Multi-load universal type water surface and underwater dual-purpose unmanned ship and using method

Abstract

The multi-load universal type water surface and underwater dual-purpose unmanned ship comprises a buoy assembly, a connecting rod piece, a grabbing device and a clamping device, the buoy assembly comprises buoys arranged in a bilateral symmetry mode, the connecting rod piece is connected with the left buoy and the right buoy respectively, and the grabbing device is suspended in the center of the connecting rod piece; the clamping devices are symmetrically arranged on the inner sides of the left floating cylinder and the right floating cylinder in a left-right mode and matched with the grabbing device, modular design is adopted, wide compatibility is achieved for loads of different types and different sizes, the structure is simple, and operation and maintenance are convenient.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned boats, and in particular relates to a multi-load universal surface and underwater dual-purpose unmanned boat that can flexibly switch between the surface and underwater and can carry different loads (such as motorboats, missiles, underwater detectors, etc.) and a method of using the same. Background Art

[0002] As two important unmanned intelligent platforms, surface unmanned vehicles (USVs) and underwater unmanned vehicles (UUVs) are widely used in both military and civilian fields. Traditional surface unmanned vehicles mainly sail on the surface to perform tasks such as environmental monitoring and reconnaissance and strike, while underwater unmanned vehicles mainly work underwater to perform deep-sea detection, underwater target identification and other operations. This single-environment working ability limits its multi-task execution capabilities. At the same time, existing unmanned boats also have deficiencies in payload compatibility. They can usually only carry specific types of equipment or operating tools, making it difficult to meet the needs of diverse tasks.

[0003] In view of the shortcomings of existing marine unmanned intelligent platforms, such as single function, insufficient load compatibility and lack of modular design, it is particularly important to develop an unmanned boat that can meet the requirements of high-speed navigation on the surface and long-term autonomous lurking operations underwater and can be compatible with multiple loads. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a multi-load universal surface and underwater dual-purpose unmanned boat and a method of use for the above-mentioned problems, which has the ability of autonomous navigation and stable operation in complex environments; it has a highly flexible grasping device and clamping device to adapt to the grasping and fixing requirements of different loads; at the same time, it uses a modular design so that different loads and equipment can be quickly replaced and installed as needed to meet the needs of diversified tasks.

[0005] The embodiment of the present application is implemented as follows: An embodiment of the present application provides a multi-load universal surface and underwater dual-purpose unmanned boat, characterized in that it includes a buoy assembly, a connecting rod, a grasping device and a clamping device. The buoy assembly includes buoys that are symmetrically arranged on the left and right sides, the connecting rods respectively connect the left and right buoys, the grasping device is suspended at the center position of the connecting rods, and the clamping device is symmetrically arranged on the inner sides of the left and right buoys to cooperate with the grasping device.

[0006] In some optional embodiments, a propeller and a rudder are provided at the tail of the buoy, and a ballast water tank, a fuel tank and a power system are provided inside the buoy.

[0007] In some optional embodiments, the grabbing device includes an electric telescopic rod, a bracket, a grabbing clamp and an opening and closing drive mechanism. The electric telescopic rod is installed on the connecting rod, and the end of the telescopic rod is connected to the bracket. The grabbing clamp includes arc-shaped claws that are symmetrically matched with each other on the left and right, and are respectively hinged to the bracket through pins. The opening and closing drive mechanism is installed on the bracket and connected to the grabbing clamp to drive the grabbing clamp to open and close.

[0008] In some optional embodiments, the clamping device includes a mounting frame, a clamping drive mechanism and a clamping telescopic mechanism. The mounting frame is fixed to the inner side of the float and is connected to the clamping drive mechanism. The clamping drive mechanism is connected to the clamping telescopic mechanism. The end of the clamping telescopic mechanism is connected to the clamping block.

[0009] In some optional embodiments, the opening and closing drive mechanism includes an electric push rod, a guide rod and a connecting rod. The electric push rod is installed on the bracket. The bracket is provided with a guide hole. The guide rod is passed through the guide hole. Stop pins are provided at both ends. The electric push rod drives the guide rod to move up and down along the guide hole. The top end of the connecting rod is sleeved on the guide rod, and the bottom end of the connecting rod is connected to the grabbing clamp.

[0010] In some optional embodiments, a buffer frame is further included, wherein the buffer frame is a U-shaped structure with an opening facing downward, and Y-shaped buffer clamps are provided at both end portions of the buffer frame, and buffer pads are provided at the openings of the Y-shaped buffer clamps, and the buffer frame is connected to the electric telescopic rod.

[0011] In some optional embodiments, the clamping drive mechanism is a driving hydraulic cylinder, and the end of the piston rod of the driving hydraulic cylinder is connected to the clamping telescopic mechanism.

[0012] In some optional embodiments, the clamping and telescopic mechanism includes a sleeve and a telescopic arm, and the inner wall of the sleeve is provided with a sliding groove that cooperates with a slider on the telescopic arm.

[0013] In some optional embodiments, the buffer pad is made of rubber or polyurethane.

[0014] A method for using a multi-load universal surface and underwater dual-purpose unmanned boat, characterized in that it comprises the following steps: Step a, release process: When the load needs to be released, the grabbing device and the clamping device are released at the same time, and the grabbing device realizes the opening action through the opening and closing driving mechanism to release the grabbing clamp; the clamping device returns to its original position through the telescopic arm, releasing the clamping block, and the load automatically floats up and leaves the device under the action of buoyancy; Step b, recycling process: When the load needs to be recovered, the position and posture of the motorboat are first determined through sensor data, and then the buoy assembly is driven by the power system to approach the load. When the buoy assembly approaches the load, the grabbing device realizes the closing action through the opening and closing drive mechanism to clamp the standard connecting rod on the load; at the same time, the clamping device also extends out and clamps both sides of the load.

[0015] The beneficial effects of the present application are as follows: the present application provides a multi-load universal surface and underwater dual-purpose unmanned boat and a method of use, which adopt a modular design, and both the grasping device and the clamping device have reserved universal interfaces, and different grasping devices and clamping devices can be replaced as needed; in addition, the grasping device and the clamping device adopt a retractable design, which can be adjusted according to the size and shape of the load, thereby improving the versatility and adaptability of the unmanned boat, so that the unmanned boat can be adjusted and repaired more quickly when facing emergencies or failures, ensuring the smooth progress of the mission, effectively reducing the risk of collision and the possibility of equipment damage, and further reducing the operation and maintenance risks and costs; it can dive and float as needed, improving the operation capability of the unmanned boat in complex sea conditions; it can achieve autonomous release and recovery throughout the process, greatly reducing the steps and time of manual remote control operations, and significantly improving operation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 This is a schematic diagram of the structure of an embodiment of the present application; Figure 2 A rear view of an embodiment of the present application; Figure 3 A front view of a grabbing device according to an embodiment of the present application; Figure 4 An axonometric diagram of a gripping device according to an embodiment of the present application; Figure 5 An axonometric diagram of a gripping device according to another embodiment of the present application; Figure 6 This is a schematic structural diagram of a clamping device according to an embodiment of the present application. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0019] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0020] It should be understood that the size of the serial numbers of the steps in the embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0021] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0022] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0023] The terms "lateral", "longitudinal", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0024] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0025] The features and performance of the present application are further described in detail below in conjunction with the embodiments.

[0026] Example 1 like Figure 1 , Figure 2 As shown, the present embodiment discloses a multi-load universal surface and underwater dual-purpose unmanned boat, including a buoy assembly, a connecting rod 1, a grasping device 2 and a clamping device 3. The buoy assembly includes buoys 4 symmetrically arranged on the left and right sides, the connecting rods respectively connect the left and right buoys, the grasping device is suspended at the center position of the connecting rods, and the clamping devices are symmetrically arranged on the inner sides of the left and right buoys to cooperate with the grasping device.

[0027] The tail of the buoy is provided with a propeller 5 and a rudder 6 for providing power to the unmanned boat and adjusting the direction of movement. The interior of the buoy is provided with a ballast water tank 7, a fuel tank 8 and a power system.

[0028] The buoy assembly has a propeller and a rudder, and is equipped with a power system that can adjust the speed and direction as needed, ensuring the stability and flexibility of the unmanned boat in complex waters. The buoy assembly is equipped with a ballast water tank, and the water level of the ballast water tank can be adjusted as needed to achieve the diving and surfacing of the unmanned boat, improving the unmanned boat's ability to operate in complex sea conditions.

[0029] like Figure 3 As shown, the grabbing device includes an electric telescopic rod 9, a bracket 10, a grabbing clamp 11 and an opening and closing drive mechanism. The electric telescopic rod is installed on the connecting rod, and the end of the telescopic rod is connected to the bracket. The grabbing clamp includes arc-shaped claws that are symmetrically matched with each other on the left and right, and are hinged to the bracket through a pin 12 respectively. The opening and closing drive mechanism is installed on the bracket and connected to the grabbing clamp to drive the grabbing clamp to open and close.

[0030] The gripper is located at the bottom of the whole device. It is a clamp-like structure that can better fit the surface of the object to be gripped, increasing the stability and reliability of gripping. The gripper can be extended and opened and closed through the motor drive mechanism. Different gripping devices can be replaced as needed to suit different loads, such as parallel electric grippers, two-finger electric grippers, three-finger electric grippers, pneumatic flexible grippers, and adaptive pneumatic grippers.

[0031] In order to improve the stability of the grasping action, multiple grasping clamps can be connected by parallel hinges to increase the contact area with the load to be grasped.

[0032] like Figure 4 As shown, the opening and closing drive mechanism includes an electric push rod 13, a guide rod 14 and a connecting rod 15. The electric push rod is installed on a bracket. The bracket is provided with a guide hole 16. The guide rod is inserted into the guide hole. Stop pins are provided at both ends to prevent it from falling off. The electric push rod drives the guide rod to move up and down along the guide hole. The top end of the connecting rod is sleeved on the guide rod, and the bottom end of the connecting rod is connected to the grabbing clamp.

[0033] The electric push rod is the power source for the opening and closing of the grabbing clamp. When the electric push rod extends downward, it pushes the guide rod connected to it downward, drives the connecting rod to move downward and rotate around the guide rod, and then drives the grabbing clamp, so that the arc-shaped claws on the left and right sides are close to each other, and finally the grabbing clamp is closed to grab the load. When the electric push rod shrinks upward, it pulls the guide rod upward, drives the connecting rod to move upward and rotate, and under the action of the connecting rod, the arc-shaped claws on the left and right sides open outward, thereby realizing the opening action of the grabbing clamp to release the grabbed load.

[0034] like Figure 6 As shown, the clamping device includes a mounting frame 17, a clamping drive mechanism 18 and a clamping telescopic mechanism 19. The mounting frame is fixed to the inner side of the buoy and connected to the clamping drive mechanism. The clamping drive mechanism is connected to the clamping telescopic mechanism. The end of the clamping telescopic mechanism is connected to the clamping block 20.

[0035] The mounting frame is the basic supporting structure of the entire clamping device, which is made of metal materials (such as steel) and has sufficient strength and rigidity. The mounting frame is provided with multiple connection holes for connecting with the buoy assembly, and bolts and other connecting parts can be used to ensure the stable installation of the clamping device on the unmanned boat, while facilitating installation and removal.

[0036] In some optional embodiments, the clamping drive mechanism is a driving hydraulic cylinder, and the end of the piston rod of the driving hydraulic cylinder is connected to the clamping telescopic mechanism.

[0037] In some optional embodiments, the clamping and telescopic mechanism includes a sleeve and a telescopic arm. The inner wall of the sleeve is provided with a sliding groove, which cooperates with the slider on the telescopic arm and is equipped with a sealing device to prevent water from entering and affecting its performance. The telescopic arm is connected to the piston rod, and the other end is connected to the clamping block.

[0038] The clamping and telescopic mechanism is connected to the piston rod by bolts to adapt to different clamping positions. This connection method not only ensures the flexibility of the clamping and telescopic mechanism, but also can withstand a certain load. The telescopic arm and the clamping block are firmly connected by welding to ensure that the clamping block can move synchronously with the telescopic arm during the telescopic process and can transmit sufficient clamping force when clamping objects.

[0039] Example 2 like Figure 5 As shown, the difference between this embodiment and the above-mentioned embodiment is that it also includes a buffer frame 21, which is a U-shaped structure with an opening facing downward, and Y-shaped buffer clamps 22 are provided at the two end portions of the buffer frame. A buffer pad 23 is provided at the opening of the Y-shaped buffer clamp, and the buffer frame is connected to the electric telescopic rod.

[0040] In some alternative embodiments, the bumper pad may be made of rubber or polyurethane.

[0041] The above-mentioned surface and underwater dual-purpose unmanned boat includes the following steps when in use: 1. Release process: When the load needs to be released, the grabbing device and the clamping device are released at the same time, and the grabbing device realizes the opening action through the opening and closing drive mechanism to release the grabbing clamp; the clamping device returns to its original position through the telescopic arm, releasing the clamping block, and the load automatically floats up and detaches from the device under the action of buoyancy.

[0042] 2. Recycling process: When the load needs to be recovered, the position and posture of the motorboat are first determined through sensor data, and then the buoy assembly is driven by the power system to approach the load. When the buoy assembly approaches the load, the grabbing device realizes the closing action through the opening and closing drive mechanism to clamp the standard connecting rod on the load; at the same time, the clamping device also extends out and clamps both sides of the load.

Claims

1. A multi-load universal surface and underwater dual-purpose unmanned boat, characterized in that: It includes a buoy assembly, a connecting rod, a grabbing device and a clamping device. The buoy assembly includes buoys that are symmetrically arranged on the left and right sides. The connecting rod connects the left and right buoys respectively. The grabbing device is suspended at the center position of the connecting rod. The clamping device is symmetrically arranged on the inner sides of the left and right buoys and cooperates with the grabbing device.

2. The multi-load universal dual-purpose surface and underwater unmanned boat according to claim 1, characterized in that: The tail of the buoy is provided with a propeller and a rudder, and the interior of the buoy is provided with a ballast water tank, a fuel tank and a power system.

3. A multi-load universal surface and underwater dual-purpose unmanned boat according to claim 1 or 2, characterized in that: The grabbing device includes an electric telescopic rod, a bracket, a grabbing clamp and an opening and closing drive mechanism. The electric telescopic rod is installed on the connecting rod, and the end of the telescopic rod is connected to the bracket. The grabbing clamp includes arc-shaped claws that are symmetrically matched with each other on the left and right, and are respectively hinged to the bracket through pins. The opening and closing drive mechanism is installed on the bracket and connected to the grabbing clamp to drive the grabbing clamp to open and close.

4. The multi-load universal dual-purpose surface and underwater unmanned boat according to claim 1, characterized in that: The clamping device includes a mounting frame, a clamping drive mechanism and a clamping telescopic mechanism. The mounting frame is fixed to the inner side of the buoy and connected to the clamping drive mechanism. The clamping drive mechanism is connected to the clamping telescopic mechanism. The end of the clamping telescopic mechanism is connected to the clamping block.

5. The multi-load universal surface and underwater dual-purpose unmanned boat according to claim 3, characterized in that: The opening and closing driving mechanism includes an electric push rod, a guide rod and a connecting rod. The electric push rod is installed on the bracket. The bracket is provided with a guide hole. The guide rod is inserted into the guide hole. Stop pins are provided at both ends. The electric push rod drives the guide rod to move up and down along the guide hole. The top end of the connecting rod is sleeved on the guide rod, and the bottom end of the connecting rod is connected to the grabbing clamp.

6. The multi-load universal surface and underwater dual-purpose unmanned boat according to claim 4, characterized in that: It also includes a buffer frame, which is a U-shaped structure with an opening facing downward. The two end heads of the buffer frame are provided with Y-shaped buffer clips, and the opening of the Y-shaped buffer clip is provided with a buffer pad. The buffer frame is connected to the electric telescopic rod.

7. The multi-load universal surface and underwater dual-purpose unmanned boat according to claim 4, characterized in that: The clamping driving mechanism is a driving hydraulic cylinder, and the end of the piston rod of the driving hydraulic cylinder is connected to the clamping telescopic mechanism.

8. The multi-load universal surface and underwater dual-purpose unmanned boat according to claim 7, characterized in that: The clamping and telescopic mechanism comprises a sleeve and a telescopic arm. The inner wall of the sleeve is provided with a sliding groove which matches with a sliding block on the telescopic arm.

9. A multi-load universal surface and underwater dual-purpose unmanned boat according to claim 6 or 8, characterized in that: The buffer pad is made of rubber or polyurethane.

10. A method for using the multi-load universal surface and underwater dual-purpose unmanned boat according to claim 6, characterized in that: The steps include: Step a, release process: When the load needs to be released, the grabbing device and the clamping device are released at the same time, and the grabbing device realizes the opening action through the opening and closing driving mechanism to release the grabbing clamp; the clamping device returns to its original position through the telescopic arm, releasing the clamping block, and the load automatically floats up and leaves the device under the action of buoyancy; Step b, recycling process: When the load needs to be recovered, the position and posture of the motorboat are first determined through sensor data, and then the buoy assembly is driven by the power system to approach the load. When the buoy assembly approaches the load, the grabbing device realizes the closing action through the opening and closing drive mechanism to clamp the standard connecting rod on the load; at the same time, the clamping device also extends out and clamps both sides of the load.

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