Air wheel landing and obstacle crossing device for amphibious ship

Abstract

The invention relates to an air wheel landing obstacle crossing device for an amphibious ship, and belongs to the technical field of amphibious ships. The amphibious ship comprises a power system, an air propeller rudder, an amphibious ship body and an air wheel landing obstacle crossing device. An air propeller rudder is arranged on an amphibious ship body, a power system is arranged at the input end of the air propeller rudder in a matched mode, and a plurality of air wheel landing and obstacle crossing devices are evenly distributed on the two sides of the amphibious ship body. The air wheel landing and obstacle crossing device structurally comprises an integral lifting device, a lifting wheel device, a main frame, a universal connector and an air cushion body. The integral lifting device is connected with the main frame, the lifting wheel device is assembled on the main frame, and the bottom of the main frame is connected with the air cushion body through a universal connector. According to the amphibious ship, through independent retracting and releasing actions of the unique air cushion bodies and the wheels, the characteristics of hovering and wheel driving are fully utilized to cope with different contact interfaces when the amphibious ship lands and crosses an obstacle, and the original excellent hydrodynamic ship type can be kept.

Description

Technical Field

[0001] The invention relates to the technical field of amphibious ships, in particular to an air wheel landing obstacle crossing device for amphibious ships. Background Art

[0002] Amphibious ships are ships that use air propeller engines as their power system, but they have three major problems. First, the use of air cushions can meet the needs of ships to prevent grounding when sailing in shallow waters, beaches, swamps or mudflats, but the bottom of the ship is flat and has poor hydrodynamic performance; second, the unique collapse characteristics of beaches, swamps or mudflats make it difficult for wheeled amphibious ships to land; third, various obstacles at the landing site will destroy the environment for the formation of the closed cushion, making it impossible for the amphibious ship to move forward.

[0003] In order to further solve the technical problems encountered in amphibious ship landing and obstacle crossing while meeting the requirements of amphibious ship hydrodynamic performance and anti-grounding navigation and landing, it is necessary for society to develop an amphibious ship air turbine landing and obstacle crossing device. Summary of the invention

[0004] In view of the shortcomings of the above-mentioned existing production technology, the applicant provides an air wheel landing obstacle crossing device for amphibious ships, so that the amphibious ship can fully utilize the characteristics of cushion lifting and wheel driving to cope with different contact interfaces when landing and crossing obstacles and maintain the original excellent hydrodynamic ship shape.

[0005] The technical solution adopted by the present invention is as follows: an air turbine landing obstacle-crossing device for an amphibious ship, comprising a power system, an air propeller rudder, an amphibious hull and an air turbine landing obstacle-crossing device; an air propeller rudder is arranged on the amphibious hull, and the input end of the air propeller rudder is matched with the power system, and a plurality of air turbine landing obstacle-crossing devices are evenly distributed on both sides of the amphibious hull; the structure of the air turbine landing obstacle-crossing device is: comprising an integral lifting device, a lifting wheel device, a main frame, a universal connector and an air cushion body; the integral lifting device is connected to the main frame, and a lifting wheel device is installed on the main frame, and the bottom of the main frame is connected to the air cushion body through a universal connector.

[0006] As a further improvement of the above technical solution:

[0007] Preferably, the structure of the integral lifting device is as follows: it includes support one, shaft one, upper support rod one, shaft two, shaft three, lower support rod one, shaft four, support two, cylinder one, shaft five, support three, shaft six, support four, connecting rod, shaft seven and support five; cylinder one is a driving device utilizing air pressure, cylinder one controls the driving device to perform linear motion to drive the main frame to move; support one is fixed on the amphibious hull, shaft one is installed on support one and is used to connect upper support rod one and the amphibious hull, and upper support rod one rotates around shaft one; shaft two is used to connect cylinder one and upper support rod one and moves with cylinder one and upper support rod one; shaft three is used to connect upper support rod one and lower support rod one and moves with the upper support rod one Rod one and lower support rod one move; support two is fixed on the main frame, shaft four is installed on support two and is used to connect lower support rod one and the main frame, and lower support rod one rotates around shaft four; support three is fixed on the amphibious hull, shaft five is installed on support three and is used to connect cylinder one and the amphibious hull, and cylinder one rotates around shaft five; shaft six, support four, connecting rod, shaft seven and support five form a parallelogram mechanism, support four is fixed on the main frame, shaft six is ​​installed on support four, one end of the connecting rod is installed with shaft six and makes the connecting rod rotate around shaft six; support five is fixed on the amphibious hull, shaft seven is installed on support five, and the other end of the connecting rod is installed with shaft seven and makes the connecting rod rotate around shaft seven.

[0008] Preferably, the structure of the lifting wheel device is as follows: it includes a rotating shaft 8, a lower support rod 2, an upper support rod 2, a rotating shaft 9, a support 6, a rotating shaft 10, a support 7, a support 8, a rotating shaft 11, a rotating shaft 12, a cylinder 2, a rotating shaft 13, a support 9, a wheel support rod, a hydraulic motor and a wheel; the cylinder 2 is a driving device using air pressure, and the cylinder 2 controls the driving device to perform linear motion to drive the wheel support rod to rotate; the support 6 is fixed to the main frame, the rotating shaft 9 is installed on the support 6 and is used to connect the upper support rod 2 and the main frame, and the upper support rod 2 rotates around the rotating shaft 9; the rotating shaft 8 is used to connect the upper support rod 2 and the lower support rod 2 and moves with the upper support rod 2 and the lower support rod 2; the support 7 is fixed to the wheel At one end of the support rod, the rotating shaft ten is installed on the support seven and is used to connect the lower support rod two and the wheel support rod, and the lower support rod two rotates around the rotating shaft ten; the rotating shaft twelve is used to connect the cylinder two and the upper support rod two and moves with the cylinder two and the upper support rod two; the support nine is fixed on the main frame, the rotating shaft thirteen is installed on the support nine and is used to connect the cylinder two and the main frame, and the cylinder two rotates around the rotating shaft thirteen; the support eight is fixed on the main frame, the rotating shaft eleven is installed on the support eight and is used to connect the wheel support rod and the main frame, and the wheel support rod rotates around the rotating shaft eleven; one end of the wheel support rod is connected to the lower support rod two through the rotating shaft ten and the support seven, and the other end of the wheel support rod is connected to the hydraulic motor and the wheel.

[0009] Preferably, the structure of the main frame is: it includes a horizontal rod, a connecting plate and a vertical rod; the horizontal rod and the vertical rod are vertically welded and fixed to each other; the two ends of the horizontal rod are respectively fixedly connected to the support eight, and the lower end of the vertical rod is fixedly connected to the connecting plate; the connecting plate is used to connect the universal connector; the horizontal rod is fixed with the support six and the support nine and is used to connect the lifting wheel device; the vertical rod is fixed with the support two and the support four and is used to connect the overall lifting device.

[0010] Preferably, the structure of the universal joint is as follows: it includes a joint connecting plate, a connecting fork ear, a rotating shaft fixing nut and a universal connecting shaft seat; the joint connecting plate is used for fixing the universal joint to the main frame and the air cushion body; two connecting fork ears are provided, and two connecting fork ears with the same structure are cross-arranged outside the connecting cube of the universal connecting shaft seat, and rotate around the cube connecting shaft of the universal connecting shaft seat, thereby realizing the universal rotation of the universal joint; the rotating shaft fixing nut is used for fixing to the cube connecting shaft of the universal connecting shaft seat.

[0011] Preferably, the structure of the universal connecting shaft seat is: including a connecting cube and a cube connecting shaft; the connecting cube is a regular six-sided cube, and there are 4 cube connecting shafts, which are respectively vertically fixed on the four corresponding faces of the connecting cube, and the 4 cube connecting shafts are in the same plane.

[0012] Preferably, the structure of the air cushion body is as follows: it includes an outer airbag body, an exhaust port type middle airbag body, a wear-resistant and impact-resistant strip, an inner airbag body, a fan system, an air cushion cavity support body, an air inlet, a fan mounting structure, a bracket structure and a connecting bracket; the exhaust port type middle airbag body is located at the middle bottom of the airbag, and the exhaust port type middle airbag body is connected with the outer airbag body and the inner airbag body to form an airbag; the outer airbag body is located at the periphery of the airbag, and a part of the outer airbag body is tightly bonded to the bracket structure; the inner airbag body itself forms an air cushion cavity, and the compressed air from the exhaust port type middle airbag body enters the formed air cushion cavity and forms an upward air cushion pressure to support the weight of the amphibious ship; the wear-resistant and impact-resistant strip is made of PVDF board, and a glass fiber reinforced plastic board is hot-pressed on one of the board surfaces for bonding to the exhaust port type middle airbag body; the wear-resistant and impact-resistant strip is in the shape of long strips and is arranged in a ring shape and bonded to the row The bottom of the airbag body in the air inlet type and the exhaust port on the airbag body in the exhaust port type are arranged between two wear-resistant and impact-resistant strips; the bracket structure is in the shape of an annular tray, and the bracket structure is used to support the air cushion pressure of the entire airbag; the fan mounting structure is used to install the fan system and set the air inlet of the fan system on the fan mounting structure; the fan of the fan system is a centrifugal fan or an axial flow fan; the air output by the fan system enters the air cushion cavity formed by the inner airbag body through the air bag body in the exhaust port type to form an upward air cushion pressure and is used to support the weight of the amphibious hull; the pressurized inner airbag body fits with the air cushion cavity support body, and the air cushion force is transmitted to the air cushion cavity support body; the air cushion cavity support body is fixed on the bracket structure and further connected to the connecting bracket; the air inlet is opened on the air cushion cavity support body and is used to meet the air from the fan system entering the air inlet of the airbag.

[0013] Preferably, the structure of the connecting bracket is: including a vertical pipe, a horizontal pipe, a main branch pipe and a bracket connecting plate; the upper end of the vertical main branch pipe is fixedly connected to the bracket connecting plate, and the bracket connecting plate is fixedly connected to the joint connecting plate of the universal connector; the lower end of the vertical main branch pipe is horizontally symmetrically fixedly connected through four horizontal pipes; the other ends of the four horizontal pipes are respectively fixedly connected to the matching four vertical pipes; the lower ends of the four vertical pipes are fixedly connected to the bracket structure.

[0014] Preferably, the bracket structure is a metal bracket structure.

[0015] The beneficial effects of the present invention are as follows:

[0016] The air wheel landing obstacle crossing device for amphibious ships of the present invention has a reasonable structure. By adding a specific air cushion body and wheels and independently retracting and extending the air cushion body and wheels, the amphibious ship can fully utilize the characteristics of cushion lifting and wheel driving to deal with different contact interfaces when landing and crossing obstacles, and can maintain the original excellent hydrodynamic ship shape.

[0017] The present invention also has the following advantages:

[0018] (1) The present invention uses a universally rotatable air cushion body that can adapt to the terrain, wheels actively driven by hydraulic motors, and independently operated air wheel landing and obstacle crossing devices to perform landing and obstacle crossing operations in steps, which can effectively solve the technical problems of destroying the closed cushion and crossing the obstacle height encountered in landing and obstacle crossing;

[0019] (2) The present invention uses a power combination of an air propeller propulsion system and a hydraulic motor wheel torque difference to enable an amphibious vessel to control the direction of the vessel under different operating conditions such as water, beach, swamp, and hard ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the structure of the present invention in a state of sailing in water.

[0021] Figure 2 for Figure 1 Side view of.

[0022] Figure 3 It is a schematic structural diagram of the turbine landing obstacle crossing device of the present invention.

[0023] Figure 4 for Figure 3 Side view of.

[0024] Figure 5 It is a schematic structural diagram of the overall lifting device of the present invention in the lowered state.

[0025] Figure 6 It is a schematic structural diagram of the integrated lifting device of the present invention in a folded state.

[0026] Figure 7 It is a schematic structural diagram of the lifting wheel device of the present invention in a retracted state.

[0027] Figure 8 It is a schematic structural diagram of the lifting wheel device of the present invention in the lowered state.

[0028] Fig. 9 It is a structural schematic diagram of the main frame of the present invention.

[0029] Fig.10 for Fig. 9 Side view of.

[0030] Fig.11 It is a structural schematic diagram of the universal connector of the present invention.

[0031] Fig.12 for Fig.11 Side view of.

[0032] Fig.13 It is a structural schematic diagram of the universal joint shaft seat of the present invention.

[0033] Fig.14 It is a schematic structural diagram of the air cushion body of the present invention.

[0034] Fig.15 It is a schematic structural diagram of the connecting bracket of the present invention.

[0035] Fig.16 The figure is a schematic diagram showing the formation principle of the air cushion layer of the air cushion body of the present invention.

[0036] Fig.17 It is a schematic diagram of the present invention in the air-running state on sandy land.

[0037] Fig.18 It is a schematic diagram of the present invention in a hard ground wheel running state.

[0038] Fig.19 It is a flowchart of the present invention's login barrier crossing.

[0039] Among them: 1. Power system; 2. Air propeller rudder; 3. Amphibious hull; 1000. Air wheel landing obstacle crossing device;

[0040] 1100, integral lifting device; 1200, lifting wheel device; 1300, main frame; 1400, universal joint; 1500, air cushion body;

[0041] 1101, support 1; 1102, shaft 1; 1103, upper support rod 1; 1104, shaft 2; 1105, shaft 3; 1106, lower support rod 1; 1107, shaft 4; 1108, support 2; 1109, cylinder 1; 1110, shaft 5; 1111, support 3; 1112, shaft 6; 1113, support 4; 1114, connecting rod; 1115, shaft 7; 1116, support 5;

[0042] 1201, shaft eight; 1202, lower support rod two; 1203, upper support rod two; 1204, shaft nine; 1205, support six; 1206, shaft ten; 1207, support seven; 1208, support eight; 1209, shaft eleven; 1210, shaft twelve; 1211, cylinder two; 1212, shaft thirteen; 1213, support nine; 1214, wheel support rod; 1215, hydraulic motor; 1216, wheel;

[0043] 1301, horizontal rod; 1302, connecting plate; 1303, vertical rod;

[0044] 1401, joint connecting plate; 1402, connecting fork ear; 1403, rotating shaft fixing nut; 1410, universal connecting shaft seat;

[0045] 1411. Connecting cubes; 1412. Connecting axes of cubes;

[0046] 1501, outer airbag body; 1502, exhaust port type middle airbag body; 1503, wear-resistant and impact-resistant strip; 1504, inner airbag body; 1505, fan system; 1506, air cushion cavity support body; 1507, air inlet; 1508, fan mounting part; 1509, bracket structure; 1510, connecting bracket;

[0047] 1511. vertical pipe; 1512. horizontal pipe; 1513. main branch pipe; 1514. bracket connecting plate. DETAILED DESCRIPTION

[0048] The specific implementation of the present invention will be described below in conjunction with the accompanying drawings.

[0049] like Figures 1 to 19 As shown, the air turbine landing obstacle crossing device for amphibious ships of this embodiment includes a power system 1, an air propeller rudder 2, an amphibious hull 3 and an air turbine landing obstacle crossing device 1000; the air propeller rudder 2 is arranged on the amphibious hull 3, the input end of the air propeller rudder 2 is matched with the power system 1, and a plurality of air turbine landing obstacle crossing devices 1000 are evenly distributed on both sides of the amphibious hull 3; the structure of the air turbine landing obstacle crossing device 1000 is: including an integral lifting device 1100, a lifting wheel device 1200, a main frame 1300, a universal connector 1400 and an air cushion body 1500; the integral lifting device 1100 is connected to the main frame 1300, the lifting wheel device 1200 is mounted on the main frame 1300, and the bottom of the main frame 1300 is connected to the air cushion body 1500 through the universal connector 1400.

[0050] In this embodiment, the structure of the integral lifting device 1100 is as follows: it includes a support 1101, a rotating shaft 1102, an upper support rod 1103, a rotating shaft 2 1104, a rotating shaft 3 1105, a lower support rod 1106, a rotating shaft 4 1107, a support 2 1108, a cylinder 1109, a rotating shaft 5 1110, a support 3 1111, a rotating shaft 6 1112, a support 4 1113, a connecting rod 1114, a rotating shaft 7 1115 and a support 5 1116; the cylinder 1109 is a driving device using air pressure, and the cylinder 1109 controls the driving The driving device performs linear motion to drive the main frame 1300 to move; the support 1101 is fixed on the amphibious hull 3, the rotating shaft 1102 is installed on the support 1101 and is used to connect the upper support rod 1103 and the amphibious hull 3, and the upper support rod 1103 rotates around the rotating shaft 1102; the rotating shaft 2 1104 is used to connect the cylinder 1109 and the upper support rod 1103 and moves with the cylinder 1109 and the upper support rod 1103; the rotating shaft 3 1105 is used to connect the upper support rod 1103 and the lower support rod 1106 and moves with the upper support rod 1106. 03 and the lower support rod 1106 move; the support 2 1108 is fixed on the main frame 1300, the rotating shaft 4 1107 is installed on the support 2 1108 and is used to connect the lower support rod 1106 and the main frame 1300, and the lower support rod 1106 rotates around the rotating shaft 4 1107; the support 3 1111 is fixed on the amphibious hull 3, the rotating shaft 5 1110 is installed on the support 3 1111 and is used to connect the cylinder 1109 and the amphibious hull 3, and the cylinder 1109 rotates around the rotating shaft 5 1110; the rotating shaft 6 1112 and the support 4 1113 , a connecting rod 1114, a rotating shaft 1115 and a support 1116 form a parallelogram mechanism, the support 1113 is fixed on the main frame 1300, the rotating shaft 1112 is installed on the support 1113, one end of the connecting rod 1114 is installed with the rotating shaft 1112 so that the connecting rod 1114 rotates around the rotating shaft 1112; the support 1116 is fixed on the amphibious hull 3, the rotating shaft 1115 is installed on the support 1116, the other end of the connecting rod 1114 is installed with the rotating shaft 1115 so that the connecting rod 1114 rotates around the rotating shaft 1115;

[0051] Specifically, the two connecting rods 1113 are parallel to each other, forming a parallelogram mechanism. This mechanism ensures the parallel movement of the main frame 1300 on the one hand, and supports and strengthens the structure of the main frame 1300 on the other hand. In the foldable strut system composed of the main upper strut 1103 and the lower strut 1106, the strut connected to the driving device is called the upper strut, and the strut connected to the main force-bearing member is called the lower strut. The purpose of using the foldable strut system is to avoid direct force on the driving device and limit the rotation of the main force-bearing member in the self-locking state. When the self-locking state needs to be released, the driving device can quickly release the self-locking state and drive the main force-bearing member to rotate.

[0052] The process of lowering the main frame 1300 during actual operation is as follows: when the main frame 1300 is lowered, the cylinder 1109 is retracted, and the upper support rod 1103 is driven to rotate downward around the rotation axis 5 1110 through the rotation axis 2 1104. At the same time, the upper support rod 1103 drives the lower support rod 1106, the rotation axis 4 1107, the support 2 1108 and the main frame 1300 to move downward through the rotation axis 3 1105, until the upper support rod 1103 and the lower support rod 1106 are in an axially coincident state; when the two support rods are in an axially coincident state, the two support rods become a two-force rod state. The force characteristic of the two-force rod is that the force component in the direction perpendicular to the rod axis is equal to zero or very small, that is, at this time, the driving device (such as an electric push rod, a cylinder, a cylinder, etc.) is subjected to very little force, and the main force is borne by the two support rods. Since the foldable strut system adopts an eccentric self-locking method, the only way to release the self-locking is through the external force of the driving device, that is, the driving device applies an external force to make the two struts rotate in the non-restricted direction to destroy the dead point equilibrium position and release the self-locking;

[0053] The folding process of the main frame 1300 during actual operation is as follows: when the main frame 1300 is folded, the cylinder 1109 extends out and drives the upper support rod 1103 to rotate upward around the rotation axis 5 1110 through the rotation axis 2 1104. At the same time, the upper support rod 1103 drives the lower support rod 1106, the rotation axis 4 1107, the support 2 1108 and the main frame 1300 to move upward through the rotation axis 3 1105 until the cylinder 1109 reaches the extended limit position; in the process of lowering or folding the main frame 1300, the two sets of parallelogram mechanisms composed of the rotation axis 6 1112, the support 4 1113, the connecting rod 1114, the rotation axis 7 1115 and the support 5 1116 also rotate downward or upward accordingly, and keep the main frame 1300 moving in parallel.

[0054] In this embodiment, the structure of the lifting wheel device 1200 is as follows: it includes a rotating shaft 8 1201, a lower support rod 2 1202, an upper support rod 2 1203, a rotating shaft 9 1204, a support 6 1205, a rotating shaft 10 1206, a support 7 1207, a support 8 1208, a rotating shaft 11 1209, a rotating shaft 1210, a cylinder 2 1211, a rotating shaft 13 1212, a support 9 1213, a wheel support rod 1214, a hydraulic motor 1215 and a wheel 1216; the cylinder 2 1211 is driven by air pressure. The cylinder 2 1211 controls the driving device to perform linear motion to drive the wheel support rod 1214 to rotate; the support 6 1205 is fixed on the main frame 1300, the rotating shaft 9 1204 is installed on the support 6 1205 and is used to connect the upper support rod 2 1203 and the main frame 1300, and the upper support rod 2 1203 rotates around the rotating shaft 9 1204; the rotating shaft 8 1201 is used to connect the upper support rod 2 1203 and the lower support rod 2 1202 and moves with the upper support rod 2 1203 and the lower support rod 2 1202; the support 7 1207 is fixed on the main frame 1300, and the rotating shaft 9 1204 is installed on the support 6 1205 and is used to connect the upper support rod 2 1203 and the main frame 1300, and the upper support rod 2 1203 rotates around the rotating shaft 9 1204; the rotating shaft 8 1201 is used to connect the upper support rod 2 1203 and the lower support rod 2 1202 and moves with the upper support rod 2 1203 and the lower support rod 2 1202; The rotating shaft 1206 is fixed at one end of the wheel support rod 1214, and the rotating shaft 1206 is installed on the support 7 1207 and is used to connect the lower support rod 2 1202 and the wheel support rod 1214, and the lower support rod 2 1202 rotates around the rotating shaft 1206; the rotating shaft 1210 is used to connect the cylinder 2 1211 and the upper support rod 2 1203 and moves with the cylinder 2 1211 and the upper support rod 2 1203; the support 9 1213 is fixed on the main frame 1300, and the rotating shaft 1312 is installed on the support 9 1213 and is used to connect the cylinder 2 12 11 and the main frame 1300, the cylinder 1211 rotates around the rotating shaft 1312; specifically, in the foldable strut system composed of the main upper strut 1203 and the lower strut 1202, the strut connected to the driving device is called the upper strut, and the strut connected to the main force-bearing member is called the lower strut; the purpose of adopting the foldable strut system is to avoid the driving device from being directly stressed and to limit the rotation of the main force-bearing member in the self-locking state, and when the self-locking state needs to be released, the driving device can quickly release the self-locking state to drive the main force-bearing member to rotate.

[0055] In this embodiment, support eight 1208 is fixed on the main frame 1300, and shaft eleven 1209 is installed on support eight 1208 and is used to connect the wheel support rod 1214 and the main frame 1300, and the wheel support rod 1214 rotates around shaft eleven 1209; one end of the wheel support rod 1214 is connected to the lower support rod two 1202 through shaft ten 1206 and support seven 1207, and the other end of the wheel support rod 1214 is connected to the hydraulic motor 1215 and the wheel 1216; specifically, the hydraulic motor 1215 adopts a low-speed and high-torque hydraulic motor, which has the advantage that the low-speed function does not require a deceleration device, the high-torque starting is not limited by time and number of times, it has strong impact resistance and environmental adaptability, is easy to install, maintenance-free, highly reliable, and has excellent controllability. In addition to being very suitable for driving wheels 1216 under hard ground conditions (such as gravel, mud, and various roads, etc.), this performance can also use the wheel torque difference applied by the hydraulic motor to the left and right wheels of the amphibious ship to control the differential steering of the amphibious ship on hard ground, that is, the rotation torque of one wheel is large and the rotation torque of the other wheel is small. The resulting torque difference will cause the amphibious ship to rotate in the direction of the wheel with small torque. The lowering and stowing process of the lifting wheel device 1200 is the same as the lowering and stowing process of the main frame 1300. The cylinder is used to drive the folding or unfolding movement of the upper support rod and the lower support rod. When the force is applied, the two support rods are in an axially coincident state to achieve a two-force rod state, and the device is retracted and put into place when it is not applied.

[0056] In this embodiment, the structure of the main frame 1300 is: including a horizontal rod 1301, a connecting plate 1302 and a vertical rod 1303; the horizontal rod 1301 and the vertical rod 1303 are vertically welded and fixed to each other; the two ends of the horizontal rod 1301 are respectively fixedly connected to the support eight 1208, and the lower end of the vertical rod 1303 is fixedly connected to the connecting plate 1302; the connecting plate 1302 is used to connect the universal connector 1400; the horizontal rod 1301 is fixed with the support six 1205 and the support nine 1213 and is used to connect the lifting wheel device 1200; the vertical rod 1303 is fixed with the support two 1108 and the support four 1113 and is used to connect the overall lifting device 1100.

[0057] In this embodiment, the structure of the universal joint 1400 is as follows: it includes a joint connecting plate 1401, a connecting fork ear 1402, a rotating shaft fixing nut 1403 and a universal connecting shaft seat 1410; the joint connecting plate 1401 is used to fix the universal joint 1400 with the main frame 1300 and the air cushion body 1500; there are two connecting fork ears 1402, and the two connecting fork ears 1402 with the same structure are cross-arranged outside the connecting cube 1411 of the universal connecting shaft seat 1410, and rotate around the cube connecting shaft 1412 of the universal connecting shaft seat 1410, so as to realize the universal rotation of the universal joint 1400; the rotating shaft fixing nut 1403 is used to connect with the cube connecting shaft 1412 of the universal connecting shaft seat 1410 412 Fixed; Specifically, for the air cushion body 1500, the core component of the air cushion of the amphibious ship, it is required that there is no very large gap between the air cushion body 1500 and the contacting ground (mud, gravel, mudflats, hard ground, etc.), that is to say, the amount of air flowing out from the gap between the air cushion body 1500 and the ground must be less than the amount of air supplied by the fan, otherwise the formation environment of the closed cushion will be destroyed. However, in the actual operation of the amphibious ship, it is inevitable to encounter a situation where the gap between the air cushion body 1500 and the ground is too large. If the air cushion body 1500 and the amphibious ship are fixed and immutable, the air cushion body 1500 cannot change its contact position and angle with the ground as the shape of the ground changes, and large gap leakage is inevitable. In particular, when the bow of an amphibious ship is lifted during the obstacle crossing process, if the air cushion body 1500 does not change its position and angle of contact with the ground and contacts the ground obliquely, the air cushion at the stern will not be implemented, and the bottom structure of the stern without cushioning will directly contact mud, gravel, mudflats, etc., and the stern will be directly dragged during the obstacle crossing process, and the stern structure will be damaged. The dragging resistance will make it impossible for the amphibious ship to cross obstacles. To this end, the universal connector 1400 can solve the above problems. The universal connector 1400 has a 360° universal angle change, which can adapt to different ground shapes and angle requirements, ensuring that the air cushion body 1500 always maintains a cushioning state when it is used.

[0058] In this embodiment, the structure of the universal connecting shaft seat 1410 is: including a connecting cube 1411 and a cube connecting shaft 1412; the connecting cube 1411 is a regular six-sided cube, and there are four cube connecting shafts 1412, which are respectively vertically fixed on the four corresponding faces of the connecting cube 1411, and the four cube connecting shafts 1412 are in the same plane.

[0059] In this embodiment, the structure of the air cushion body 1500 is: including an outer airbag body 1501, an exhaust port type middle airbag body 1502, a wear-resistant and impact-resistant strip 1503, an inner airbag body 1504, a fan system 1505, an air cushion chamber support body 1506, an air inlet 1507, a fan mounting structure 1508, a bracket structure 1509 and a connecting bracket 1510; specifically, the airbag can select a combination of rubber materials and fibers with different performances according to the actual landing and obstacle crossing site conditions to meet the requirements of the air cushion body 1500 for strength, elasticity, tear resistance, damage force and shrinkage when the amphibious ship lands and crosses obstacles.

[0060] In this embodiment, the exhaust port type middle airbag body 1502 is located at the middle bottom of the airbag, and the exhaust port type middle airbag body 1502 is connected with the outer airbag body 1501 and the inner airbag body 1504 to form an airbag; specifically, during the amphibious ship landing and crossing obstacles, the exhaust port type middle airbag body 1502 will be in direct contact with the ground and will be subjected to corresponding wear and tear. Therefore, when manufacturing the airbag, the structure and materials of the exhaust port type middle airbag body 1502 must be strengthened, and the required performance indicators must be higher than the performance indicators required for the outer airbag body 1501 and the inner airbag body 1504.

[0061] In this embodiment, the outer airbag body 1501 is located at the periphery of the airbag, and a part of the outer airbag body 1501 is tightly bonded to the bracket structure 1509; the inner airbag body 1504 itself constitutes an air cushion cavity, and the compressed air from the exhaust port type middle airbag body 1502 enters the constituted air cushion cavity and forms an upward air cushion pressure to support the weight of the amphibious ship; the wear-resistant and impact-resistant strip 1503 adopts a PVDF board, and a glass fiber reinforced plastic board is hot-pressed on one of the board surfaces for bonding to the exhaust port type middle airbag body 1502; the wear-resistant and impact-resistant strip 1503 is in the shape of a long strip and is bonded to the exhaust port type middle airbag body 1502 in a ring shape. The bottom of the airbag body 1502, the exhaust port on the airbag body 1502 in the exhaust port type is arranged between the two wear-resistant and impact-resistant strips 1503; the bracket structure 1509 is in the shape of an annular tray, and the bracket structure 1509 is used to support the air cushion pressure of the entire airbag; the fan installation structure 1508 is used to install the fan system 1505 and an air inlet of the fan system 1505 is arranged on the fan installation structure 1508; the fan of the fan system 1505 is a centrifugal fan or an axial flow fan; the air output by the fan system 1505 enters the inner airbag body 1502 through the exhaust port type The air cushion cavity formed by 4 forms an upward air cushion pressure and is used to support the weight of the amphibious hull 3; the pressurized inner air bag body 1504 fits with the air cushion cavity support body 1506, and the air cushion force is transmitted to the air cushion cavity support body 1506; the air cushion cavity support body 1506 is fixed on the bracket structure 1509 and further connected to the connecting bracket 1510; the air inlet 1507 is opened on the air cushion cavity support body 1506 and is used to meet the air intake of the air from the fan system 1505 into the air bag; specifically, the material of the wear-resistant and impact-resistant strip 1503 is PVDF board, which has double-sided characteristics. One side of the middle PVDF board has excellent anti-collision and anti-cutting properties, while the other side is a glass fiber reinforced plastic board hot-pressed on the PVDF board, which has good bonding properties and can be firmly bonded to the exhaust port type middle airbag body 1502. The long wear-resistant and impact-resistant strips 1503 are arranged in a ring shape and bonded to the bottom of the exhaust port type middle airbag body 1502, and the exhaust port on the exhaust port type middle airbag body 1502 is arranged between the two wear-resistant and impact-resistant strips 1503. This can not only improve the anti-collision and anti-cutting capabilities of the exhaust port type middle airbag body 1502, but also does not affect the exhaust of the exhaust port.

[0062] In this embodiment, the structure of the connecting bracket 1510 is: including a vertical pipe 1511, a horizontal pipe 1512, a main branch pipe 1513 and a bracket connecting plate 1514; the upper end of the vertical main branch pipe 1513 is fixedly connected to the bracket connecting plate 1514, and the bracket connecting plate 1514 is fixedly connected to the joint connecting plate 1401 of the universal connector 1400; the lower end of the vertical main branch pipe 1513 is horizontally symmetrically fixedly connected through four horizontal pipes 1512; the other ends of the four horizontal pipes 1512 are respectively fixedly connected to the matching four vertical pipes 1511; the lower ends of the four vertical pipes 1511 are fixedly connected to the bracket structure 1509; the structure of the bracket structure 1509 is a metal bracket structure.

[0063] like Fig.16 As shown, the formation principle of the air cushion layer in this embodiment is as follows:

[0064] When the amphibious ship 3 leaves the water and runs aground on soft sand, swamps or mud, the amphibious ship 3 will be unable to navigate.

[0065] Before going aground, the air cushion body 1500 is first lowered through the integral lifting device 1100 of the air wheel landing obstacle crossing device 1000 to start the air cushion navigation mode; the fan system 1505 is started to pump compressed air into the airbag from the air inlet 1507, and then it is discharged from the exhaust port of the airbag body 1502; when the exhausted air fills the air cushion cavity formed by the inner airbag body 1504, the air overflows from the gap between the air cushion body 1500 and the ground, and forms an air cushion layer, while generating air cushion support force.

[0066] Since the fan outputs the air flow pressure, it is converted into static pressure after entering the air cushion cavity. As the static pressure in the air cushion cavity increases, and when the air cushion pressure is greater than the external atmospheric pressure, the air in the air cushion cavity will leak out through the gap. In order to maintain an air cushion layer higher than the atmospheric pressure at the bottom of the air cushion body 1500, the fan system 1505 must continuously replenish air into the air cushion cavity. As the static pressure in the air cushion cavity increases, the amphibious hull 3 is gradually lifted off the ground as a whole, and the amphibious hull 3 can smoothly sail on soft sand, swamps or mud, achieving the landing operation requirements.

[0067] like Figure 17 to Figure 19 As shown, the amphibious ship landing obstacle crossing process in this embodiment is as follows:

[0068] When sailing in water, the amphibious ship is in water, and the integral lifting device 1100 and the lifting wheel device 1200 of the air wheel landing obstacle crossing device 1000 are both in a retracted state, above water, and do not affect the underwater ship shape of the amphibious hull 3; at this time, the power system 1 and the duct and the air propeller rudder 2 of the amphibious ship provide navigation power and heading control;

[0069] During air cushion landing, when the amphibious ship approaches a shallow beach, soft sand, swamp or mud, the overall lifting device 1100 is first lowered. During the entire landing process, the overall lifting device 1100 is always in the lowered state; the air cushion body 1500 is started, the amphibious ship hull 3 is raised as a whole, and the lifting wheel device 1200 is still in the retracted state; at this time, the power system 1 and the duct and the air propeller rudder 2 of the amphibious ship still provide air cushion driving power and direction control;

[0070] When the air wheel crosses the obstacle, the amphibious ship reaches the intersection of the beach and the hard ground, lowers the lifting wheel device 1200 at the front of the ship, closes the air cushion body 1500 at the front of the ship, and starts the hydraulic motor 1215 of the wheel 1216 at the front of the ship; the hydraulic motor 1215 drives the wheel 1216 to cross the hard ground obstacle. At this time, the lifting wheel device 1200 at the middle and rear of the ship is still in the retracted state, and their air cushion bodies 1500 are still in the starting working state, and provide sufficient air cushion support for the middle and rear of the ship to ensure that the middle and rear of the amphibious ship are still in the cushioned state, which is conducive to completing the forward obstacle crossing operation of the amphibious ship.

[0071] After the front of the ship has crossed the hard soil obstacle, the lifting wheel device 1200 in the middle of the ship is lowered, and its air cushion body 1500 is closed to continue to complete the subsequent obstacle crossing operation. Finally, the lifting wheel device 1200 at the rear of the ship also performs the same obstacle crossing operation. Ultimately, the transition of the amphibious ship from padding and gliding on the beach to wheel rolling on the hard ground is achieved, and finally all wheels 1216 replace all air cushion bodies 1500 to change the movement mode. In the process of moving forward across obstacles, the power system 1 and air propeller rudder of the amphibious ship only provide power for moving forward across obstacles but cannot provide directional control. In addition to providing power for moving forward across obstacles, the hydraulic motor 1215 of the wheel 1216 can also change the rolling direction of the amphibious ship on land by changing the differential rotational torque of the two wheels 1216;

[0072] When traveling on land, when the amphibious vessel is traveling on hard ground or various roads, the power system 1 and the air propeller rudder 2 can be stopped, unless it is necessary to further cross obstacles or travel at high speed, otherwise the hydraulic motor 1215 of the wheel 1216 can fully meet the power requirements of the amphibious vessel, and the control and adjustment of the rotational torque difference of the wheel 1216 can also fully meet the requirements of the amphibious vessel's land driving direction control.

[0073] The air-wheel landing and obstacle-crossing device for amphibious vessels of the present embodiment, through the unique independent retraction and extension actions of the air cushion body and wheels, enables the amphibious vessel to fully utilize the characteristics of cushion lift and wheel driving to cope with different contact interfaces when landing and crossing obstacles, and can maintain the original excellent hydrodynamic ship type; it also adopts a universally rotating air cushion body that can adapt to the terrain, wheels actively driven by hydraulic motors, and air-wheel landing and obstacle-crossing devices that act independently to perform step-by-step operations of landing and crossing obstacles, which can effectively solve the technical problems of destroying the closed cushion lift and crossing the obstacle height encountered in landing and crossing obstacles; the present invention also uses a power combination of an air propeller propulsion system and a hydraulic motor wheel torque difference, so that the amphibious vessel can complete the control of the ship's direction under different usage conditions such as water, beach, swamp and hard ground.

[0074] The above description is an explanation of the present invention, not a limitation of the present invention. The scope of the present invention is defined in the claims. Any form of modification may be made within the scope of protection of the present invention.

Claims

1. An amphibious ship air wheel landing obstacle crossing device, characterized in that: The invention comprises a power system (1), an air propeller rudder (2), an amphibious hull (3) and an air turbine landing obstacle-crossing device (1000); the air propeller rudder (2) is arranged on the amphibious hull (3), the power system (1) is matched and arranged at the input end of the air propeller rudder (2), and a plurality of air turbine landing obstacle-crossing devices (1000) are evenly distributed on both sides of the amphibious hull (3); The structure of the air wheel landing obstacle crossing device (1000) is as follows: it comprises an integral lifting device (1100), a lifting wheel device (1200), a main frame (1300), a universal connector (1400) and an air cushion body (1500); the integral lifting device (1100) is connected to the main frame (1300), the lifting wheel device (1200) is mounted on the main frame (1300), and the bottom of the main frame (1300) is connected to the air cushion body (1500) via the universal connector (1400).

2. The amphibious ship gas wheel landing obstacle crossing device according to claim 1, characterized in that: The structure of the integral lifting device (1100) is as follows: it includes support 1 (1101), rotating shaft 1 (1102), upper support rod 1 (1103), rotating shaft 2 (1104), rotating shaft 3 (1105), lower support rod 1 (1106), rotating shaft 4 (1107), support 2 (1108), cylinder 1 (1109), rotating shaft 5 (1110), support 3 (1111), rotating shaft 6 (1112), support 4 (1113), connecting rod (1114), rotating shaft 7 (1115) and support 5 (1116); Cylinder 1 (1109) is a driving device using air pressure. Cylinder 1 (1109) controls the driving device to perform linear motion to drive the main frame (1300) to move; Support 1 (1101) is fixed on the amphibious hull (3), and rotating shaft 1 (1102) is installed on support 1 (1101) and is used to connect upper support rod 1 (1103) and the amphibious hull (3), and upper support rod 1 (1103) rotates around rotating shaft 1 (1102); The second rotating shaft (1104) is used to connect the first cylinder (1109) and the first upper supporting rod (1103) and move along with the first cylinder (1109) and the first upper supporting rod (1103); The rotating shaft 3 (1105) is used to connect the upper support rod 1 (1103) and the lower support rod 1 (1106) and move along with the upper support rod 1 (1103) and the lower support rod 1 (1106); The support 2 (1108) is fixed on the main frame (1300), the rotating shaft 4 (1107) is installed on the support 2 (1108) and is used to connect the lower support rod 1 (1106) and the main frame (1300), and the lower support rod 1 (1106) rotates around the rotating shaft 4 (1107); Support three (1111) is fixed on the amphibious hull (3), and rotating shaft five (1110) is installed on support three (1111) and is used to connect cylinder one (1109) and the amphibious hull (3), and cylinder one (1109) rotates around rotating shaft five (1110); The rotating shaft six (1112), the support four (1113), the connecting rod (1114), the rotating shaft seven (1115) and the support five (1116) form a parallelogram mechanism. The support four (1113) is fixed on the main frame (1300), the rotating shaft six (1112) is installed on the support four (1113), one end of the connecting rod (1114) is installed with the rotating shaft six (1112) and the connecting rod (1114) is rotated around the rotating shaft six (1112); the support five (1116) is fixed on the amphibious hull (3), the rotating shaft seven (1115) is installed on the support five (1116), and the other end of the connecting rod (1114) is installed with the rotating shaft seven (1115) and the connecting rod (1114) is rotated around the rotating shaft seven (1115).

3. The amphibious ship gas wheel landing obstacle crossing device according to claim 1, characterized in that: The structure of the lifting wheel device (1200) is as follows: it includes rotating shaft eight (1201), lower support rod two (1202), upper support rod two (1203), rotating shaft nine (1204), support six (1205), rotating shaft ten (1206), support seven (1207), support eight (1208), rotating shaft eleven (1209), rotating shaft twelve (1210), cylinder two (1211), rotating shaft thirteen (1212), support nine (1213), wheel support rod (1214), hydraulic motor (1215) and wheel (1216); The second cylinder (1211) is a driving device using air pressure. The second cylinder (1211) controls the driving device to perform linear motion to drive the wheel support rod (1214) to rotate. Support six (1205) is fixed on the main frame (1300), and shaft nine (1204) is installed on support six (1205) and used to connect upper support rod two (1203) and the main frame (1300), and upper support rod two (1203) rotates around shaft nine (1204); The rotating shaft 8 (1201) is used to connect the upper supporting rod 2 (1203) and the lower supporting rod 2 (1202) and move along with the upper supporting rod 2 (1203) and the lower supporting rod 2 (1202); The support seven (1207) is fixed to one end of the wheel support rod (1214), and the rotating shaft ten (1206) is installed on the support seven (1207) and is used to connect the lower support rod two (1202) and the wheel support rod (1214), and the lower support rod two (1202) rotates around the rotating shaft ten (1206); The rotating shaft 12 (1210) is used to connect the cylinder 2 (1211) and the upper support rod 2 (1203) and move along with the cylinder 2 (1211) and the upper support rod 2 (1203); The support nine (1213) is fixed on the main frame (1300), the rotating shaft thirteen (1212) is installed on the support nine (1213) and is used to connect the cylinder two (1211) and the main frame (1300), and the cylinder two (1211) rotates around the rotating shaft thirteen (1212); The support eight (1208) is fixed on the main frame (1300), the rotating shaft eleven (1209) is installed on the support eight (1208) and is used to connect the wheel support rod (1214) and the main frame (1300), and the wheel support rod (1214) rotates around the rotating shaft eleven (1209); One end of the wheel support rod (1214) is connected to the lower support rod 2 (1202) through the rotating shaft 10 (1206) and the support seat 7 (1207), and the other end of the wheel support rod (1214) is connected to the hydraulic motor (1215) and the wheel (1216).

4. The amphibious ship air wheel landing obstacle crossing device according to claim 1, characterized in that: The structure of the main frame (1300) is as follows: it includes a horizontal rod (1301), a connecting plate (1302) and a vertical rod (1303); The horizontal rod (1301) and the vertical rod (1303) are vertically welded and fixed to each other; The two ends of the horizontal rod (1301) are respectively fixedly connected to the support eight (1208), and the lower end of the vertical rod (1303) is fixedly connected to the connecting plate (1302); The connecting plate (1302) is used to connect the universal connector (1400); A support six (1205) and a support nine (1213) are fixed on the horizontal rod (1301) and are used to connect the lifting wheel device (1200); A second support (1108) and a fourth support (1113) are fixed on the vertical rod (1303) and are used to connect the overall lifting device (1100).

5. The amphibious ship air wheel landing obstacle crossing device according to claim 1, characterized in that: The structure of the universal joint (1400) is as follows: it comprises a joint connecting plate (1401), a connecting fork ear (1402), a rotating shaft fixing nut (1403) and a universal joint shaft seat (1410); The joint connecting plate (1401) is used for fixedly connecting the universal joint (1400) with the main frame (1300) and the air cushion body (1500); Two connecting fork ears (1402) are provided, and the two connecting fork ears (1402) with the same structure are cross-arranged outside the connecting cube (1411) of the universal connecting shaft seat (1410), and rotate around the cube connecting shaft (1412) of the universal connecting shaft seat (1410), thereby realizing the universal rotation of the universal connecting head (1400); The rotating shaft fixing nut (1403) is used to fix with the cube connecting shaft (1412) of the universal connecting shaft seat (1410).

6. The amphibious ship air wheel landing obstacle crossing device according to claim 5, characterized in that: The structure of the universal connecting shaft seat (1410) is as follows: it comprises a connecting cube (1411) and a cube connecting shaft (1412); The connected cube (1411) is a regular six-sided cube. Four cube connection axes (1412) are provided, and the four cube connection axes (1412) are respectively vertically fixed on four corresponding faces of the connection cube (1411), and the four cube connection axes (1412) are in the same plane.

7. The amphibious ship air wheel landing obstacle crossing device according to claim 1, characterized in that: The structure of the air cushion body (1500) is as follows: it includes an outer air bag body (1501), an exhaust port type middle air bag body (1502), a wear-resistant and impact-resistant strip (1503), an inner air bag body (1504), a fan system (1505), an air cushion cavity support body (1506), an air inlet (1507), a fan installation structure (1508), a bracket structure (1509) and a connecting bracket (1510); The exhaust port type middle airbag body (1502) is located at the middle bottom of the airbag, and the exhaust port type middle airbag body (1502) is connected with the outer airbag body (1501) and the inner airbag body (1504) to form an airbag; The outer airbag body (1501) is located outside the airbag, and a part of the outer airbag body (1501) is tightly bonded to the bracket structure (1509); The inner airbag body (1504) itself forms an air cushion cavity, and the compressed air from the exhaust port-type middle airbag body (1502) enters the formed air cushion cavity and forms an upward air cushion pressure for supporting the weight of the amphibious ship; The wear-resistant and impact-resistant strip (1503) is made of a PVDF plate, on one surface of which a glass fiber reinforced plastic plate is hot pressed, and is used for bonding to the exhaust port type airbag body (1502); The wear-resistant and impact-resistant strip (1503) is in the shape of a long strip and is arranged in a ring shape and bonded to the bottom of the airbag body (1502) in the exhaust port type. The exhaust port on the airbag body (1502) in the exhaust port type is arranged between two wear-resistant and impact-resistant strips (1503); The bracket structure (1509) is in the shape of an annular tray, and the bracket structure (1509) is used to support the air cushion pressure of the entire airbag; The fan installation structure (1508) is used to install the fan system (1505) and to set an air inlet of the fan system (1505) on the fan installation structure (1508); The fan of the fan system (1505) is a centrifugal fan or an axial flow fan; The air outputted by the fan system (1505) enters the air cushion cavity formed by the inner air bag body (1504) through the exhaust port type middle air bag body (1502) to form an upward air cushion pressure and is used to support the weight of the amphibious hull (3); The pressurized inner air bag body (1504) fits the air cushion cavity support body (1506), and the air cushion force is transmitted to the air cushion cavity support body (1506); The air cushion chamber support body (1506) is fixed to the bracket structure (1509) and further connected to the connecting bracket (1510); The air inlet (1507) is opened on the air cushion chamber support body (1506) and is used to allow air from the fan system (1505) to enter the air bag.

8. The amphibious ship air wheel landing obstacle crossing device according to claim 7, characterized in that: The structure of the connecting bracket (1510) is as follows: comprising a vertical pipe (1511), a horizontal pipe (1512), a main branch pipe (1513) and a bracket connecting plate (1514); The upper end of the vertical main branch pipe (1513) is fixedly connected to the bracket connecting plate (1514), and the bracket connecting plate (1514) is fixedly connected to the joint connecting plate (1401) of the universal connector (1400); the lower end of the vertical main branch pipe (1513) is fixedly connected horizontally and symmetrically through four transverse pipes (1512); the other ends of the four transverse pipes (1512) are respectively fixedly connected to the matching four vertical pipes (1511); the lower ends of the four vertical pipes (1511) are fixedly connected to the bracket structure (1509).

9. The amphibious ship air wheel landing obstacle crossing device according to claim 7, characterized in that: The structure of the bracket structure (1509) is a metal bracket structure.

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