Unmanned ship formation molded line keeping device applied to multi-target self-reconstruction

Abstract

The invention discloses an unmanned ship formation molded line keeping device applied to multi-target self-reconstruction, and belongs to the technical field of unmanned ships. Existing unmanned ships cannot be quickly connected to form a parallel middle body to keep a molded line, so that resistance is reduced, and an offshore formation cannot be effectively formed to cope with the defect of a single unmanned ship. The device comprises a shape-preserving outer plate and an outer plate driving mechanism, the shape-preserving outer plate is installed on the outer side of the unmanned ship and movably connected with the unmanned ship, and the outer plate driving mechanism is connected with the shape-preserving outer plate so as to drive the shape-preserving outer plate to move in the length direction of the unmanned ship after butt joint of the front unmanned ship and the rear unmanned ship is completed. And a continuous parallel middle body is formed between the shape-maintaining outer plate and the front and rear unmanned ships, so that the molded lines of the unmanned ship formation are kept consistent. The method is mainly used for keeping the molded lines of the unmanned ship formation consistent.

Description

Technical Field

[0001] The invention belongs to the technical field of unmanned boats, and in particular relates to an unmanned boat formation line maintaining device applied to multi-target self-reconstruction. Background Art

[0002] At present, unmanned ships can carry a variety of sensors, equipment and weapons, and are used in surveillance, logistics support, electronic warfare, anti-submarine, anti-ship and anti-mine fields. However, due to the influence of displacement, boat type, etc., its independent navigation capability is still difficult to meet the requirements. Another key factor limiting the independent navigation of unmanned boats is that when they move underwater, their own size and weight are small, which leads to an increase in the wave-making resistance they suffer, thereby limiting their combat range. Refueling at sea, using heavy transport boats, strategic air transport, and increasing the total size of unmanned boats are all solutions to this limitation, but there are still obvious shortcomings. Therefore, unmanned boat formations and long-distance collaborative operations are often used. However, the above methods face the problems of insufficient cruising range and inability to face harsh sea conditions. Therefore, the idea of ​​self-reconstructing surface unmanned boats is proposed, that is, four or more unmanned boats are used to sail together by connecting the bow and stern. This method increases the total volume of the unmanned boat and reduces the wave-making resistance suffered by the unmanned boat. When the self-reconfiguring surface unmanned boat approaches the target, the bow and stern of the unmanned boat separate and each goes to perform the task. After the task is completed, the ships re-docking and forming a "train" to return. However, when designing unmanned boats, they are generally streamlined, that is, after being connected into an unmanned boat formation, the whole is not streamlined, which will still increase the wave-making resistance of the unmanned boat to a certain extent. Summary of the invention

[0003] In view of this, the present invention provides a device for maintaining the line of an unmanned boat formation for multi-target self-reconstruction, which can form a continuous parallel middle body between the conformal outer plate and the front and rear unmanned boats after the docking of the front and rear two unmanned boats is completed, so as to maintain the consistency of the line of the unmanned boat formation.

[0004] The technical solution adopted by the present invention to solve the above technical problems is:

[0005] A device for maintaining the line of an unmanned boat formation used for multi-target self-reconstruction includes a conformal outer plate and an outer plate driving mechanism. The conformal outer plate is installed on the outside of the unmanned boat and is movably connected to the unmanned boat. The outer plate driving mechanism is connected to the conformal outer plate to drive the conformal outer plate to move along the length direction of the unmanned boat after the front and rear unmanned boats are docked, until a continuous parallel middle body is formed between the conformal outer plate and the front and rear unmanned boats, so as to keep the line of the unmanned boat formation consistent.

[0006] Based on Technical Solution 1, the conformal outer plate includes an outer plate and reinforcing ribs. The shape of the outer plate is the same as the outer profile of the unmanned boat. A plurality of reinforcing ribs are provided, and the plurality of reinforcing ribs are arranged on the inner side of the outer plate along the width direction of the outer plate to increase the structural strength of the outer plate.

[0007] Based on technical solution 2, the outer plate is made of aluminum alloy.

[0008] On the basis of Technical Solution 1, the outer panel drive mechanism includes two groups of outer panel drive components symmetrically arranged on both sides of the unmanned boat, each group of outer panel drive components includes a drive motor, a gear and a rack, the drive motor is installed on the unmanned boat, the gear is connected to the motor shaft of the drive motor and can rotate with the motor shaft, the rack is installed on the conformal outer panel, the length direction of the rack is consistent with the moving direction of the conformal outer panel, the rack is meshed with the gear, so that when the drive motor drives the gear to rotate, the rack can drive the conformal outer panel to move toward the adjacent unmanned boat side.

[0009] On the basis of Technical Solution 1, it also includes an internal warehouse for storing the conformal outer plate. The internal warehouse is arranged at the tail of the unmanned boat, and a warehouse opening is provided on one side of the internal warehouse at the tail of the unmanned boat. The conformal outer plate is movably installed in the internal warehouse and can be extended or retracted from the warehouse opening.

[0010] On the basis of Technical Solution 5, it also includes a drag reduction guide rail, which is arranged at the opening of the built-in warehouse and is used to reduce the resistance when the conformal outer panel extends out or retracts into the built-in warehouse.

[0011] Based on technical solution 6, the drag reduction guide rail includes multiple rollers, and the rollers are divided into two groups, one group of rollers is arranged on the upper side of the conformal outer plate and installed on the upper warehouse wall at the warehouse opening of the built-in warehouse, and the other group of rollers is arranged on the lower side of the conformal outer plate and installed on the lower warehouse wall at the warehouse opening of the built-in warehouse.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] 1. After the front and rear unmanned boats are docked, the conformal outer plate is driven by the outer plate driving mechanism, extending from the front unmanned boat and extending backward until it docks with the rear unmanned boat. A continuous parallel middle body is formed between the conformal outer plate and the front and rear unmanned boats. When each two adjacent unmanned boats are connected by a conformal outer plate, the contour lines of the unmanned boat formation composed of multiple unmanned boats remain consistent, thereby reducing the wave-making resistance of the unmanned boat formation when moving underwater and improving the hydrodynamic performance of the unmanned boat formation after connection.

[0014] 2. The present invention provides an internal warehouse at the tail of the unmanned boat for storing the conformal outer plate. When the unmanned boat is sailing independently, the conformal outer plate is retracted into the internal warehouse. When the unmanned boat is in formation, the conformal outer plate is extended out of the internal warehouse. When the conformal outer plate is extended or retracted into the internal warehouse, the rollers on the upper and lower sides of the conformal outer plate convert the sliding friction between the conformal outer plate and the wall of the internal warehouse into rolling friction, thereby reducing the friction force on the conformal outer plate, and further reducing the resistance on the conformal outer plate when extending or retracting into the internal warehouse. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings are incorporated as part of this application and are used to provide a further understanding of the present invention.

[0016] Figure 1 This is a schematic diagram of the status after the front and rear unmanned boats are docked.

[0017] Figure 2 Schematic diagram of the state where a continuous parallel mid-body is formed between the conformal outer plate and the two unmanned boats after docking.

[0018] Figure 3 Schematic diagram of the structure of the shape-retaining outer plate.

[0019] Figure 4 This is a schematic diagram of the assembly of the outer panel and the outer panel driving mechanism.

[0020] Figure 5 This is a schematic diagram of the outer panels being stored in the built-in compartment.

[0021] Explanation of the reference numerals: 1-conformal outer plate; 11-external plate; 12-reinforcement rib; 2-outer plate drive mechanism; 21-drive motor; 22-gear; 23-rack; 3-internal compartment; 4-drag reduction guide rail; 41-roller; 5-unmanned boat. DETAILED DESCRIPTION

[0022] The present invention is described in detail below in conjunction with specific embodiments.

[0023] See also Figure 1 and Figure 2In this embodiment, a device for maintaining the line of an unmanned boat formation for multi-target self-reconstruction includes a conformal outer plate 1 and an outer plate driving mechanism 2. The conformal outer plate 1 is installed on the outside of the unmanned boat 5 in a semi-enclosed form, preferably on the side of the unmanned boat 5 close to the tail end, and the conformal outer plate 1 is movably connected to the unmanned boat 5; the outer plate driving mechanism 2 is installed on the outside of the unmanned boat 5 and connected to the conformal outer plate 1, and is used to drive the movement of the conformal outer plate 1. In this embodiment, a contour line maintaining device is installed on each unmanned boat 5. After the front and rear unmanned boats 5 are docked, the outer plate driving mechanism 2 on the front unmanned boat 5 drives the conformal outer plate 1 on the unmanned boat 5 to move toward the rear unmanned boat 5 until the conformal outer plate 1 partially surrounds the outer side of the rear unmanned boat 5. At this time, the conformal outer plate 1 semi-surrounds the outer sides of the front and rear unmanned boats 5 at the same time, and a continuous parallel middle body is formed between the conformal outer plate 1 and the front and rear unmanned boats 5. When each adjacent two unmanned boats 5 are connected by a conformal outer plate 1, the contour lines of the unmanned boat 5 formation composed of multiple unmanned boats 5 remain consistent, thereby reducing the wave-making resistance of the unmanned boat 5 formation when moving underwater, and improving the hydrodynamic performance of the unmanned boat 5 formation after connection. It should be noted that when the unmanned boat 5 moves underwater, in order to reduce the movement resistance, the head position is generally designed to be rounded or conical, and the image collector and other equipment are also installed on the head for underwater image acquisition. The shape of the conformal outer plate 1 is the same as the parallel middle body shape of the unmanned boat 5. If the conformal outer plate 1 is installed on the front side of the unmanned boat 5 and the front and rear unmanned boats 5 are connected by moving forward, it will affect the image acquisition of the unmanned boat 5. Therefore, the holding device is preferably installed at the tail of the unmanned boat 5, which can also provide installation space for the conformal outer plate 1. It should also be noted that the conformal outer plate 1 in each mold line holding device is only movably connected to the unmanned boat 5 where it is located, and has no direct connection with the unmanned boat 5 behind it, which can reduce the difficulty of docking the conformal outer plate 1 with the unmanned boat 5 behind it.

[0024] like Figure 2 and Figure 3 As shown, the conformal outer plate 1 of this embodiment includes an outer plate 11 and a reinforcing rib 12. The shape of the outer plate 11 is the same as the outer profile of the unmanned boat 5. A triangular opening is provided at the bottom of the outer plate 11 and on the side facing the rear unmanned boat 5. When the conformal outer plate 1 moves toward the rear unmanned boat 5, the triangular opening fits the outer wall of the rear unmanned boat 5 to avoid interference between the conformal outer plate 1 and the rear unmanned boat 5 when moving. A plurality of reinforcing ribs 12 are provided, and the plurality of reinforcing ribs 12 are arranged along the width direction of the outer plate 11 and fixed on the inner side of the outer plate 11. The length direction of each reinforcing rib 12 is consistent with the length direction of the outer plate 11. The design of the reinforcing rib 12 can increase the structural strength of the outer plate 11. Among them, the outer plate 11 is made of aluminum alloy.

[0025] like Figure 4 As shown, the outer plate driving mechanism 2 of this embodiment includes two groups of outer plate driving components symmetrically arranged on both sides of the unmanned boat 5, each group of outer plate driving components includes a driving motor 21, a gear 22 and a rack 23, the driving motor 21 is installed on the unmanned boat 5, the gear 22 is connected to the motor shaft of the driving motor 21 and can rotate with the motor shaft, the rack 23 is installed on the conformal outer plate 1, the length direction of the rack 23 is consistent with the moving direction of the conformal outer plate 1, the rack 23 is meshed and connected with the gear 22, when the driving motor 21 drives the gear 22 to rotate, the gear 22 drives the rack 23 to move, and the rack 23 drives the conformal outer plate 1 to move to the rear side of the unmanned boat 5. When the conformal outer plate 1 moves into place, the driving motor 21 stops driving, and the position of the conformal outer plate 1 can be locked via the gear 22 and the rack 23.

[0026] like Figure 5 As shown, this embodiment also includes an internal warehouse 3 for storing the conformal outer plate 1, which is arranged at the tail of the unmanned boat 5, and a warehouse opening is provided on one side of the internal warehouse 3 at the tail of the unmanned boat 5, and the conformal outer plate 1 is movably installed in the internal warehouse 3 and can be extended or retracted from the warehouse opening. When each unmanned boat 5 acts alone, the conformal outer plate 1 is stored in the internal warehouse 3 and locked by the outer plate driving assembly to prevent the extension of the conformal outer plate 1 from increasing the resistance of the unmanned boat 5 when moving. When multiple unmanned boats 5 are docked to form an unmanned boat 5 formation, the conformal outer plate 1 extends out of the internal warehouse 3 under the drive of the outer plate driving assembly, so that a continuous parallel middle body is formed between the front and rear unmanned boats 5.

[0027] like Figure 5 As shown, the present embodiment further includes a drag reduction guide rail 4, which is arranged at the hatch of the built-in warehouse 3, and is used to reduce the resistance when the conformal outer panel 1 extends out of the built-in warehouse 3. Specifically, the drag reduction guide rail 4 includes a plurality of rollers 41, and the rollers 41 are divided into two groups, wherein one group of rollers 41 is arranged on the upper side of the conformal outer panel 1 and is installed on the upper warehouse wall at the hatch of the built-in warehouse 3, and the other group of rollers 41 is arranged on the lower side of the conformal outer panel 1 and is installed on the lower warehouse wall at the hatch of the built-in warehouse 3. When the conformal outer panel 1 extends out or retracts into the built-in warehouse 3, the rollers 41 on the upper and lower sides of the conformal outer panel 1 convert the sliding friction between the conformal outer panel 1 and the warehouse wall of the built-in warehouse 3 into rolling friction, thereby reducing the friction force on the conformal outer panel 1, and thereby reducing the resistance on the conformal outer panel 1 when extending or retracting into the built-in warehouse 3.

[0028] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, rather than to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the essence and scope of the technical solution of the present invention.

Claims

1. An unmanned boat formation line-maintaining device for multi-target self-reconstruction, characterized in that: It includes a conformal outer plate and an outer plate driving mechanism. The conformal outer plate is installed on the outside of the unmanned boat and is movably connected to the unmanned boat. The outer plate driving mechanism is connected to the conformal outer plate to drive the conformal outer plate to move along the length direction of the unmanned boat after the front and rear unmanned boats are docked, until a continuous parallel center body is formed between the conformal outer plate and the front and rear unmanned boats, so as to keep the contour lines of the unmanned boat formation consistent.

2. The unmanned boat formation line maintaining device for multi-target self-reconstruction according to claim 1 is characterized in that: The conformal outer plate includes an outer plate and reinforcing ribs. The shape of the outer plate is the same as the outer profile of the unmanned boat. A plurality of reinforcing ribs are provided, and the plurality of reinforcing ribs are arranged on the inner side of the outer plate along the width direction of the outer plate to increase the structural strength of the outer plate.

3. The unmanned boat formation line maintaining device for multi-target self-reconstruction according to claim 2 is characterized in that: The outer panels are made of aluminum alloy.

4. The unmanned boat formation line maintaining device for multi-target self-reconstruction according to claim 1 is characterized in that: The outer plate driving mechanism includes two groups of outer plate driving components symmetrically arranged on both sides of the unmanned boat. Each group of outer plate driving components includes a driving motor, a gear and a rack. The driving motor is installed on the unmanned boat. The gear is connected to the motor shaft of the driving motor and can rotate with the motor shaft. The rack is installed on the conformal outer plate. The length direction of the rack is consistent with the moving direction of the conformal outer plate. The rack is meshed with the gear so that when the driving motor drives the gear to rotate, the rack can drive the conformal outer plate to move toward the adjacent unmanned boat side.

5. The unmanned boat formation line maintaining device for multi-target self-reconstruction according to claim 1 is characterized in that: It also includes an internal warehouse for storing the conformal outer plate, which is arranged at the tail of the unmanned boat, and a warehouse opening is provided on one side of the internal warehouse at the tail of the unmanned boat. The conformal outer plate is movably installed in the internal warehouse and can be extended or retracted from the warehouse opening.

6. The unmanned boat formation line-maintaining device for multi-target self-reconstruction according to claim 5, characterized in that: It also includes a drag reduction guide rail, which is arranged at the opening of the built-in warehouse and is used to reduce the resistance when the conformal outer panel extends out or retracts into the built-in warehouse.

7. The unmanned boat formation line-maintaining device for multi-target self-reconstruction according to claim 6, characterized in that: The drag reduction guide rail includes multiple rollers, which are divided into two groups. One group of rollers is arranged on the upper side of the conformal outer plate and installed on the upper warehouse wall at the warehouse opening of the built-in warehouse, and the other group of rollers is arranged on the lower side of the conformal outer plate and installed on the lower warehouse wall at the warehouse opening of the built-in warehouse.

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