrusters on both sides of the platform are used to realize the vertical lifting control of the platform and assist the platform in adjusting its posture in the water. The thruster group 11 performs precise speed and direction control through the electric control system to ensure the flexibility and maneuverability of the platform in the underwater environment.

[0046] Hydrodynamic housing assembly c:

[0047] The hull frame 13 is made of carbon fiber reinforced polymer composite material (CFRP), which has a very high strength-to-weight ratio and corrosion resistance. Through precise structural design, the frame can provide solid support while reducing the overall weight of the platform and improving its mobility on land and in water. The low-drag streamlined shape design of the hull 13 frame can effectively reduce fluid resistance when sailing in water and improve the propulsion efficiency of the platform.

[0048] The skirt 14 is located at the bottom of the shell frame 13. By cooperating with the crawler 6 walking mechanism, it can be adjusted in different working states to adapt to the movement state of the platform. When the platform is in the state of walking on land or crawling in shallow water, the skirt can provide additional protection to prevent foreign objects from entering the crawler system; when sailing in water, the skirt 14 can be adjusted to a smoother shape to reduce resistance and enhance the stability of the platform.

[0049] The electronic compartment 15 is located in the middle and rear part of the amphibious platform, at the bottom of the pontoon 9, and is connected to the middle and upper part of the wire-controlled shallow bottom crawling assembly a. The design of the electronic compartment 15 takes into account the center of gravity distribution and structural strength of the platform to ensure stability under various working conditions. The cabin adopts a high-strength sealed structure, and a multi-layer shock-absorbing device is set inside to protect the precision electronic equipment in the cabin. The platform's control system, navigation system, communication system and power management system are integrated in the electronic compartment 15. The control system includes a main control unit and multiple sensor modules, which are responsible for the coordinated control of various parts of the platform; the navigation system adopts a combination of multi-mode satellite navigation and inertial navigation to provide high-precision positioning and attitude control; the communication system realizes real-time data transmission with the outside through satellite communication and short-range radio communication; the power management system provides stable power support through an integrated lithium battery pack and energy recovery device to ensure the continuity of the platform during long-term operation.

[0050] In practical applications, the various assemblies of the present invention work in coordination with precise mechanical connections and intelligent control systems to achieve multi-state conversion of the platform among walking on land, sailing in water, and crawling in shallow water.

[0051] Specifically:

[0052] Land walking mode: When the platform is walking on land, the crawler track 6 of the wire-controlled shallow underwater crawling assembly a plays a major role, and the high torque power provided by the dual drive motor reducer 2 ensures that the platform can travel stably in an uneven land environment. The oil-gas suspension system 3 dynamically adjusts according to the changes in the terrain, so that the crawler track 6 can maintain good ground contact and stability in rugged terrain.

[0053] Shallow crawling mode: In a shallow environment, the platform achieves efficient crawling through the wire-controlled shallow underwater crawling assembly a. The wear-resistant crawler and adjustment system of the crawler 6 enable the platform to move smoothly in complex shallow terrain such as mud and sand. At this time, the oil-gas suspension system 3 automatically adjusts the height and pressure of the crawler to ensure that the platform can adapt to the height changes and uneven surfaces in the shallow environment.

[0054] Underwater navigation mode: When the platform enters the water, the underwater propulsion assembly b comes into play. Through the buoyancy adjustment device 10, the platform's buoyancy tank 9 adjusts the buoyancy so that the platform can float in the water or dive underwater. The longitudinal main thrust and vertical lateral thrust provided by the thruster group 11 enable the platform to maneuver flexibly in the water. The skirt 14 of the hydrodynamic hull assembly b is adjusted to a low-resistance state to reduce water resistance during navigation and improve propulsion efficiency. At the same time, the navigation and communication system in the electronic compartment 15 ensures the precise positioning and real-time communication of the platform in the underwater environment.

[0055] Through the coordinated work of various parts, the amphibious shoal autonomous platform of the present invention has multifunctional and high-efficiency operation capabilities in complex environments, and can play an important role in various application scenarios such as military reconnaissance, engineering construction and environmental monitoring.

[0056] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any ordinary technician in the industry can smoothly implement the present invention as shown in the drawings and described above. However, any equivalent changes, modifications and evolutions made by technicians familiar with the profession without departing from the scope of the technical solution of the present invention using the technical content disclosed above are all equivalent embodiments of the present invention. At the same time, any equivalent changes, modifications and evolutions made to the above embodiments based on the essential technology of the present invention are still within the protection scope of the technical solution of the present invention.

Claims

1. A small amphibious shoal autonomous platform, characterized in that: It includes a wire-controlled shallow-water crawling assembly, an underwater propulsion assembly, a hydrodynamic hull assembly and an electronic compartment; The wire-controlled shallow underwater crawling assembly is a key driving system for a small amphibious platform to achieve efficient crawling in shallow and underwater environments. Its core components include dual drive motors, a reducer, a crawler travel mechanism, and an oil-gas suspension system. The crawler travel mechanism includes a balance shaft, a drive wheel, a road wheel, a crawler track, a traction wheel, and a tensioning wheel. The left and right sides of the main body are symmetrically structured and are located at the left and right rear parts of the cabin. The underwater propulsion assembly includes a buoyancy box, a buoyancy regulating device and a thruster group; the buoyancy box is made of high-strength composite materials and is located in the middle and upper part of the amphibious platform shell, and is connected to the buoyancy regulating device below to control the buoyancy of the platform in the water; the thruster group includes a plurality of electric thrusters, which are distributed on the rear side of the amphibious platform; The hydrodynamic housing assembly is composed of a housing frame and a skirt, and cooperates with a variable crawler walking mechanism to adapt to the movement state of the platform; The electronic compartment is located in the middle and rear part of the amphibious platform, at the lower part of the pontoon, and in the upper and middle part of the wire-controlled shallow underwater crawling assembly.

2. A small amphibious shoal autonomous platform according to claim 1, characterized in that: The power transmission design of the wire-controlled shallow underwater crawling assembly is as follows: the dual drive motors provide strong initial torque, which is further reduced in speed and increased in torque via a high-precision reducer, and then transmitted to the crawler walking mechanism to achieve smooth forward movement of the platform.

3. A small amphibious shoal autonomous platform according to claim 1, characterized in that: The track walking mechanism of the wire-controlled shallow underwater crawling assembly is made of high-strength wear-resistant material to ensure durability in complex terrain.

4. The small amphibious shoal autonomous platform according to claim 1, characterized in that: The oil-gas suspension system of the wire-controlled shallow underwater crawling assembly includes multiple cylinders and a hydraulic control unit. The cylinders are made of high-strength aluminum alloy material. The crawler walking mechanism can be retracted and extended through the lifting and lowering adjustment of the oil-gas suspension system.

5. The small amphibious shoal autonomous platform according to claim 1, characterized in that: The underwater propulsion assembly buoyancy regulating device comprises a plurality of air bags and control valves, and the material of the air bags is pressure-resistant rubber; the electric propeller blades of the propeller group are made of titanium alloy material.

6. The small amphibious shoal autonomous platform according to claim 1, characterized in that: The underwater propulsion assembly thruster group consists of four longitudinal main thrusters and two vertical side thrusters, which are integrated and installed on the thruster bracket.

7. The small amphibious shoal autonomous platform according to claim 1 is characterized in that: The hydrodynamic hull assembly is made of carbon fiber reinforced polymer composite material (CFRP) and has a low-resistance streamlined shape design.

8. The small amphibious shoal autonomous platform according to claim 1, characterized in that: Features: The platform can realize multi-state conversion of walking on land, sailing in water and crawling on shallow water through the coordinated work of various assemblies.

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