Foldable unmanned surface vehicle capable of achieving non-synchronous folding

Abstract

The foldable water surface unmanned ship comprises a middle platform and two ship bodies which are located on the left side and the right side of the lower portion of the middle platform side by side, and a front foldable mechanical arm mechanism and a rear foldable mechanical arm mechanism which are used for being connected with the ship bodies are symmetrically arranged on the left side and the right side of the middle platform. The tail end of the front foldable mechanical arm mechanism is connected with the ship body through a hooke joint, and the tail end of the rear foldable mechanical arm mechanism is connected with a rotary table fixed to the ship body. The redundant degree of freedom is increased on the foldable mechanical arm mechanism, so that stable folding or unfolding can be realized even if desynchrony is caused by movement deviation under complex sea conditions, the abrasion damage risk caused by desynchrony stress in traditional rigid connection is avoided, the structural reliability and durability are improved, the service life is prolonged, and the mechanical arm is suitable for large-scale popularization and application. And efficient and stable operation of the unmanned surface vehicle is ensured.

Description

Technical Field

[0001] This invention relates to a foldable unmanned surface vessel, specifically a foldable unmanned surface vessel capable of asynchronous folding. Background Technology

[0002] Foldable unmanned surface vessels (USVs) utilize fore and aft robotic arms to deploy or retract their two hulls, meeting various needs during navigation operations or transport. However, due to the undulations of the hulls in complex sea conditions, the fore and aft robotic arms may experience movement deviations during the folding and retraction process. This can lead to asynchronous folding of the two hulls, causing damage to rigidly connected structural components due to asynchronous stress, resulting in poor reliability and durability. For example, CN117901990B discloses a foldable inflatable unmanned catamaran. Summary of the Invention

[0003] Purpose of the invention: The purpose of this invention is to provide a foldable unmanned surface vessel with good reliability and durability, capable of stable folding under complex sea conditions and asynchronous folding capability.

[0004] Technical solution: The present invention provides a foldable unmanned surface vessel capable of asynchronous folding, comprising a central platform and two hulls arranged side by side on the left and right sides below the central platform. A front foldable robotic arm mechanism and a rear foldable robotic arm mechanism are symmetrically arranged on the left and right sides of the central platform for connecting the hulls. The end of the front foldable robotic arm mechanism is connected to the hull via a Hooke hinge, and the end of the rear foldable robotic arm mechanism is connected to a turntable fixed on the hull.

[0005] Furthermore, the intermediate platform includes a main platform and a sub-platform, with the sub-platform connected to the main platform via a suspension mechanism; two sets of front foldable robotic arm mechanisms are installed on the sub-platform, and two sets of rear foldable robotic arm mechanisms are installed on the main platform; the ends of the foldable robotic arm mechanisms are connected to a front vibration damping device fixedly installed on the hull via Hooke hinges.

[0006] The front shock absorber and suspension mechanism work together to ensure the stability of the unmanned surface vessel when facing complex sea conditions and effectively reduce the impact load of waves.

[0007] Furthermore, the front damping device includes a damping support arm and a damping base plate that are rotatably connected. The damping base plate is fixed to the hull, and a front damper is provided between the damping support arm and the damping base plate. A Hooke hinge is hinged to the damping support arm.

[0008] Furthermore, the suspension mechanism includes a first suspension arm, a second suspension arm, a suspension shock absorber, a main platform connecting plate, and a sub-platform connecting plate. The two ends of the first suspension arm are hinged to the upper ends of the main platform connecting plate and the sub-platform connecting plate, respectively. The two ends of the second suspension arm are hinged to the lower ends of the main platform connecting plate and the sub-platform connecting plate, respectively. The two ends of the suspension shock absorber are rotatably connected to the main platform connecting plate and the second suspension arm, respectively. The main platform connecting plate is fixedly connected to the main platform, and the sub-platform connecting plate is fixedly connected to the sub-platform.

[0009] Furthermore, the main and auxiliary platforms are fixed to the corresponding connecting plates with screws.

[0010] Furthermore, the front foldable robotic arm mechanism includes a front robotic arm base, a first foldable arm, a second foldable arm, a third foldable arm, and a first electric actuator. The front robotic arm base is fixed on the sub-platform. The first and second foldable arms are arranged in parallel, and their two ends are respectively rotatably connected to the front robotic arm base and the third foldable arm. One end of the first electric actuator is hinged to the rotatable connection between the first and third foldable arms, and the other end is hinged to the rotatable connection between the second foldable arm and the front robotic arm base. The first electric actuator is used to drive the front foldable robotic arm mechanism to unfold or retract. The Hooke hinge is hinged to the end of the third foldable arm.

[0011] The front foldable robotic arm mechanism adopts a four-bar linkage, with each component connected by a revolute joint. It has only one degree of freedom, and the folding and unfolding motion of the robotic arm can be realized by setting the first electric actuator as the sole drive.

[0012] Furthermore, the rear foldable robotic arm mechanism includes a rear robotic arm base, a large arm, a small arm, a second electric actuator, a third electric actuator, and a small arm support. The rear robotic arm base is fixed to the main platform, and the small arm support is fixed to the turntable. One end of the large arm is rotatably connected to the main platform, and the other end is rotatably connected to the small arm. The two ends of the second electric actuator are hinged to the rear robotic arm base and the small arm, respectively. The end of the small arm is hinged to the small arm support. One end of the third electric actuator is rotatably connected to the small arm, and the other end is rotatably connected to the small arm support. The second and third electric actuators work together to control the rear foldable robotic arm mechanism to unfold or retract.

[0013] Furthermore, a lifting mechanism and an AUV retraction assembly are installed at the bottom of the main platform. The lifting mechanism is used to drive the AUV retraction assembly to rise or fall; the AUV retraction assembly is used to deploy or retrieve the AUV.

[0014] Furthermore, the lifting mechanism adopts a scissor lift mechanism.

[0015] Furthermore, the AUV take-up and take-down assembly includes a frame, with a U-shaped housing fixed to the bottom of the frame, and two sets of drive assemblies installed inside the frame; multiple grippers are spaced apart on both sides of the U-shaped housing, with the grippers on different sides staggered; the grippers are rotatably connected to a fixed shaft on the corresponding side inside the U-shaped housing, and the drive assemblies are used to drive each gripper on the same side to rotate around the fixed shaft, and the two sets of drive assemblies synchronously drive the grippers on different sides to release or clamp the AUV.

[0016] Beneficial Effects: Compared with existing technologies, this invention has the following significant advantages: Addressing the problem of asynchronous retraction of the front and rear robotic arms, this invention adds redundant degrees of freedom to the foldable robotic arm mechanism. The end of the front foldable robotic arm mechanism is connected to the hull via a Hooke's joint, allowing it to rotate relative to the hull; the end of the rear foldable robotic arm mechanism is connected to a turntable fixed to the hull, enabling smooth rotation between the two. This design ensures stable retraction or deployment of the front and rear foldable robotic arms even when motion deviations occur under complex sea conditions, leading to asynchrony. This effectively avoids the risk of wear and damage caused by asynchronous forces in traditional rigid connections, significantly improving structural reliability, durability, and service life, and ensuring the efficient and stable operation of the unmanned surface vessel. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of a foldable unmanned surface vessel that can be asynchronously retracted in the deployed state, provided by an embodiment of the present invention.

[0018] Figure 2 yes Figure 1 Side view;

[0019] Figure 3 This is a schematic diagram of the front foldable robotic arm mechanism in an embodiment of the present invention;

[0020] Figure 4 This is a schematic diagram of the suspension mechanism in an embodiment of the present invention;

[0021] Figure 5 This is a schematic diagram of the structure of the rear foldable robotic arm mechanism in an embodiment of the present invention;

[0022] Figure 6 This is a schematic diagram of the lifting mechanism in an embodiment of the present invention;

[0023] Figure 7 This is a schematic diagram of the structure of the AUV take-up and take-down assembly in an embodiment of the present invention;

[0024] Figure 8 This is a comparison diagram of the unfoldable unmanned surface vessel before and after being folded up in an embodiment of the present invention;

[0025] Figure 9 This is a schematic diagram of the asynchronous retraction of the two sides of the deployable unmanned surface vessel in an embodiment of the present invention;

[0026] Figure 10 This is a schematic diagram of the asynchronous folding of one side of the deployable unmanned surface vessel in an embodiment of the present invention;

[0027] Figure 11 This is a schematic diagram illustrating the roll, pitch, and bow movements of the deployable unmanned surface vessel in an embodiment of the present invention.

[0028] Figure 12 This is a schematic diagram of the retractable unmanned surface vessel in an embodiment of the present invention. Detailed Implementation

[0029] The invention will now be further described with reference to the accompanying drawings.

[0030] Appendix Figures 1 to 12 The accompanying figure labels are as follows:

[0031] 1. Hull; 101. Bow; 102. Midway; 103. Stern;

[0032] 2. Front foldable robotic arm mechanism; 201. Front robotic arm base; 202. First foldable arm; 203. Second foldable arm; 204. Third foldable arm; 205. First electric actuator; 206. Shock-absorbing support arm; 207. Front shock absorber; 208. Shock-absorbing base plate; 209. Hooke hinge; 210. Sub-platform;

[0033] 3. Rear foldable robotic arm mechanism; 301. Rear robotic arm base; 302. Main arm; 303. Forearm; 304. Second electric actuator; 305. Third electric actuator; 306. Forearm support; 307. Turntable;

[0034] 4. Lifting mechanism; 401. Upper base; 402. Lower base; 403. First connecting rod; 404. Second connecting rod; 405. First motor; 406. Screw; 407. Moving component; 408. Rotating shaft;

[0035] 5. AUV take-up and take-off assembly; 501. Frame; 502. Second motor; 503. Short rod; 504. Long rod; 505. Rotating shaft; 506. Fixed shaft; 507. Gripper; 508. U-shaped housing; 509. Flat key;

[0036] 6. Main platform;

[0037] 7. Suspension mechanism; 701. First suspension arm; 702. Second suspension arm; 703. Suspension shock absorber; 704. Main platform connecting plate; 705. Sub-platform connecting plate.

[0038] like Figures 1 to 5As shown, this embodiment of the invention provides a foldable unmanned surface vessel that can be asynchronously retracted. It has a catamaran structure and includes a hull 1, a middle platform, a front foldable robotic arm mechanism 2, and a rear foldable robotic arm mechanism 3.

[0039] The hull 1 includes a bow 101, a midsection 102, and a stern 103. The bow 101 bends away from the water surface, a design that reduces surface resistance in complex sea conditions. The stern 103 is equipped with a propeller for driving the unmanned surface vessel on the water.

[0040] The intermediate platform includes a main platform 6 and a secondary platform 210, with the secondary platform 210 connected to the main platform 6 via a suspension mechanism 7. Two hulls 1 are positioned side-by-side on the left and right sides below the intermediate platform. Symmetrically arranged on the left and right sides of the secondary platform 210 are front-mounted deployable robotic arm mechanisms 2, the ends of which are connected via Hooke hinges 209 to a front-mounted vibration damping device fixed to the front end of the central section 102. Symmetrically arranged on the left and right sides of the main platform 6 are rear-mounted deployable robotic arm mechanisms 3, the ends of which are connected to a turntable 307 fixed to the rear end of the central section 102.

[0041] The bottom of the main platform 6 serves as an extension platform, capable of carrying various functional components. This embodiment uses the deployment and recovery of an AUV (Autonomous Underwater Vehicle) as an example. A lifting mechanism 4 and an AUV deployment and recovery assembly 5 are designed and installed at the bottom of the main platform 6 for surface unmanned surface vessels (USVs) operations. The lifting mechanism 4 drives the AUV deployment and recovery assembly 5 to rise or fall, and the AUV deployment and recovery assembly 5 is used to deploy or recover the AUV. Specifically, the lifting mechanism 4 drives the AUV deployment and recovery assembly 5 to descend a certain height to grab the AUV, and then rises the assembly to complete the AUV recovery. During AUV deployment, the lifting mechanism 4 drives the AUV deployment and recovery assembly 5 to descend a certain height to release the AUV, and then rises again to retract the assembly.

[0042] like Figure 3 As shown, the front foldable robotic arm mechanism 2 includes a front robotic arm base 201, a first foldable arm 202, a second foldable arm 203, a third foldable arm 204, and a first electric actuator 205. The front vibration damping device includes a vibration damping support arm 206, a front vibration damper 207, and a vibration damping base plate 208.

[0043] The front robotic arm base 201 is fixed on the auxiliary platform 210. The first folding arm 202 and the second folding arm 203 are arranged in parallel. One end of the first folding arm 202 is rotatably connected to the front robotic arm base 201, and the other end is rotatably connected to the third folding arm 204.

[0044] One end of the second folding arm 203 is rotatably connected to the front robotic arm base 201, and the other end is rotatably connected to the third folding arm 204. One end of the first electric actuator 205 is hinged to the rotatable connection between the first folding arm 202 and the third folding arm 204, and the other end is hinged to the rotatable connection between the second folding arm 203 and the front robotic arm base 201. The first electric actuator 205 drives the front foldable robotic arm mechanism 2 to unfold or retract.

[0045] The end of the third folding arm 204 is connected to the shock-absorbing support arm 206 via a Hooke hinge 209, meaning that both ends of the Hooke hinge 209 are hinged to the shock-absorbing support arm 206 and the end of the third folding arm 204, respectively. The shock-absorbing base plate 208 is fixed to the front end of the middle section 102, and the shock-absorbing support arm 206 is rotatably connected to the shock-absorbing base plate 208. The front shock absorber 207 is located between the shock-absorbing support arm 206 and the shock-absorbing base plate 208, with one end mounted on the shock-absorbing support arm 206 and the other end mounted on the shock-absorbing base plate 208. The front shock absorber 207 reduces the impact load on the front folding manipulator mechanism 2 under complex sea conditions.

[0046] like Figure 4 As shown, the suspension mechanism 7 includes a first suspension arm 701, a second suspension arm 702, a suspension shock absorber 703, a main platform connecting plate 704, and a secondary platform connecting plate 705. The first suspension arm 701 is hinged at both ends to the upper ends of the main platform connecting plate 704 and the secondary platform connecting plate 705, respectively. The second suspension arm 702 is hinged at both ends to the lower ends of the main platform connecting plate 704 and the secondary platform connecting plate 705, respectively. The suspension shock absorber 703 is rotatably connected at both ends to the main platform connecting plate 704 and the second suspension arm 702, respectively. Both the main platform connecting plate 704 and the secondary platform connecting plate 705 have mounting holes. The main platform connecting plate 704 is fixed to the main platform 6 with screws, and the secondary platform connecting plate 705 is fixed to the secondary platform 210 with screws.

[0047] like Figure 5 As shown, the rear foldable robotic arm mechanism 3 includes a rear robotic arm base 301, a large arm 302, a small arm 303, a second electric actuator 304, a third electric actuator 305, and a small arm support 306. The rear robotic arm base 301 is fixed to the main platform 6, and the small arm support 306 is fixed to the turntable 307 and can rotate with the turntable 307. One end of the large arm 302 is rotatably connected to the main platform 6, and the other end is rotatably connected to the small arm 303. The two ends of the second electric actuator 304 are hinged to the rear robotic arm base 301 and the small arm 303, respectively. The end of the small arm 303 is hinged to the small arm support 306, and one end of the third electric actuator 305 is rotatably connected to the small arm 303, and the other end is rotatably connected to the small arm support 306. The second electric actuator 304 and the third electric actuator 305 work together to control the rear foldable robotic arm mechanism 3 to unfold or retract.

[0048] like Figure 6As shown, the lifting mechanism 4 adopts a scissor-type lifting mechanism, including an upper base 401 and a lower base 402 with a U-shaped frame structure, and the slots of the upper and lower bases facing each other. A first connecting rod 403 and a second connecting rod 404, which intersect each other, are arranged on both sides between the upper and lower bases. A first motor 405 is mounted on the lower base 402, and a screw 406 is provided at the output end of the first motor 405. A moving component 407 is threaded onto the screw 406, and a rotating shaft 408 passes through the moving component 407. The two ends of the rotating shaft 408 are respectively slidably engaged with the transverse elongated holes on both sides of the lower base 402. The upper end of the first connecting rod 403 is hinged to the upper base 401, and the lower end is rotatably connected to the rotating shaft 408. The lower end of the second connecting rod 404 is hinged to the lower base 402, and the upper end is slidably engaged with the transverse elongated hole on the corresponding side of the upper base 401 via a pin. When the first motor 405 drives the screw 406 to rotate, it can drive the moving component 407 and the rotating shaft 408 to move laterally together, so that the upper and lower bases move closer or further apart, thus realizing the lifting function.

[0049] like Figure 7 As shown, the AUV take-up and take-down assembly 5 includes a frame 501, with a U-shaped housing 508 fixed to the bottom of the frame 501. Two sets of drive assemblies are installed inside the frame 501. Two grippers 507 are spaced apart on each side of the U-shaped housing 508, with the grippers 507 on different sides staggered. The grippers 507 are rotatably connected to a fixed shaft 506 on the corresponding side inside the U-shaped housing 508. The drive assemblies drive the two grippers 507 on the same side to rotate around the fixed shaft 506. The two sets of drive assemblies synchronously drive the grippers 507 on different sides to release or clamp the AUV.

[0050] The drive assembly includes a second motor 502, a short rod 503, a long rod 504, and a rotating shaft 505. The output end of the second motor 502 is fixedly connected to one end of the short rod 503, and the other end of the short rod 503 is rotatably connected to one end of the long rod 504. Both are inserted into a flat key 509 to ensure their relative positions remain consistent. The other end of the long rod 504 is rotatably connected to the rotating shaft 505, and two grippers 507 on the same side are hinged to both ends of the rotating shaft 505. The second motor 502 drives the short rod 503, which in turn moves the long rod 504, causing the rotating shaft 505 to rotate the grippers 507.

[0051] like Figure 8 As shown, the front and rear foldable robotic arm mechanism is an important component of this invention, determining the folding effect of the unmanned surface vessel during transportation and transfer. The radial widths of the unmanned surface vessel are L and l in its two states: deployed during operation and folded during transportation. In this embodiment, L = 2119 mm and l = 1446 mm. The folding rate is a key indicator for evaluating the folding mechanism; in this embodiment, the folding rate is...

[0052] like Figure 9 and Figure 10As shown, this invention addresses the problem of asynchronous retraction of the two hulls 1 by adding redundant degrees of freedom to the structure. In the front foldable robotic arm mechanism 2, a Hooke's hinge 209 is provided between the third folding arm 204 and the shock-absorbing support arm 206, allowing them to rotate relative to each other. The shock-absorbing base plate 208 is fixedly connected to the hull 1, thus enabling the front foldable robotic arm mechanism 2 and the hull 1 to rotate independently relative to each other. A turntable 307 is provided at the connection between the rear foldable robotic arm mechanism 3 and the hull 1, allowing the rear foldable robotic arm mechanism 3 and the hull 1 to rotate independently relative to each other via the turntable 307. Figure 9 As shown, during the retraction process, when the waves and currents cause asynchronous retraction and deployment of the front and rear foldable robotic arm mechanisms, specifically when the retraction rate of the front foldable robotic arm mechanism 2 is faster than that of the rear foldable robotic arm mechanism 3, the bows 101 of both hulls face inwards, and the angle between the centerline of hull 1 and the centerline of the main platform 6 is α, with a maximum angle of 12°. When the retraction rate of the front foldable robotic arm mechanism 2 is slower than that of the rear foldable robotic arm mechanism 3, the bows 101 of both hulls face outwards, and the angle between the centerline of hull 1 and the centerline of the main platform 6 is β, with a maximum angle of 10°. Figure 10 As shown, even when the front and rear foldable robotic arms retract asynchronously due to the influence of ocean waves and currents, the unmanned surface vessel (USV) can still achieve final retraction. By increasing the redundant degrees of freedom of the front and rear foldable robotic arms, asynchronous retraction of the USV can be achieved, effectively preventing structural damage to rigidly connected components and improving the operational safety of the USV.

[0053] like Figure 11 As shown, a spatial coordinate system is established for the hull 1, with the y-axis pointing in the direction of hull 1, the x-axis pointing horizontally perpendicular to the direction of hull 1, and the z-axis pointing vertically perpendicular to hull 1. In the forward foldable robotic arm mechanism 2, a Hooke's hinge 209 is provided between the third foldable arm 204 and the shock-absorbing support arm 206. In the rear foldable robotic arm mechanism 3, the end of the forearm 303 is hinged to the forearm support 306. Therefore, the hull 1 can rotate around the y-axis relative to the main platform 6 to achieve roll motion. Relying on the suspension mechanism 7 and the forward shock-absorbing device, the hull 1 can rotate around the x-axis relative to the main platform 6 to achieve pitch motion. Combining the above description of solving the asynchronous retraction problem, it can be seen that the hull 1 can rotate around the z-axis relative to the main platform 6 to achieve bow motion, and that the hull 1 moves relative to the main platform 6 along the x and z-axis directions during retraction. In simple terms, hull 1 has five degrees of freedom relative to the main platform 6: rotational degrees of freedom about the x, y, and z axes, and translational degrees of freedom along the x and z axes. Adding redundant degrees of freedom improves the hull's stability in complex sea conditions and also solves the problem of asynchronous retraction.

[0054] The y-axis rotational degree of freedom of hull 1 relative to the main platform 6 is provided to enable roll motion. Hull 1 is affected by wave fluctuations on the sea surface, and roll motion reduces the impact of waves on the overall mechanism. The x-axis rotational degree of freedom of hull 1 relative to the main platform 6 is provided to enable pitch motion. A foldable unmanned surface vessel traveling at high speed on the water surface is impacted by waves, and pitch motion reduces the impact load. The z-axis rotational degree of freedom of hull 1 relative to the main platform 6 is provided to enable bow motion, thus solving the problem of asynchronous retraction. Simultaneously, hull 1 has x and z-axis translational degrees of freedom relative to the main platform 6, allowing the foldable unmanned surface vessel to be in the deployed state during operation and switch to the retracted state during transport and transfer. The absence of a y-axis translational degree of freedom ensures the stability of the overall mechanism during operation, thereby facilitating better switching between operating modes.

[0055] like Figure 12 As shown, after the foldable unmanned surface vessel (USV) provided in this embodiment of the invention is folded up, the two hulls 1 move closer to the main platform 6, significantly reducing its radial width and facilitating transportation and transfer. When performing offshore operations, the USV can be hoisted onto the mother ship from the mother ship, and then lowered onto the water surface after reaching the designated location. After unfolding its front and rear foldable robotic arms, the USV switches from the folded transport state to the unfolded working state to begin performing its tasks. After completing the task, it autonomously travels to the vicinity of the mother ship, folds the front and rear foldable robotic arms back into the transport state, and is then hoisted back onto the mother ship.

Claims

1. A foldable unmanned surface vessel capable of asynchronous folding, comprising a central platform and two hulls (1) arranged side-by-side on the left and right sides below the central platform, wherein a front foldable robotic arm mechanism (2) and a rear foldable robotic arm mechanism (3) for connecting the hulls (1) are symmetrically arranged on the left and right sides of the central platform, characterized in that, The end of the front foldable robotic arm mechanism (2) is connected to the hull (1) via a Hooke hinge (209), and the end of the rear foldable robotic arm mechanism (3) is connected to a turntable (307) fixed on the hull (1).

2. The foldable unmanned surface vessel capable of asynchronous retraction according to claim 1, characterized in that, The intermediate platform includes a main platform (6) and a sub-platform (210). The sub-platform (210) is connected to the main platform (6) through a suspension mechanism (7). Two sets of front foldable robotic arm mechanisms (2) are installed on the sub-platform (210), and two sets of rear foldable robotic arm mechanisms (3) are installed on the main platform (6). The ends of the foldable robotic arm mechanisms (2) are connected to the front vibration damping device fixedly installed on the hull (1) through a Hooke hinge (209).

3. The foldable unmanned surface vessel capable of asynchronous retraction according to claim 2, characterized in that, The front damping device includes a damping support arm (206) and a damping base plate (208) that are rotatably connected. The damping base plate (208) is fixed on the hull (1). A front damper (207) is provided between the damping support arm (206) and the damping base plate (208). A Hooke hinge (209) is hinged to the damping support arm (206).

4. The foldable unmanned surface vessel capable of asynchronous retraction according to claim 2, characterized in that, The suspension mechanism (7) includes a first suspension arm (701), a second suspension arm (702), a suspension damper (703), a main platform connecting plate (704), and a secondary platform connecting plate (705). The two ends of the first suspension arm (701) are respectively hinged to the upper ends of the main platform connecting plate (704) and the secondary platform connecting plate (705); the two ends of the second suspension arm (702) are respectively hinged to the lower ends of the main platform connecting plate (704) and the secondary platform connecting plate (705); the two ends of the suspension damper (703) are respectively rotatably connected to the main platform connecting plate (704) and the second suspension arm (702); the main platform connecting plate (704) is fixedly connected to the main platform (6), and the secondary platform connecting plate (705) is fixedly connected to the secondary platform (210).

5. The foldable unmanned surface vessel capable of asynchronous retraction according to claim 4, characterized in that, The main and auxiliary platforms are fixed to the corresponding connecting plates with screws.

6. The foldable unmanned surface vessel capable of asynchronous retraction according to claim 2, characterized in that, The front foldable robotic arm mechanism (2) includes a front robotic arm base (201), a first foldable arm (202), a second foldable arm (203), a third foldable arm (204), and a first electric actuator (205). The front robotic arm base (201) is fixed on the sub-platform (210). The first foldable arm (202) and the second foldable arm (203) are arranged in parallel, and their ends are respectively connected to the front robotic arm base (201) and the third foldable arm (204). The folding arm (204) is rotatably connected; one end of the first electric actuator (205) is hinged to the rotatable connection between the first folding arm (202) and the third folding arm (204), and the other end is hinged to the rotatable connection between the second folding arm (203) and the front mechanical arm base (201). The first electric actuator (205) is used to drive the front foldable mechanical arm mechanism (2) to unfold or retract; the Hooke hinge (209) is hinged to the end of the third folding arm (204).

7. The foldable unmanned surface vessel capable of asynchronous retraction according to claim 2, characterized in that, The rear foldable robotic arm mechanism (3) includes a rear robotic arm base (301), a large arm (302), a small arm (303), a second electric actuator (304), a third electric actuator (305), and a small arm support (306). The rear robotic arm base (301) is fixed on the main platform (6), and the small arm support (306) is fixed on the turntable (307). One end of the large arm (302) is rotatably connected to the main platform (6), and the other end is connected to the small arm (303). Rotary connection; the two ends of the second electric actuator (304) are respectively hinged to the rear robotic arm base (301) and the forearm (303); the end of the forearm (303) is hinged to the forearm support (306); one end of the third electric actuator (305) is rotatably connected to the forearm (303), and the other end is rotatably connected to the forearm support (306); the second electric actuator (304) and the third electric actuator (305) work together to control the rear foldable robotic arm mechanism (3) to unfold or retract.

8. The foldable unmanned surface vessel capable of asynchronous retraction according to claim 2, characterized in that, The main platform (6) is equipped with a lifting mechanism (4) and an AUV retraction assembly (5) at the bottom. The lifting mechanism (4) is used to drive the AUV retraction assembly (5) to rise or fall; the AUV retraction assembly (5) is used to deploy or retrieve the AUV.

9. The foldable unmanned surface vessel capable of asynchronous retraction according to claim 8, characterized in that, The lifting mechanism (4) adopts a scissor-type lifting mechanism.

10. The foldable unmanned surface vessel capable of asynchronous retraction according to claim 8, characterized in that, The AUV take-up and take-down assembly (5) includes a frame (501), a U-shaped housing (508) fixed at the bottom of the frame (501), and two sets of drive assemblies inside the frame (501). Multiple grippers (507) are spaced apart on both sides of the U-shaped housing (508), and the grippers (507) on different sides are staggered. The grippers (507) are rotatably connected to the fixed shaft (506) on the corresponding side inside the U-shaped housing (508). The drive assemblies are used to drive each gripper (507) on the same side to rotate around the fixed shaft (506). The two sets of drive assemblies synchronously drive the grippers (507) on different sides to release or clamp the AUV.

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