Trimaran folding and unfolding mechanism driven by single degree of freedom

Abstract

The invention discloses a triple-hulled vessel deploying and retracting mechanism driven by single degree of freedom, which comprises a driving device, a transmission connecting rod mechanism and a suspension bracket, the driving device is provided with two servo motors and two linear modules, and the two servo motors pull the suspension bracket and two driving rods on an auxiliary hull through the transmission connecting rod mechanism; the auxiliary ship body is switched between an abduction state and a highest position state; the two linear modules drive the two main supporting rods to move, so that the auxiliary ship body is switched between the highest position state and the retracting state. The tops of the auxiliary hulls in the abduction state are kept horizontal, the auxiliary hulls in the highest position state are basically parallel to the side face of the main hull, the auxiliary hulls in the retraction state are attached to the side face of the main hull, and meanwhile the transmission connecting rod mechanism and the suspension support are retracted into the storage cabin. The folding and unfolding mechanism has the advantages of being large in supporting rigidity, efficient folding and unfolding of the auxiliary ship body can be achieved, in the folding and unfolding state, resistance can be reduced to the maximum extent, the folding and unfolding mechanism is prevented from being exposed outside all the time, and the service life is prolonged.

Description

Technical Field

[0001] The present invention relates to a trimaran, in particular to a trimaran deploying and retracting mechanism driven by a single degree of freedom. Background Art

[0002] Traditional trimarans rigidly connect the side hulls to the main hull. Although this ensures the structural strength of the hull, it has the following limitations: (1) When sailing at high speeds, the outward-extended side hulls will significantly increase resistance and reduce energy efficiency; (2) In shallow waters, narrow channels, or when berthing, the outward-extended side hulls are prone to collision risks, seriously restricting the maneuverability and environmental adaptability of the ship; (3) The structural parts that rigidly connect the side hulls to the main hull are always exposed to the outside and are easily affected by salt spray corrosion in harsh sea conditions, shortening their service life and threatening navigation safety. Summary of the Invention

[0003] Purpose of the invention: The purpose of the present invention is to provide a single-degree-of-freedom driven trimaran retracting and launching mechanism with high reliability and capable of achieving efficient retraction and launching of the auxiliary hull.

[0004] Technical solution: A single-degree-of-freedom driven trimaran folding and unfolding mechanism of the present invention comprises a driving device, a transmission connecting rod mechanism and a suspension bracket, wherein the driving device is arranged in a storage cabin on the side of the main hull, comprising two linear modules arranged parallel to the width direction of the main hull at the bottom of the storage cabin, and two upper slides arranged parallel to the width direction of the main hull at the top of the storage cabin, the linear modules being opposite to the upper slides one by one; a main support rod is fixed on each slider of the two linear modules, and the upper ends of the two main support rods are respectively slidably matched with the corresponding upper slides; a servo motor is fixed on each of the two main support rods, the axis of the servo motor is perpendicular to the main support rod, and the two servo motors are opposite to each other; one end of the suspension bracket is hinged to the lower ends of the two main support rods, and the other end is hinged to the ends of two driving rods fixed on the top of the auxiliary hull, and the two driving rods are arranged parallel to the width direction of the auxiliary hull;

[0005] The two servo motors pull the suspension bracket and the two drive rods through a transmission linkage mechanism, causing the auxiliary hull to move upward and flip inward to switch from the extended state to the highest position; or move downward and flip outward to switch from the highest position to the extended state; the top of the auxiliary hull in the extended state remains horizontal, and the auxiliary hull in the highest position state remains basically parallel to the side of the main hull;

[0006] The two linear modules are used to drive the two main support rods to move, so that the auxiliary hull switches from the highest position to the retracted state, or from the retracted state to the highest position; the auxiliary hull in the retracted state fits into the side of the main hull, and at the same time the transmission connecting rod mechanism and the suspension bracket are retracted into the storage cabin.

[0007] Furthermore, a crank is installed at the output end of the servo motor; the transmission connecting rod mechanism includes a U-shaped connecting rod and a rocker arm, the rocker arm is an integrated H-shaped structure, including an intermediate arm, two upper arms respectively connected to the two ends of the upper side of the intermediate arm, and two lower arms respectively connected to the two ends of the lower side of the intermediate arm; a top hole is provided at the end of the upper arm, and a square groove side wall hole is provided at the middle position; a bottom hole is provided at the end of the lower arm; the two ends of the intermediate arm are bent relative to each other to form two protruding arms, and a protruding arm hole is provided at the end of the protruding arm; one end of the U-shaped connecting rod is hinged to the upper ends of the two main support rods, and the other end is hinged to the two protruding arm holes; the two square groove side wall holes are each hinged to an active connecting rod, and the other end of the active connecting rod is hinged to the corresponding crank; the two top holes are each hinged to a passive connecting rod, and the other end of the passive connecting rod is hinged to the middle position of the corresponding driving rod; the two bottom holes are hinged to the middle part of the suspension bracket.

[0008] Furthermore, the cross-section of the main support rod is a groove structure with the groove facing outward. A first pin is arranged at the upper and lower ends of the main support rod in the groove. The first pin at the upper end is used to hinge the U-shaped connecting rod, and the first pin at the lower end is used to hinge the suspension bracket.

[0009] Furthermore, the servo motor is fixed in the middle of the slot of the main support rod, the axis of the servo motor is perpendicular to the main support rod, and the output shaft of the servo motor passes through the main support rod and fixes the crank.

[0010] Furthermore, the cross section of the driving rod is a groove structure with the notch facing upward; a second pin is provided at the end of the driving rod for hingedly connecting to the suspension bracket; a third pin is provided in the middle of the driving rod for hingedly connecting to the passive connecting rod.

[0011] Furthermore, the linear module includes a lower slide, the cross-section of which is a groove structure with the groove facing upward. A stepper motor is arranged in the groove, and the output end of the stepper motor is connected to a screw, the other end of the screw is rotatably matched with the end plate of the lower slide; the slider is passed through the screw and fixed with the screw nut.

[0012] Furthermore, the slider is L-shaped, with its long section higher than the slide track and extending toward the other linear module, and at the same time, the long section exceeds the slide track; the sliders of the two linear modules are opposite; the main support rod is rigidly connected to the end of the long section of the slider.

[0013] Furthermore, the cross section of the upper slideway is a groove structure, with the groove opening facing downward, and the bottom of the groove is clearance-matched with the top of the main support rod to limit the vertical displacement of the main support rod.

[0014] Furthermore, the storage compartment is in an inverted convex shape, and the convex portion is adapted to the geometric contour of the suspension bracket.

[0015] Furthermore, each slide is fixed to the inner wall of the storage compartment by welding.

[0016] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages:

[0017] (1) The present invention converts the multi-degree-of-freedom coordination problem into a single-degree-of-freedom rotation input problem of the servo motor through components such as a transmission connecting rod mechanism and a suspension bracket. The control is simple to implement, the response speed is fast, and the reliability is high. It can realize efficient switching between the auxiliary hull outward extension state and the highest position state. In conjunction with two linear modules, the auxiliary hulls on both sides can be quickly deployed and recovered to meet the needs of different usage scenarios. When the sea waves are large, the auxiliary hull is released to improve the navigation stability; when the sea waves are small, the auxiliary hull is retracted to increase the navigation speed.

[0018] (2) The overall retraction and deployment mechanism is a frame structure with high support rigidity, strong resistance to deformation and support capacity, and is suitable for severe sea conditions.

[0019] (3) When the auxiliary hull is retracted, it fits against the side of the main hull, and the transmission link mechanism and suspension bracket are retracted into the storage compartment. On the one hand, this minimizes resistance; on the other hand, the retractable mechanism does not have to be exposed all the time, extending its service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic structural diagram of a trimaran retractable mechanism connected to a main hull and a secondary hull, provided by an embodiment of the present invention, with a single degree of freedom drive;

[0021] Figure 2 This is a schematic diagram of an embodiment of the present invention in which a drive device is installed in a storage compartment on the side of the main hull;

[0022] Figure 3 1 is a schematic structural diagram of a driving device according to an embodiment of the present invention;

[0023] Figure 4 Schematic diagram of the structure of the linear module in an embodiment of the present invention;

[0024] Figure 5 Schematic diagram of the coordination structure between the transmission link mechanism and the suspension bracket in an embodiment of the present invention;

[0025] Figure 6 1 is a schematic structural diagram of a rocker arm in an embodiment of the present invention;

[0026] Figure 7 Schematic diagram of the coordination structure between the suspension bracket and the auxiliary hull in an embodiment of the present invention;

[0027] Figure 8 1 is a schematic structural diagram of a trimaran retracting and deploying mechanism driven by a single degree of freedom provided by an embodiment of the present invention;

[0028] Figure 9 yes Figure 8 Front view of

[0029] Figure 10 Schematic diagram of a single-side auxiliary hull in an embodiment of the present invention being lifted from an extended state to a highest position;

[0030] Figure 11 Schematic diagram of a single-side auxiliary hull moving from a highest position to a retracted position in an embodiment of the present invention;

[0031] Figure 12 is a schematic diagram of the auxiliary hulls on both sides in an extended state according to an embodiment of the present invention;

[0032] Figure 13 Schematic diagram of the auxiliary hulls on both sides of the embodiment of the present invention in the highest position;

[0033] Figure 14 It is a schematic diagram of the auxiliary hulls on both sides in the retracted state according to an embodiment of the present invention. DETAILED DESCRIPTION

[0034] The present invention will be further described below with reference to the accompanying drawings.

[0035] Attachment Figures 1 to 14 The reference numerals in the figures are as follows:

[0036] 1, main hull; 11, storage compartment;

[0037] 2, driving device; 211 / 212, servo motor; 221 / 222, crank; 231 / 232, main support rod; 241 / 242, lower slide; 243 / 244, stepper motor; 245 / 246, lead screw; 247 / 248, lead screw nut; 24a / 24b, slider; 251 / 252, upper slide; 261 / 262, first pin;

[0038] 3, transmission connecting rod mechanism; 31, U-shaped connecting rod; 321 / 322, active connecting rod; 33, rocker arm; 331 / 332, top hole; 333 / 334, protruding arm hole; 335 / 336, bottom hole; 337 / 338, square groove side wall hole; 341 / 342, passive connecting rod;

[0039] 4, auxiliary hull; 411 / 412, driving rod; 421 / 422, second pin; 431 / 432, third pin;

[0040] 5. Suspension bracket.

[0041] like Figure 1 As shown, an embodiment of the present invention provides a trimaran retracting and launching mechanism driven by a single degree of freedom, comprising a driving device 2, a transmission connecting rod mechanism 3 and a suspension bracket 5.

[0042] Combine Figure 2 and Figure 3The main hull 1 has storage compartments 11 on both sides, and the drive device 2 is arranged in the storage compartments 11. Specifically, the drive device 2 includes two linear modules (a first linear module and a second linear module) and two upper slides (an upper slide 251 and an upper slide 252). The two linear modules are arranged parallel to each other at the bottom of the storage compartment 11 along the width direction of the main hull 1, and the two upper slides are arranged parallel to each other at the top of the storage compartment 11 along the width direction of the main hull 1. The first linear module is opposite to the upper slide 251, and the second linear module is opposite to the upper slide 252.

[0043] Combine Figure 4 The first linear module includes a lower slide 241. The cross-section of the lower slide 241 is a groove structure with the notch facing upward. A stepper motor 243 is arranged in the notch. The output end of the stepper motor 243 is connected to a lead screw 245. The other end of the lead screw 245 rotates with the end plate of the lower slide 241. The slider 24a is L-shaped, passed through the lead screw 245 and fixed with the lead screw nut 247. The long section of the slider 24a is higher than the lower slide 241 and extends toward the second linear module, and the long section exceeds the lower slide 241. The second linear module includes a lower slide 242, a stepper motor 244, a lead screw 246, a lead screw nut 248 and a slider 24b. The structure is the same as that of the first linear module and will not be repeated here. The long section of the slider 24b is higher than the lower slide 242 and extends toward the first linear module. The long section exceeds the lower slide 242, and the two sliders are opposite. The mounting surfaces of the four slides are welded and fixed to the inner wall of the storage cabin 11.

[0044] The long end of slider 24a is rigidly connected to main support rod 231, and the long end of slider 24b is rigidly connected to main support rod 232, thereby providing horizontal guidance and lateral limit for the corresponding main support rods. The upper ends of the two main support rods slide in conjunction with corresponding upper slideways. Specifically, the upper slideways have a grooved cross-section with the groove opening facing downward. The bottom of the groove is clearance-fitted with the top of the corresponding main support rod to limit the vertical displacement of the main support rod and achieve horizontal guidance.

[0045] The cross-section of the main support rod is a groove structure, with the notch facing outward. A servo motor 211 is fixed in the middle of the notch of the main support rod 231. The axis of the servo motor 211 is perpendicular to the main support rod 231. The output shaft of the servo motor 211 passes through the main support rod 231 and is installed with a crank 221. A servo motor 212 is fixed in the middle of the notch of the main support rod 232. The axis of the servo motor 212 is perpendicular to the main support rod 232. The output shaft of the servo motor 212 passes through the main support rod 232 and is installed with a crank 222. The servo motors 211 and 212 are opposite each other. In addition, a first pin 261 is provided in the notch at the upper and lower ends of the main support rod 231, and a first pin 262 is provided in the notch at the upper and lower ends of the main support rod 232.

[0046] Combine Figures 5 to 9The transmission linkage mechanism 3 includes a U-shaped connecting rod 31 and a rocker arm 33. The rocker arm 33 is an integrated H-shaped structure, comprising a middle arm, two upper arms connected to the upper ends of the middle arm, and two lower arms connected to the lower ends of the middle arm. The two upper arms are provided with top holes 331 and top holes 332 at their ends, respectively, and square slot sidewall holes 337 and square slot sidewall holes 338 are provided in their middle positions. The two lower arms are provided with bottom holes 335 and bottom holes 336 at their ends, respectively. The ends of the middle arm are bent relative to each other to form two protruding arms, each of which is provided with protruding arm holes 333 and protruding arm holes 334 at its ends. The rocker arm 33 is generally mirror-symmetrical about the middle longitudinal section of the middle arm.

[0047] The top hole 331 is hinged to the passive link 341 through a revolute pair, and the top hole 332 is hinged to the passive link 342 through a revolute pair to transmit traction. The protruding arm hole 333 and the protruding arm hole 334 are respectively hinged to the two free ends of the U-shaped link 31 through a revolute pair to achieve bilateral synchronous movement. The bottom hole 335 and the bottom hole 336 are respectively coaxially connected to the inner wall holes on both sides of the middle part of the suspension bracket 5 through a revolute pair to limit the relative position of the rocker arm 33 and the main hull 1. The square groove side wall hole 337 is hinged to the active link 321 through a revolute pair, and the square groove side wall hole 338 is hinged to the active link 322 through a revolute pair to receive drive input.

[0048] Two drive rods (drive rod 411 and drive rod 412) are installed parallel to each other along the width of the auxiliary hull 4. The cross-section of the drive rods is grooved, with the notches facing upward, and the mounting surface is welded to the auxiliary hull 4. A second pin 421 is fixed to the end of the notch of drive rod 411 closest to the main hull 1, and a second pin 422 is fixed to the end of the notch of drive rod 412 closest to the main hull 1. The axes of the second pins are perpendicular to the corresponding drive rods.

[0049] The two turning points of the U-shaped link 31 have extended short links. These two short links respectively engage with the notches at the upper ends of the main support rods 231 and 232, and simultaneously form a single rotational pair with the corresponding first pins for axial swing, limiting radial and axial displacement. One end of the suspension bracket 5 also has two short links. These two short links respectively engage with the notches at the lower ends of the main support rods 231 and 232, and simultaneously cooperate with the corresponding first pins, thereby allowing only rotation about the first pin axis. The other end of the suspension bracket 5 is hinged to the second pin 421 and the second pin 422, forming a rotational pair constraint.

[0050] The other end of the active connecting rod 321 is hinged to the crank 221 via a revolute joint, while the other end of the active connecting rod 322 is hinged to the crank 222 via a revolute joint, achieving bilaterally symmetrical drive input. The other end of the passive connecting rod 341 is connected to the third pin 431 in the middle of the drive rod 411 in a single revolute joint, while the other end of the passive connecting rod 342 is connected to the third pin 432 in the middle of the drive rod 412 in a single revolute joint, limiting further displacement.

[0051] The principle of the single degree of freedom drive of the present invention is to calculate the degrees of freedom of the trimaran retracting and launching mechanism of the single degree of freedom drive based on the modified GK formula, which is:

[0052]

[0053] Among them, the common constraint λ = 3, the active component n = 11, the kinematic pair g = 16, and the total number of degrees of freedom of the i kinematic pairs Redundant constraint υ=0, local degree of freedom ζ=0, then:

[0054] The results show that the degree of freedom of the trimaran deploying and retracting mechanism provided by the present invention is F=(6-3)(11-16)+16=1.

[0055] The working principle of the present invention is:

[0056] (1) Switching between the highest position state and the extended state of the auxiliary hull 4

[0057] like Figure 10 As shown, two servo motors pull the suspension bracket 5 and two drive rods through the transmission linkage mechanism 3, causing the auxiliary hull 4 to move upward and flip inward, switching from the extended state to the highest position; or move downward and flip outward, switching from the highest position to the extended state. In the extended state, the top of the auxiliary hull 4 remains horizontal, and in the highest position, the auxiliary hull 4 remains substantially parallel to the side of the main hull 1.

[0058] Specifically, the two servo motors 211 and 212 are activated synchronously, driving the cranks 221 and 222 to rotate about the output shaft axis. The rotational motion of the cranks 221 and 222 is transmitted to the active connecting rods 321 and 322, which in turn push the active connecting rods 321 and 322 to swing about the revolute pairs formed by the sidewall holes 337 and 338 of the square slot of the rocker arm 33. Driven by the active connecting rods 321 and 322, the revolute pairs at the top holes 331 and 332, the protruding arm holes 333 and 334, and the bottom holes 335 and 336 of the rocker arm 33 synchronize their motion:

[0059] Top holes 331, 332 apply vertical traction to the auxiliary hull 4 via passive links 341, 342; protruding arm holes 333, 334 transmit lateral restraint via the U-shaped link 31; and bottom holes 335, 336 secure the relative position of the rocker arm 33 and the main hull 11 via the suspension bracket 5. Under the swinging action of the rocker arm 33, the passive links 341, 342 convert the rotational motion of the top holes 331, 332 into lifting motion of the auxiliary hull 4. The axes of each hinged hole are perpendicular to the motion plane of the rocker arm 33, ensuring that the motion trajectories of the passive links 341, 342, the U-shaped link 31, the suspension bracket 5, and the active links 321, 322 do not interfere with each other.

[0060] The driving input of the active connecting rods 321 and 322 is transmitted to the rocker arm 33 through the square groove side wall holes 337 and 338, linking the other three-hole hinged components to form a motion chain driven by a single degree of freedom, thereby realizing efficient lifting of the auxiliary hull 4.

[0061] (2) Switching between the highest position state and the retracted state of the auxiliary hull 4

[0062] like Figure 11 As shown, the two linear modules are used to drive the two main support rods to move, so that the auxiliary hull 4 switches from the highest position state to the retracted state, or switches from the retracted state to the highest position state; the auxiliary hull 4 in the retracted state fits the side of the main hull 1, and at the same time the transmission connecting rod mechanism 3 and the suspension bracket 5 are retracted into the storage cabin 11.

[0063] Specifically, after the auxiliary hull 41 is raised to its highest position, the servo motors 211 and 212 stop driving, and the stepper motors 243 and 244 begin driving. Through the lead screws 245 and 246, the lead screw nuts 247 and 248 rotate, converting this rotation into horizontal movement of the sliders 24a and 24b, thereby driving the horizontal linear motion of the main support rods 231 and 232. The tops of the main support rods 231 and 232 slide along the grooves of the upper slides 251 and 252, forming a four-slide linkage mechanism driven by the coordinated action of the two motors. This ensures that the main support rods 231 and 232 move smoothly along a strictly horizontal trajectory, allowing the drive unit 2, the transmission linkage 3, and the suspension bracket 5 to translate into the storage compartment 11 and the auxiliary hull 4 to fit against the side wall of the main hull 1. To this end, the present invention designs the storage compartment 11 to have an inverted convex shape, with the protruding portion adapted to the geometric contour of the suspension bracket 5. In this embodiment, the protruding portion accounts for one-sixth of the height of the storage compartment 11 and has a square cross-section.

[0064] At this point, the above process completes the recovery of the auxiliary hull 4. It is easy to understand that the deployment operation of the auxiliary hull 4 is the reverse operation process of the recovery.

[0065] It should be pointed out that although the above technical content only introduces the retraction and deployment of a single-side auxiliary hull 4, it is easy for those skilled in the art to understand that both side auxiliary hulls 4 can be connected to the main hull 1 using the provided single-degree-of-freedom driven trimaran retractable mechanism, for example Figures 12 to 14 The effects of the auxiliary hulls 4 on both sides being in the extended state, the highest position state and the retracted state are respectively shown.

Claims

1. A trimaran deploying and retracting mechanism driven by a single degree of freedom, characterized in that: The invention comprises a driving device (2), a transmission connecting rod mechanism (3) and a suspension bracket (5), wherein the driving device (2) is arranged in a storage compartment (11) on the side of the main hull (1), and comprises two linear modules arranged at the bottom of the storage compartment (11) in parallel along the width direction of the main hull (1), and two upper slides arranged at the top of the storage compartment (11) in parallel along the width direction of the main hull (1), wherein the linear modules are opposite to the upper slides one by one; a main support rod is fixed on each slider of the two linear modules, and the upper ends of the two main support rods are respectively slidably matched with the corresponding upper slides; a servo motor is fixed on each of the two main support rods, and the axis of the servo motor is perpendicular to the main support rod, and the two servo motors are opposite to each other; one end of the suspension bracket (5) is hinged to the lower ends of the two main support rods, and the other end is hinged to the ends of two driving rods fixed on the top of the auxiliary hull (4), and the two driving rods are arranged in parallel along the width direction of the auxiliary hull (4); The two servo motors pull the suspension bracket (5) and the two driving rods through the transmission link mechanism (3), so that the auxiliary hull (4) moves upward and flips inward, thereby switching from the extended state to the highest position state; or moves downward and flips outward, thereby switching from the highest position state to the extended state; the top of the auxiliary hull (4) in the extended state remains horizontal, and the auxiliary hull (4) in the highest position state remains substantially parallel to the side of the main hull (1); The two linear modules are used to drive the two main support rods to move, so that the auxiliary hull (4) switches from the highest position state to the retracted state, or switches from the retracted state to the highest position state; the auxiliary hull (4) in the retracted state is attached to the side of the main hull (1), and at the same time, the transmission connecting rod mechanism (3) and the suspension bracket (5) are retracted into the storage cabin (11).

2. The single-degree-of-freedom driven trimaran retracting and launching mechanism according to claim 1, characterized in that: A crank is installed at the output end of the servo motor; the transmission connecting rod mechanism (3) includes a U-shaped connecting rod (31) and a rocker arm (33); the rocker arm (33) is an integrated H-shaped structure, including an intermediate arm, two upper arms respectively connected to the two ends of the upper side of the intermediate arm, and two lower arms respectively connected to the two ends of the lower side of the intermediate arm; a top hole is opened at the end of the upper arm, and a square groove side wall hole is opened at the middle position; a bottom hole is opened at the end of the lower arm; the two ends of the intermediate arm are relatively bent to form two protruding arms, and the protruding arm ends are opened with protruding arm holes; One end of the U-shaped connecting rod (31) is hinged to the upper ends of the two main support rods, and the other end is hinged to the two protruding arm holes; the two square groove side wall holes are each hinged to an active connecting rod, and the other end of the active connecting rod is hinged to the corresponding crank; the two top end holes are each hinged to a passive connecting rod, and the other end of the passive connecting rod is hinged to the middle position of the corresponding driving rod; the two bottom end holes are hinged to the middle of the suspension bracket (5).

3. The single-degree-of-freedom driven trimaran deploying and retracting mechanism according to claim 2, characterized in that: The cross section of the main support rod is a groove structure with the groove facing outwards. A first pin is provided in the groove at the upper and lower ends of the main support rod, the first pin at the upper end is used for hingedly connecting the U-shaped connecting rod (31), and the first pin at the lower end is used for hingedly connecting the suspension bracket (5).

4. The single-degree-of-freedom driven trimaran retracting and launching mechanism according to claim 3, characterized in that: The servo motor is fixed in the middle of the slot of the main support rod, the axis of the servo motor is perpendicular to the main support rod, and the output shaft of the servo motor passes through the main support rod and fixes the crank.

5. The single-degree-of-freedom driven trimaran retracting and launching mechanism according to claim 1, characterized in that: The cross section of the driving rod is a groove structure with the notch facing upwards; a second pin is provided at the end of the driving rod for articulating the suspension bracket (5); and a third pin is provided in the middle of the driving rod for articulating the passive connecting rod.

6. The single-degree-of-freedom driven trimaran retracting and launching mechanism according to claim 1, characterized in that: The linear module includes a lower slide, the cross-section of which is a groove structure with the groove facing upward. A stepper motor is arranged in the groove, and the output end of the stepper motor is connected to a lead screw, the other end of the lead screw is rotatably matched with the end plate of the lower slide; the slider is passed through the lead screw and fixed with the lead screw nut.

7. The single-degree-of-freedom driven trimaran retracting and launching mechanism according to claim 6, characterized in that: The slider is L-shaped, with its long section higher than the slide track and extending toward the other linear module, while the long section exceeds the slide track; the sliders of the two linear modules are opposite; the main support rod is rigidly connected to the end of the long section of the slider.

8. The single-degree-of-freedom driven trimaran deploying and retracting mechanism according to claim 1, characterized in that: The cross section of the upper slideway is a groove structure with the groove facing downward. The bottom of the groove is clearance-matched with the top of the main support rod to limit the vertical displacement of the main support rod.

9. The single-degree-of-freedom driven trimaran deploying and retracting mechanism according to claim 1, characterized in that: The storage compartment (11) is in an inverted convex shape, and the convex portion is adapted to the geometric profile of the suspension bracket (5).

10. The single-degree-of-freedom driven trimaran deploying and retracting mechanism according to any one of claims 1 to 9, characterized in that: Each slideway is fixed to the inner wall of the storage cabin (11) by welding.

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