A spliced high-maneuverability light-load mobile platform with a power matrix structure

Abstract

This invention provides a modular, highly maneuverable, lightweight mobile platform with a power matrix structure, comprising at least two hull platforms and flexible connecting devices for connecting adjacent hull platforms. Each hull platform includes at least one modular platform unit, which includes an installation platform and multiple small boats. The installation platform is a truss frame, and the small boats are connected to at least a portion of the frame nodes of the truss frame. This invention selects a certain number of platform units based on the required size, shape, and function of the hull platform and assembles them. Then, the flexible connecting devices are used to flexibly connect the hull platforms and install the load. This invention uses a grid-distributed array of power sources to form a power matrix chassis, breaking through the limitations of traditional single propulsion modes and achieving high-speed navigation on the water surface. Relying on the independent control of each small boat, it can achieve highly maneuverable maneuvers such as turning in place, sharp-angle turning, and lateral crabbing, greatly enhancing flexibility and sea trial response capabilities.

Description

Technical Field

[0001] This invention relates to the field of marine trial support platform technology, specifically to a modular, highly mobile, lightweight mobile platform with a power matrix structure. Background Technology

[0002] A sea trial support platform is a supporting vessel used for marine scientific research and testing. It is typically equipped with lightweight equipment such as navigation systems, corner reflectors, and electrode cables, and integrates functions such as measurement, display, and remote control.

[0003] Currently, offshore platforms used for scientific research or experimentation are mainly achieved through two technical approaches: retrofitting old vessels and retrofitting smaller vessels. Older vessels are typically converted into conventional medium-sized surface vessel platforms. While these platforms possess good load-bearing capacity and comparable target characteristics, the retrofitting and maintenance costs are high, the construction period is long, the process is difficult, and transportation is inconvenient. Smaller surface vessels, while offering advantages such as low cost, strong environmental adaptability, and high speed, lack the flexibility and maneuverability to effectively simulate the target characteristics of medium and large vessels, thus affecting the evaluation of research and sea trial results.

[0004] To address these issues, current sea trial hulls often employ a modular design. The advantage of this modular design lies in its flexible configuration, capable of meeting the needs of various scientific research sea trials. However, when these modular structures are assembled, the overall structure either forms a catamaran or a floating hull array. The propulsion system is typically located at the stern. In catamarans or floating hull arrays, the space at the stern is usually limited, making it difficult to install multiple or large propulsion units, thus constraining the number and power of available propulsion units. This limitation on the number and power of propulsion units affects the overall propulsion capability, thus limiting the hull's maximum speed. The slow speed makes it difficult for the hull to simulate high-speed targets, limiting the training range and the platform's ability to quickly reach research areas, thereby affecting the platform's response speed and adaptability to the test area. Furthermore, even adding a more powerful propulsion unit to a modular hull does not significantly improve the platform's overall maneuverability (including acceleration, steering, and change of direction). In addition, increasing the size of the propulsion device may change the center of gravity distribution of the entire platform. If the center of gravity is not designed properly, it will affect the platform's roll stability and increase the production cost.

[0005] Therefore, there is a need for a low-cost, modularly assembled, low-transportation and support requirements, highly mobile, adaptable to high sea states, flexible load replacement, and easily expandable offshore mobile platform. Summary of the Invention

[0006] Therefore, the technical problem to be solved by the present invention is to overcome the technical defects of existing modular offshore mobile platforms, which are characterized by low speed, poor maneuverability, complex structure and difficult maintenance due to limited power distribution. The present invention provides a low-cost, modularly assembled, low-transportation and support requirements, high maneuverability, adaptability to high sea states, flexible load replacement and easy expansion modular high-mobility light-load mobile platform with a power matrix structure.

[0007] Therefore, the present invention provides a modular, highly mobile, lightweight mobile platform with a dynamic matrix structure, comprising at least two hull platforms and a flexible connecting device for flexibly connecting adjacent hull platforms; each hull platform includes at least one freely connectable platform unit, the platform unit comprising: The installation platform is a truss frame assembled from multiple trusses, the truss frame being rectangular, triangular, or circular, and having multiple frame nodes; adjacent truss frames are suitable for splicing and connecting. Multiple small boats are connected to at least a portion of the frame nodes of the truss frame via pitch damping connection devices to enable the installation platform to float. At least some of the small boats are equipped with power propulsion devices. The pitch damping connection devices allow the installation platform to pitch relative to the small boats within a certain range, thereby adjusting the pitch attitude of the installation platform to maintain stability.

[0008] Furthermore, the pitch damping connection device includes: The upper support frame is designed to be fixedly connected to the installation platform at its top. The lower support frame is arranged vertically opposite to the upper support frame, and its bottom is suitable for fixed connection with the small boat. A connector is located between the upper support frame and the lower support frame, with one end fixedly connected to one of the upper support frame and the lower support frame, and the other end rotatably connected to the other of the upper support frame and the lower support frame; A damping rod is located between the upper support frame and the lower support frame, with its upper end rotatably connected to the upper support frame and its lower end rotatably connected to the lower support frame; the connecting piece and the damping rod are arranged sequentially along the front and rear direction of the small boat.

[0009] Furthermore, one end of the connector is fixedly connected to the upper support frame, and the other end is hinged to the lower support frame, with the hinge axis direction perpendicular to the movement direction of the boat.

[0010] Furthermore, the rotation axis of the upper end of the damping rod is arranged parallel to the rotation axis of the lower end, and both are parallel to the hinge axis of the other end of the connector.

[0011] Furthermore, there are two damping rods, which are arranged opposite each other along the width direction of the boat.

[0012] Furthermore, the flexible connection device includes: The first bearing has a first outer ring and a first inner ring; The second bearing has a second outer ring and a second inner ring; the second outer ring is fixedly connected to the inner wall of the first inner ring in an orthogonal nesting manner, and the central axis of the second outer ring is perpendicular to the central axis of the first inner ring. The first connector has one end fixedly connected to the first outer ring via a first fixing structure; the other end is provided with a first connecting structure for connecting one of the ship platforms. The second connector has one end fixedly connected to the second inner ring via a second fixing structure; the other end is provided with a second connecting structure for connecting to another hull platform.

[0013] Furthermore, the first connector includes two opposing first connecting rods, and the first fixing structure includes a first slot disposed on one side surface of the two first connecting rods near their proximal ends, and the two first slots can be tightly engaged and fixed with the first outer ring respectively.

[0014] Furthermore, the truss is provided with at least two first mounting rods; the first connection structure includes: The first mounting beam is fixedly connected at both ends to the distal ends of the two first connecting rods respectively; The first connecting plate has one side fixedly connected to the first mounting beam. The first connecting plate has at least two first mounting through holes corresponding to the first mounting rods respectively. Each first mounting rod can be tightly inserted into the corresponding first mounting through hole.

[0015] Furthermore, the second connector includes a connecting beam whose two ends are fixedly connected to the inner wall of the second inner ring, and two second connecting rods that are disposed opposite to each other on both sides of the connecting beam and whose proximal ends are fixedly connected to the connecting beam; the second fixing structure includes two second slots disposed opposite to each other on the inner wall of the second inner ring, and the two second slots can be tightly engaged and fixed with the two ends of the connecting beam.

[0016] Furthermore, the truss is provided with at least two second mounting rods; the second connection structure includes: The second mounting beam is fixedly connected at both ends to the far ends of the two second connecting rods respectively; The second connecting plate has one side fixedly connected to the second mounting beam. The second connecting plate has at least two second mounting through holes corresponding to the second mounting rods respectively. Each second mounting rod can be tightly inserted into the corresponding second mounting through hole.

[0017] The technical solution provided by this invention has the following advantages: The present invention discloses a modular, highly mobile, lightweight mobile platform with a dynamic matrix structure, comprising at least two hull platforms and a flexible connecting device for flexibly connecting adjacent hull platforms. Each hull platform includes at least one freely connectable platform unit, which includes an installation platform and small boats. The installation platform is a truss frame assembled from multiple trusses, which are rectangular, triangular, or circular, and have multiple frame nodes. Adjacent truss frames are suitable for splicing and connecting. Multiple small boats are present, each connected to at least a portion of the frame nodes of the truss frame via a pitch damping connecting device to enable the installation platform to float. At least some of the small boats are equipped with a propulsion device. The pitch damping connecting device allows the installation platform to pitch relative to the small boats within a certain range, thereby adjusting the pitch attitude of the installation platform to maintain stability.

[0018] This invention relates to a modular, highly mobile, lightweight mobile platform with a dynamic matrix structure. Before use, a certain number of platform units are selected based on the required size, shape, and function of the hull platform, and then these units are assembled as needed. If the hull platform is small and only one unit is needed, multiple small boats can be directly connected to the frame nodes of the truss frame via pitch damping connection devices to form the overall hull platform. If the hull platform is large and requires multiple platform units, the truss frames (installation platforms) of multiple platform units can be assembled first using bolts, welding, or adhesive bonding. After assembling to the required size, multiple small boats are then connected to the frame nodes of the assembled truss frame via pitch damping connection devices to form the hull platform. During the assembly process, the trusses at various locations can be added or removed based on actual conditions (e.g., the overall span of the platform, load, working conditions, test content, etc.) for reinforcement or weight reduction design. The propulsion systems (such as electric thrusters, internal combustion engines, and steering gear) of the small boats can be pre-installed within specific boats (some boats can be configured without power depending on maneuverability requirements). Forward movement and steering are controlled by the individual steering gears of each boat. Alternatively, each boat can be equipped with a unified propulsion system, which can be individually or uniformly controlled through a unified control system. Finally, adjacent boat platforms are flexibly connected together using flexible connection devices to form a mobile platform. Various loads, such as simulated targets, can be installed on the mobile platform to conduct various training exercises.

[0019] This invention relates to a modular, highly maneuverable, lightweight mobile platform with a dynamic matrix structure. It utilizes a grid-like array of power sources (small boat propellers) forming a dynamic matrix chassis, breaking through the limitations of traditional single-propulsion modes and achieving high-speed surface navigation. Relying on the independent control of the small boat propellers, it can perform highly maneuverable maneuvers difficult for ordinary ships, such as turning in place, sharp-angle turning, and lateral crabbing, greatly enhancing the flexibility and sea trial response capabilities of the mobile platform. By coordinating the thrust and direction of the small boat propellers within each platform unit, flexible power and heading control between multiple platform units is achieved, enabling even large platforms to possess high-speed crabbing, turning-in-place capabilities, and rapid switching between special motion modes. Based on standardized, modular platform units, it allows for rapid assembly, disassembly, and transportation, reducing transportation and support costs. The mobile platform can flexibly carry modular instruments and equipment such as inflatable corner reflectors, target detection radars, leveling systems, and communication systems, simulating various signal sources in terms of scale and electromagnetic characteristics, adapting to diverse collaborative research scenarios on water. The pitch damping connection between the small boat and the truss frame effectively reduces platform sway and improves attitude stability. The orthogonal nested bearing connection provides the platform with additional pitch and roll freedom, enhancing its adaptability to sea surface fluctuations, improving overall seakeeping, and allowing for flexible switching between rigid and flexible modes to improve sea state adaptability. The hollow design of the truss frame reduces the platform's weight and improves its anti-sinking performance. The modular design simplifies spare parts management, reduces maintenance difficulty, and improves the service life and reliability of the mobile platform. The small boat uses a standardized chassis, improving versatility and reliability, and reducing maintenance costs. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the prior art or specific embodiments of the present invention, the accompanying drawings used in the description of the prior art or specific embodiments are briefly introduced below.

[0021] Figure 1 This is a schematic diagram of the overall structure of the modular offshore mobile platform in this embodiment.

[0022] Figure 2 This is a volume view of the pitch damping connection device.

[0023] Figure 3 yes Figure 2 Another 3D view.

[0024] Figure 4 This is a perspective view of another embodiment of the pitch damping connection device.

[0025] Figure 5 This is a 3D view of a rectangular platform unit.

[0026] Figure 6This is a 3D diagram of a triangular platform unit.

[0027] Figure 7 This is a schematic diagram of multiple rectangular platform units assembled to form a ship hull platform.

[0028] Figure 8 This is a schematic diagram of multiple rectangular platform units assembled to form a ship hull platform.

[0029] Figure 9 This is a schematic diagram of multiple triangular platform units assembled to form a ship hull platform.

[0030] Figure 10 It is a schematic diagram of a ship hull platform assembled from multiple triangular platform units and multiple rectangular platform units.

[0031] Figure 11 This is a schematic diagram of the pitching and seakeeping of each small boat.

[0032] Figure 12 This is a schematic diagram of the forward motion mechanics of the mobile platform in this embodiment.

[0033] Figure 13 This is a schematic diagram of the lateral crab-like motion mechanics of the mobile platform in this embodiment.

[0034] Figure 14 This is a schematic diagram of the in-situ return transport dynamics of the mobile platform in this embodiment.

[0035] Figure 15 This is a schematic diagram after the corner reflector is installed.

[0036] Figure 16 This is a schematic diagram of the overall structure of the flexible connection device of the present invention.

[0037] Figure 17 This is an exploded view of the flexible connection device of the present invention.

[0038] Figure 18 yes Figure 1 A magnified structural diagram of part A in the middle.

[0039] Figure 19 This is a schematic diagram of other implementations of the modular offshore mobile platform of the present invention.

[0040] Reference numerals: 01, Corner reflector; 1, Mounting platform; 11, Truss; 111, First mounting rod; 112, Second mounting rod; 2, Small boat; 3, Pitch damping connection device; 31, Upper support frame; 311, Flat plate; 312, Support column; 32, Lower support frame; 321, Crossbeam; 322, Inclined beam; 33, Connector; 34, Damping rod; 35, Reinforcing rib; 36, Reinforcing plate; 4, Flexible connection device; 41, First bearing; 411, First outer ring; 412, First inner ring 42. Second bearing; 421. Second outer ring; 422. Second inner ring; 4221. Second slot; 43. First connector; 431. First connecting rod; 4311. First slot; 432. First mounting beam; 433. First connecting plate; 4331. First mounting through hole; 44. Second connector; 441. Connecting beam; 442. Second connecting rod; 4421. Second slot; 443. Second mounting beam; 444. Second connecting plate; 4441. Second mounting through hole. Detailed Implementation

[0041] To enable those skilled in the art to better understand this solution, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this application.

[0042] It should be noted that the terms "first," "second," etc., in the claims and specification of this application are used to distinguish similar objects and are not used to describe a specific order or sequence. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such as a process, method, system, product, or device that includes a series of steps or units, not limited to those steps or units explicitly listed, but may also include other steps or units not explicitly listed or inherent to these processes, methods, products, or devices.

[0043] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for better description of this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation. Furthermore, some of the above terms may be used to indicate other meanings besides orientation or positional relationship; for example, the term "upper" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application according to the specific circumstances. In addition, the term "multiple" should mean two or more. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0044] The present application will now be described in detail with reference to the accompanying drawings and embodiments.

[0045] This embodiment provides a modular, highly mobile, lightweight mobile platform with a power matrix structure, such as... Figure 1-14 As shown, the system includes at least two hull platforms and a flexible connecting device 4 that flexibly connects adjacent hull platforms. Each hull platform includes at least one freely combinable platform unit, which includes an installation platform 1 and small boats 2. The installation platform 1 is a truss frame assembled from multiple trusses 11, which are rectangular, triangular, or circular, and have multiple frame nodes. Adjacent truss frames are suitable for splicing and connecting. There are multiple small boats 2, which are connected to at least some of the frame nodes of the truss frame through pitch damping connecting devices 3, for enabling the installation platform 1 to float. At least some of the multiple small boats 2 are equipped with power propulsion devices. The pitch damping connecting devices 3 allow the installation platform 1 to pitch relative to the small boats 2 within a certain range, thereby adjusting the pitch attitude of the installation platform 1 to keep the installation platform 1 stable.

[0046] In this embodiment, the hull platform is formed by at least one freely combinable platform unit. Different numbers of platform units can be assembled into hull platforms of different specifications, such as small, medium, and large hull platforms, which can be assembled according to actual needs. The installation platform 1 is used to support various equipment (inflatable corner reflectors, target detection radar, horizontal systems, communication systems, etc.). When assembling the platform units, the main process is to assemble the various installation platforms 1 (truss frames). Assembly methods include bolt connections, snap-fit ​​connections, welding, and adhesive bonding. Truss frames of different or the same shape can be freely assembled to adapt to different application scenarios. The installation platform 1 is a truss frame structure, composed of multiple trusses 11. These trusses 11 are interconnected to form a stable structure. Different trusses 11 can be fixedly connected by welding, adhesive bonding, riveting, or bolt connections, facilitating the disassembly and transportation of the truss frame and enabling rapid on-site assembly. The frame nodes are the points where these trusses 11 intersect and connect. Truss 11 can be made of aluminum alloy profiles or carbon fiber composite materials. The truss structure has good load-bearing capacity and rigidity, while being lightweight, which is beneficial to improving the overall platform's maneuverability and buoyancy. The small boats 2 can be modified from commercially available motorboats, such as the motorboat (model HS-006J5A) produced by Jiujiang Haishen Motorboat Manufacturing Co., Ltd. Through modification, the small boats 2 can be easily connected to the pitch damping connection device 3. The small boats 2 are fixedly connected to the frame nodes at the bottom of the mounting platform 1 via the pitch damping connection device to provide buoyancy that allows the mounting platform 1 to float stably. At least some of the small boats 2 are equipped with a propulsion device; the propulsion device of the small boat is controlled by a remote control system to achieve acceleration, deceleration, and steering of the mobile platform. The small boats 2 can be technologically mature motorboats from existing technologies. The overall forward movement and steering of the mobile platform are achieved through the integrated control of the individual motorboats' own steering gears. The propulsion device can be an electric motor, internal combustion engine, etc. The number and type of propulsion device are determined according to the overall size and maneuverability requirements of the mobile platform. Multiple small boats 2 can be arranged in a matrix. By configuring the power plants of each small boat 2, a flexible power layout can be achieved, thus forming various types of power arrays. This power array can not only generate power in the same direction to achieve high speeds, but also systematically control thrust and direction, enabling the mobile platform to perform maneuvers such as turning in place or sharp-angle turns, which are difficult for ordinary ships to achieve, thus possessing high maneuverability. In addition, a control system can be configured, including a remote control system, a positioning system (GPS), attitude sensors, etc., for remote control and monitoring of the small boat's status. The flexible connection device 4 can be a ball joint, universal joint, hinge joint, or similar flexible connection device.When adjacent truss frames are connected, the truss 11 at certain locations (such as the connection point of two truss frames) can be added or removed according to actual load-bearing or power requirements to achieve reinforcement or lightweight design. The specific design can be carried out according to actual needs, which will not be elaborated here. Adjacent hull platforms are flexibly connected together by flexible connection devices 4. When one hull platform is subjected to vibration and attitude changes caused by waves, wind, or its own movement, the flexible connection device 4 can effectively absorb and buffer the vibration, preventing it from being transmitted to the other hull platform.

[0047] In this embodiment, the mobile platform has a rectangular truss frame (e.g., ...). Figure 5 (as shown) or triangle (such as) Figure 6 Truss frames (as shown) or circular, and different or the same shapes can be freely assembled. Truss frames come in various shapes, and other easily assembled basic geometric shapes can also be used, such as isosceles trapezoids, regular pentagons, and regular hexagons. Adjacent truss frames can be connected together by welding, gluing, bolting, etc.

[0048] This embodiment of the modular, highly mobile, lightweight mobile platform with a dynamic matrix structure requires the following steps before use: First, a certain number of platform units are selected based on the overall size, shape, and function of the required hull platform. These units are then assembled according to requirements. If the hull platform is small and only one unit is needed, multiple small boats 2 can be directly connected to the frame nodes of the truss frame via pitch damping connection devices 3 to form the hull platform. If the hull platform is large and requires multiple platform units, the mounting platforms 1 (truss frames) of multiple platform units can be assembled first using bolts, welding, or adhesive bonding. After assembling to the required size, multiple small boats 2 are then connected to the overall truss frame nodes via pitch damping connection devices 3 to form the hull platform. During the assembly of each platform unit, the truss 11 at various locations can be added or removed based on actual conditions (e.g., the overall span, load, working conditions, research content, etc. of the hull platform) to achieve reinforcement or lightweight design. The propulsion systems (e.g., electric propulsion, internal combustion engine, rudder) of the small boats 2 can be pre-installed within specific small boats 2 (some small boats 2 can be configured without power depending on maneuverability requirements), with forward movement and steering controlled by the individual rudders of each boat. Alternatively, each small boat 2 can be uniformly equipped with a propulsion system, which can be individually or uniformly controlled through a unified control system. Finally, adjacent hull platforms are flexibly connected together using flexible connection devices 4 to form a mobile platform, on which various loads, such as simulated targets, can be installed to conduct various training exercises. Figure 15 As shown, depending on the carrying capacity of the mobile platform, it can be equipped with lightweight, miniaturized target instruments, such as inflatable corner reflectors.

[0049] This embodiment features a modular, highly maneuverable, lightweight mobile platform with a dynamic matrix structure. It utilizes a grid-like array of power sources (small boat propellers) forming a dynamic matrix chassis, breaking through the limitations of traditional single-propulsion modes and achieving high-speed surface navigation. Relying on the independent control of the small boat propellers, it can perform highly maneuverable maneuvers difficult for ordinary ships, such as turning in place, sharp-angle turns, and lateral crabbing, greatly enhancing the flexibility and tactical response capabilities of the mobile platform. By coordinating the thrust and direction of the small boat propellers within each platform unit, flexible power and heading control between multiple units is achieved, enabling even large platforms to possess high-speed crabbing, turning-in-place capabilities, and rapid switching between special motion modes. Based on standardized, modular units, it allows for rapid assembly, disassembly, and transportation, reducing transportation and support costs. The mobile platform can flexibly carry modular instruments and equipment such as inflatable corner reflectors, target detection radar, leveling systems, and communication systems, simulating various targets in terms of scale and electromagnetic characteristics to adapt to diverse maritime combat training scenarios. The pitch damping connection between the small boat and the truss frame effectively reduces platform turbulence and improves attitude stability. The orthogonal nested bearing connection provides the platform with additional pitch and roll freedom, enhancing its adaptability to sea surface fluctuations, improving overall seakeeping, and allowing for flexible switching between rigidity and flexibility, thus improving sea state adaptability. The hollow design of the truss frame reduces the platform's weight and improves its anti-sinking performance. The modular design simplifies spare parts management, reduces maintenance difficulty, and improves the service life and reliability of the mobile platform. The small boat uses a standardized chassis, improving versatility and reliability, and reducing maintenance costs. The mobile platform floats on the water via the small boat, reducing the contact area with seawater, lowering drag, and improving fuel efficiency.

[0050] like Figure 7 , Figure 8 As shown, the truss frame can be designed to be 10 meters long and 5 meters or 10 meters wide. The 5-meter module can be evolved from the 10-meter module by shrinking it (hereinafter referred to as "5×10 module" and "10×10 module"). Figure 7 The mobile platform shown is composed of longitudinally linked "5×10 module" truss frames, and its total length can be arbitrarily configured between 10 and 100 meters. Figure 8 The mobile platform shown is composed of longitudinally linked "10×10 module" truss frames, and the total length can be arbitrarily combined between 10 and 100 meters.

[0051] The truss frame can also be assembled into a triangle, forming a triangular unit with the three motorboats. Multiple triangular units can be freely assembled to form a hull platform (such as...). Figure 9 (as shown), or a hull platform can be formed by combining triangular and rectangular unit cells (such as...). Figure 10 As shown). Identical or different hull platforms can be freely combined as needed and connected via flexible connection device 4 (e.g., Figure 19 (As shown).

[0052] This embodiment of the modular, highly mobile, lightweight mobile platform with a power matrix structure illustrates the working process of the mobile platform being driven by a power matrix composed of multiple small boats 2, using an example where the mobile platform is flexibly connected from two hull platforms, each hull platform being a single platform unit, and each platform unit's mounting platform 1 (truss frame) being rectangular. Figure 12 As shown, when the thrust (F0) of each small boat is in the same direction (aligned with the longitudinal direction of the mobile platform), the mobile platform can achieve high-speed longitudinal navigation; for example... Figure 13 As shown, when the thrust directions of each small boat 2 are consistent (forming an angle with the longitudinal direction of the moving platform), the moving platform can achieve high-speed lateral translation; for example... Figure 14 As shown, when the two small boats 2 at the bow of the platform exert thrust in the same direction, maintaining a right-rear direction, and simultaneously the two small boats 2 at the stern exert thrust in the same direction, maintaining a left-forward direction, the mobile platform can achieve in-situ rotation. When multiple unit modules are spliced ​​together, more distributed power can be provided. For the combined mobile platform as a whole, it not only has faster linear acceleration but also higher-speed crab-like movement and in-situ rotation capabilities. Similarly, a mobile platform with one or more triangular truss frames can also achieve straight-line, crab-like, and in-situ rotation capabilities.

[0053] In this embodiment, by controlling the small boat 2 at different positions, it is possible not only to achieve maneuvering modes that are difficult for ordinary ships to achieve, such as diagonal forward movement and stationary turning, but also to achieve complex movements of a larger installation platform composed of multiple truss frames, such as special maneuvering routes like crab mode, acute angle turnaround, and fixed-point turning. Furthermore, it is possible to quickly switch between these special actions, further improving the flexibility of water surface movement.

[0054] This embodiment features a modular, highly mobile, lightweight mobile platform with a power matrix structure, such as... Figure 2-4As shown, the pitch damping connection device 3 includes an upper support frame 31, a lower support member 32, a connector 33, and a damping rod 34. The top of the upper support frame 31 is adapted to be fixedly connected to the mounting platform 1. The lower support frame 32 is arranged vertically opposite to the upper support frame 31, and its bottom is adapted to be fixedly connected to the small boat 2. The connector 33 is located between the upper support frame 31 and the lower support frame 32, with one end fixedly connected to one of the upper support frame 31 and the lower support frame 32, and the other end rotatably connected to the other of the upper support frame 31 and the lower support frame 32. The damping rod 34 is located between the upper support frame 31 and the lower support frame 32, with its upper end rotatably connected to the upper support frame 31 and its lower end rotatably connected to the lower support frame 32. The connector 33 and the damping rod 34 are arranged sequentially along the front and rear direction of the small boat. When the small boat moves forward, backward, turns, or when waves are generated on the water surface, the damping rod 34 adjusts the pitch attitude of the mounting platform by telescoping, so that the mounting platform 1 remains stable.

[0055] In this embodiment, the top of the upper support frame 31 is designed to be fixedly connected to the mounting platform 1 (e.g., by bolts or welding). The lower support frame 32 is arranged opposite to the upper support frame 31, and its bottom is designed to be fixedly connected to the boat 2. The damping rod 34 is used to provide damping force. When the boat travels on the water, it will experience pitching motion due to waves or its own motion. At this time, the lower support frame 32 fixed to the boat will also move accordingly, causing the connecting piece 33 to rotate around the hinge axis due to the pitching motion of the lower support frame 32. The damping rod 34 can effectively absorb the energy generated by the pitching motion through its expansion and contraction deformation (the damping medium inside the damping rod will generate damping force), thereby suppressing the pitching attitude change of the upper support frame 31 and ensuring that the mounting platform connected to the upper support frame 31 remains stable.

[0056] This embodiment of the modular, highly mobile, lightweight mobile platform with a dynamic matrix structure, through the cooperation of the connector 33 and the damping rod 34, allows the damping rod 34 to adjust the pitch attitude of the frame in a timely manner by extending and contracting to counteract the swaying of the installation platform caused by external factors when the small boat moves forward, backward, turns, or encounters waves. This ensures that each installation platform 1 maintains a stable state, thereby improving the stability of the entire mobile platform and ensuring the stability and safety of the equipment and personnel that may be carried on the mobile platform.

[0057] like Figure 11 As shown, the truss frame is connected to the motorboat through the pitch damping connection device 3, which allows the motorboat to pitch up and down within the α angle range. On the one hand, this ensures good contact between the bottom of each motorboat and the seawater, guaranteeing sufficient thrust in the water (preventing overspeeding); on the other hand, it releases the torque of the truss frame itself when sailing on the water, providing a certain degree of wave resistance.

[0058] The spliced high-mobility light-load mobile platform with a power matrix structure in this embodiment, one end of the connecting member 33 is fixedly connected to the upper support frame 31, and the other end is hinged to the lower support frame 32, and the direction of the hinge axis is perpendicular to the movement direction of the小艇.

[0059] In this embodiment, the direction of the hinge axis between the other end of the connecting member 33 and the lower support frame 32 is perpendicular to the movement direction of the小艇, so that the lower support frame 32 rotates around this axis during pitching, effectively reducing the influence of the pitching movement on the upper support frame 31.

[0060] The spliced high-mobility light-load mobile platform with a power matrix structure in this embodiment, the rotation axes of the upper end and the lower end of the damping rod 34 are arranged in parallel, and both are parallel to the hinge axis of the other end of the connecting member 33.

[0061] In this embodiment, the damping rod 34 can smoothly expand and contract during the pitching of the小艇, and the damping force can be effectively converted into the suppression of the pitching movement, improving the suppression effect of the damping rod 34 on the pitching vibration.

[0062] The spliced high-mobility light-load mobile platform with a power matrix structure in this embodiment, further, the upper support frame 31 includes two flat plates 311 arranged parallel up and down, and the two flat plates 311 are connected by a plurality of support columns 312; the number of the support columns 312 is at least three, and they are evenly distributed along the circumferential direction of the flat plate 311.

[0063] In this embodiment, the flat plate 311 can be circular or square. The number of the support columns 312 is at least three, and they are evenly distributed along the circumferential direction of the flat plate 311, which can provide sufficient strength and stability, thus avoiding structural deformation and damage.

[0064] The spliced high-mobility light-load mobile platform with a power matrix structure in this embodiment, further, the connecting member 33 is in a structure of an inverted Chinese character 'Ri', the top cross beam of the connecting member 33 is fixedly connected to the upper support frame 31, and the bottom cross beam is hinged to the lower support frame 32.

[0065] In this embodiment, the connecting member 33 is in a structure of an inverted Chinese character 'Ri' type, so that it can provide higher stiffness and ensure the stability of the connecting member 33 when bearing bending moment and shear force.

[0066] In this embodiment, the modular high-mobility, light-load mobile platform with a power matrix structure further includes a lower support frame 32 comprising two sets of connecting rod assemblies arranged opposite each other along the width direction of the boat. The connecting rod assembly includes a crossbeam 321 and an inclined beam 322. The crossbeam 321 is arranged horizontally along the front-rear direction of the boat. There are two inclined beams 322, which are arranged opposite each other at both ends of the crossbeam 321 along its length. The upper end of the inclined beam 322 is connected to the crossbeam 321, and the lower end extends obliquely away from the crossbeam 321.

[0067] In this embodiment, the inclined design of the inclined beam 322 decomposes the force from the boat and effectively transmits it to the crossbeam 321 and the upper support frame 31, enabling the lower support frame 32 to withstand a larger load. Simultaneously, the design of the inclined beam 322 gives the lower support frame 32 better bending and shear resistance. The inclined beam 322 and the bottom of the boat can be fixedly connected by riveting, welding, gluing, bolting, etc., or a reinforcing plate 36 can be installed at the bottom of the two inclined beams 322 on the same side to improve the stability of the connection. The top of the boat 2 can be modified accordingly based on the structure of the inclined beam 322 or the reinforcing plate 36 to facilitate the connection of the inclined beam 322 or the reinforcing plate 36.

[0068] In this embodiment, the modular high-mobility, light-load mobile platform with a power matrix structure has two damping rods 34, which are arranged opposite each other along the width direction of the boat.

[0069] In this embodiment, the two damping rods 34 work together to share the load, provide greater damping force, improve the strength and stability of the pitch damping connection device, reduce the load on a single damping rod, extend service life, and improve the torsional performance of the system.

[0070] The modular high-mobility, light-load mobile platform with a power matrix structure in this embodiment further includes a shock-absorbing spring, which is sleeved on the damping rod 34, and the two ends of the shock-absorbing spring are respectively connected to the two ends of the damping rod 34.

[0071] In this embodiment, the damping spring (not shown in the figure) and the damping rod 34 work together to further improve the system's vibration damping effect. The damping spring improves the system's vibration damping effect and enhances its ability to suppress high-frequency vibrations. The combination of the damping spring and the damper enables the structure to remain stable under various sea conditions. The specific combination of the damping rod 34 and the damping spring can be selected from mature products in the existing technology, such as Zhongding Vibration Damper, Southern Aerospace, Dongjigong, KING, OME, Top, and Chuannan Vibration Damper. The specific models and specifications can be selected according to the actual working conditions and load, and will not be elaborated here.

[0072] In this embodiment, a splicing high-mobility, light-load mobile platform with a power matrix structure is provided with a reinforcing rib 35 between the connector 33 and the upper support frame 31. The reinforcing rib 35 connects the connector 33 and the upper support frame 31 respectively.

[0073] In this embodiment, a reinforcing rib 35 is provided between the connector 33 and the upper support frame 31. The reinforcing rib 35 can be a triangular structure or a plate-like structure. The reinforcing rib is connected to the connector 33 and the upper support frame 31 by welding, bolts, or other methods. The presence of the reinforcing rib 35 increases the connection strength between the connector 33 and the upper support frame 31, avoids stress concentration, thereby increasing stability and reducing deformation.

[0074] In this embodiment, the spliced ​​high-mobility light-load mobile platform with a power matrix structure further includes an upper support frame 31 that protrudes from the connector 33 at both ends along the front-rear direction of the boat, and two sets of reinforcing ribs 35 that are arranged opposite to each other on both sides of the connector 33 along the front-rear direction of the boat.

[0075] In this embodiment, the reinforcing ribs 35 are arranged in two sets, located on both sides of the connector 33 and positioned opposite each other along the front-rear direction of the boat. This arrangement allows the connector 33 to be more firmly connected to the upper support frame 31, enhancing the overall rigidity of the structure, further improving the strength and stability of the connection structure, and enhancing the system's resistance to bending and torsion.

[0076] This embodiment features a modular, highly mobile, lightweight mobile platform with a power matrix structure, such as... Figure 16-18 As shown, the flexible connection device 4 includes a first bearing 41, a second bearing 42, a first connector 43, and a second connector 44. The first bearing 41 has a first outer ring 411 and a first inner ring 412. The second bearing 42 has a second outer ring 421 and a second inner ring 422. The second outer ring 421 is fixedly connected to the inner wall of the first inner ring 412 in an orthogonal nesting manner, and the central axis of the second outer ring 421 is perpendicular to the central axis of the first inner ring 412. One end of the first connector 43 is fixedly connected to the first outer ring 411 through a first fixing structure, and the other end is provided with a first connecting structure for connecting one of the mobile platforms. One end of the second connector 44 is fixedly connected to the second inner ring 422 through a second fixing structure, and the other end is provided with a second connecting structure for connecting another mobile platform.

[0077] In this embodiment, the first bearing 41 can be a common radial ball bearing or cylindrical roller bearing, comprising a first annular outer ring 411 and a concentric, rotatable first annular inner ring 412. The second bearing 42 can also be a radial ball bearing or cylindrical roller bearing, comprising a second annular outer ring 421 and a concentric, rotatable second annular inner ring 422. One end of the first connector 43 is securely connected to the first outer ring 411 via a first fixing structure (e.g., welding, bolting, snap-fit, keying, etc.). The other end of the first connector 43 is provided with a first connecting structure, designed to facilitate connection with one of the ship platforms, which can be an array of bolt holes, a snap-fit ​​structure, a flange, etc. One end of the second connector 44 is securely connected to the second inner ring 422 via a second fixing structure (e.g., welding, bolting, snap-fit, keying, etc.). The other end of the second connector 44 is provided with a second connecting structure, designed to facilitate connection with another ship platform, which can also be an array of bolt holes, a snap-fit ​​structure, a flange, etc.

[0078] This embodiment features a modular, highly mobile, lightweight mobile platform with a dynamic matrix structure. The flexible connection device 4 can be installed in various ways. Generally, it can be installed with both the first bearing 41 and the second bearing 42 in a vertical position (in this state, the two hulls can achieve two degrees of freedom of movement, namely relative pitch and relative roll, but not relative steering). One hull platform is fixedly connected to the first connection structure of the first connector 43, and the other hull platform is fixedly connected to the second connection structure of the second connector 44. In this way, the two hull platforms are mechanically connected through this connection device. When the two hulls move relative to each other in the vertical direction (e.g., due to the up-and-down movement caused by waves), for example, when one hull moves relative to the other in the pitch direction, the second inner ring 422 moves with the hull it is fixedly connected to and rotates to a limited extent relative to the second outer ring 421. Since the second outer ring 421 is fixed to the inner wall of the first inner ring 412, this rotation provides the hull with a degree of freedom in the pitch direction, allowing one hull to achieve a certain range of free movement relative to the other in the pitch direction. When two hulls move relative to each other in a horizontal plane, such as when one hull moves relative to the other in the roll direction due to ocean currents, wind, or its own turning, the first outer ring 411 moves with the hull it is fixedly connected to and rotates to a limited extent relative to the first inner ring 412. Since the second outer ring 421 is firmly fixed inside the first inner ring 412 and its central axis is perpendicular to the central axis of the first inner ring, the first outer ring 411 rotates to a limited extent relative to the second outer ring 421. This rotation provides the hull with a degree of freedom in the roll direction, allowing one hull to move freely within a certain range in the roll direction relative to the other hull.

[0079] In this embodiment, two orthogonally placed bearings provide two mutually perpendicular rotational degrees of freedom, enabling the two connected hull platforms to move relative to each other in the pitch and roll directions. This overcomes the limitations of vibration transmission and adjustment capabilities inherent in rigid connections. The rolling friction characteristics of the bearings themselves, along with the flexible design of the connectors, disperse and absorb the impact and vibration energy caused by waves, wind, or the platform's own movement, preventing direct vibration transmission to the other platform and significantly improving the overall system stability. Due to its pitch and roll adjustment capabilities, the hull platform's splicing structure adapts to changes in water surface conditions when facing different wave directions and intensities, reducing stress concentration at the joints and improving the platform's overall stability, maneuverability, and environmental adaptability. The flexible connection avoids the movement limitations caused by excessive overall rigidity, making the hull platform more flexible and smooth when turning, changing direction, or moving at high speeds. This enhances the overall maneuverability of the hull platform, thereby improving the mobility and testing efficiency of the mobile platform and meeting diverse training needs. By effectively buffering vibrations and attitude changes, the impact loads and fatigue stresses borne by the connection points and the overall structure of the hull platform are reduced, thereby extending the reliability and service life of the mobile platform and its onboard equipment, and reducing maintenance costs.

[0080] The spliced ​​high-mobility, light-load mobile platform with a power matrix structure in this embodiment includes two opposing first connecting rods 431 in the first connecting member 43. The first fixing structure includes first slots 4311 on the opposite side of the near ends of the two first connecting rods 431. The two first slots 4311 can be tightly engaged and fixed with the first outer ring 411 respectively.

[0081] In this embodiment, the first connecting rod 431 can be a solid or hollow metal rod, connected to the outer surface of the first outer ring 411 or a pre-set mounting hole by bolts or welding. The opposing arrangement of the two first connecting rods 431 on either side of the first outer ring 411 forms a clamp-like structure, firmly fixing the first outer ring 411 in the middle and ensuring uniform force distribution. The line connecting the proximal ends of the two first connecting rods 431 can pass through the center of the first outer ring 411. Using two opposing first connecting rods 431 can more evenly distribute the force acting on the connecting device, especially under asymmetrical loads, effectively preventing twisting and deformation, thereby significantly improving the stability of the connection and the overall load-bearing capacity. The two first connecting rods 431 form a relatively stable geometric configuration, enhancing the fixing effect on the first outer ring 411, reducing the risk of loosening or damage in harsh sea conditions, and improving the reliability of the system. The two first connecting rods 431 are symmetrically arranged, making it easier to align the first outer ring 411 during installation, simplifying the installation process, ensuring connection accuracy, better transmitting and absorbing torque from the moving platform, reducing local stress concentration in the bearing, and extending the life of the bearing and connecting components. The first slot 4311 fits tightly with the outer wall of the first outer ring 411. To enhance the fixing effect, bolts, welding, or other auxiliary fixing methods can be used between the two. The geometric fit between the first slot 4311 and the first outer ring 411 can effectively achieve self-alignment, reducing errors from manual alignment and improving assembly accuracy and repeatability. The snap-fit ​​fit increases the connecting surface area, helping to distribute stress on the first outer ring more evenly, avoiding local stress concentration, and thus protecting the first outer ring 411 and the entire bearing structure.

[0082] This embodiment features a modular, highly mobile, lightweight mobile platform with a power matrix structure. The truss 11 is equipped with at least two first mounting rods 111. The first connecting structure includes a first mounting beam 432 and a first connecting plate 433. Both ends of the first mounting beam 432 are fixedly connected to the distal ends of the two first connecting rods 431, respectively. One side of the first connecting plate 433 is fixedly connected to the first mounting beam 432. The first connecting plate 433 has at least two first mounting through holes 4331, each corresponding to one of the first mounting rods 111. Each first mounting rod 111 can be tightly inserted into the corresponding first mounting through hole 4331.

[0083] In this embodiment, both ends of the first mounting beam 432 are firmly connected to the distal ends (the ends not connected to the first outer ring) of the two first connecting rods 431, respectively. The connection method can be welding, bolting, riveting, etc. One side of the first connecting plate 433 is firmly fixedly connected to the first mounting beam 432. The first mounting beam 432 connects the two first connecting rods 431 to form a closed or semi-closed frame structure, which significantly enhances the overall rigidity of the end of the first connecting member 43, ensuring that the force is efficiently and evenly transmitted from the hull platform to the bearing system. Each first mounting rod 111 can be tightly inserted into the corresponding first mounting through hole 4331. To enhance the fixing effect, the two can be glued, welded, or otherwise used for auxiliary fixing. The plug-in connection method makes the connection between the mobile platform and the flexible connection device simpler, allowing for plug-and-play operation and facilitating the separation and combination of the tandem platforms.

[0084] This embodiment features a modular, highly mobile, lightweight mobile platform with a power matrix structure. The second connecting member 44 includes a connecting beam 441 with both ends fixedly connected to the inner wall of the second inner ring 422, and two second connecting rods 442 arranged opposite to each other on both sides of the connecting beam 441, with their proximal ends fixedly connected to the connecting beam 441. The second fixing structure includes two second slots 4221 arranged opposite to each other on the inner wall of the second inner ring 422, which can be tightly engaged and fixed to both ends of the connecting beam 441.

[0085] In this embodiment, both ends of the connecting beam 441 are firmly connected to the inner wall of the second inner ring 422. The connecting beam 441 can be directly welded or fixed to the inner surface of the second inner ring 422 by bolts, pins, or other means. There are two second connecting rods 442, which are arranged opposite to each other on both sides of the connecting beam 441, and the proximal ends of the two second connecting rods 442 are firmly fixed to the connecting beam 441 (e.g., by welding or bolting). By directly bridging and fixing the connecting beam 441 across the inner wall of the second inner ring 422, the force on the second inner ring 422 can be applied more stably and evenly, avoiding stress concentration that may be caused by single-point or local connections, thereby ensuring the normal and smooth rotation of the second bearing 42. As the main load-bearing structure, the connecting beam 441 can effectively transfer the torque from the second connecting rods 442 to the second inner ring 422, ensuring that the second bearing 42 remains stable when subjected to rolling torque. The integrated design of the connecting beam 441 and the second inner ring 422 makes the overall structure of the second connector 44 more compact, which is beneficial for achieving complex orthogonal nesting within a limited internal space. The two symmetrically arranged second connecting rods 442 ensure a more stable and balanced connection with the moving platform, avoiding structural distortion caused by off-center loading. The second slot 4221 can be square or rectangular, matching the shape of both ends of the connecting beam 441. The ends of the connecting beam 441 can have protrusions or specific shapes to achieve a tight fit with the second slot 4221. After the two are engaged, they can be further reinforced and fixed using additional fasteners (such as pins, wedges, welding, adhesive bonding, or bolts) to prevent loosening under high loads. The connecting beam 441 can pass through the center of the second inner ring. The slot design allows the connecting beam 441 to be quickly and accurately inserted and fixed in the second inner ring 422, greatly simplifying the installation process of the second connector 44 and improving production and maintenance efficiency. The precise fit between the second slot 4221 and the connecting beam 441 ensures the concentricity or precise positional relationship between the connecting beam 441 and the second inner ring 422, thereby ensuring the smooth operation of the second bearing 42. Through the snap-fit ​​structure, force can be distributed more evenly on the inner wall of the second inner ring 422, reducing localized stress concentration and thus lowering the risk of deformation of the second inner ring 422 under stress, helping to maintain the long-term performance of the bearing.

[0086] This embodiment features a modular, highly mobile, lightweight mobile platform with a power matrix structure. The truss 11 is equipped with at least two second mounting rods 112. The second connecting structure includes a second mounting beam 443 and a second connecting plate 444. Both ends of the second mounting beam 443 are fixedly connected to the distal ends of the two second connecting rods 442, respectively. One side of the second connecting plate 444 is fixedly connected to the second mounting beam. The second connecting plate 444 has at least two second mounting through holes 4441, each corresponding to one of the second mounting rods 112. Each second mounting rod 112 can be tightly inserted into the corresponding second mounting through hole 4441.

[0087] In this embodiment, the two ends of the second mounting beam 443 are firmly fixedly connected to the distal ends of the two second connecting rods 442, respectively. One side of the second connecting plate 444 is firmly fixedly connected to the second mounting beam 443. The second mounting beam 443 connects the two second connecting rods 442, forming a stable frame structure, which significantly enhances the overall rigidity of the end of the second connecting member 44, ensuring that the force is efficiently and evenly transmitted from the hull platform to the bearing system. Each second mounting rod 112 can be tightly inserted into the corresponding second mounting through hole 4441. To enhance the fixing effect, the two can be glued, welded, or otherwise used for auxiliary fixing. The plug-in connection method makes the connection between the mobile platform and the flexible connection device simpler, allowing for plug-and-play operation and facilitating the separation and combination of the tandem platforms.

[0088] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the protection scope of this innovative technical solution.

Claims

1. A modular, highly mobile, lightweight mobile platform with a dynamic matrix structure, characterized in that, It includes at least two hull platforms and a flexible connecting device (4) for flexibly connecting adjacent hull platforms together; each hull platform includes at least one freely combinable platform unit, the platform unit comprising: The installation platform (1) is a truss frame spliced ​​together from multiple trusses (11). The truss frame is rectangular, triangular, or circular, and has multiple frame nodes. Adjacent truss frames are suitable for splicing and connection. Small boats (2), there are multiple small boats (2), and each is connected to at least part of the frame nodes of the truss frame through pitch damping connection device (3) to enable the installation platform (1) to float; at least part of the multiple small boats (2) are equipped with a power propulsion device; the pitch damping connection device (3) allows the installation platform (1) to pitch relative to the small boats (2) within a certain range, thereby adjusting the pitch attitude of the installation platform (1) so that the installation platform (1) can maintain stability.

2. The modular, highly mobile, lightweight mobile platform with a power matrix structure according to claim 1, characterized in that, The pitch damping connection device (3) includes: The upper support frame (31) is adapted to be fixedly connected to the mounting platform (1) at the top; The lower support frame (32) is arranged vertically opposite to the upper support frame (31), and its bottom is suitable for fixed connection with the small boat (2); The connector (33) is located between the upper support frame (31) and the lower support frame (32), with one end fixedly connected to one of the upper support frame (31) and the lower support frame (32), and the other end rotatably connected to the other of the upper support frame (31) and the lower support frame (32); The damping rod (34) is located between the upper support frame (31) and the lower support frame (32). Its upper end is rotatably connected to the upper support frame (31), and its lower end is rotatably connected to the lower support frame (32). The connecting piece (33) and the damping rod (34) are arranged sequentially along the front and rear direction of the boat.

3. The modular, highly mobile, lightweight mobile platform with a power matrix structure according to claim 1, characterized in that, One end of the connector (33) is fixedly connected to the upper support frame (31), and the other end is hinged to the lower support frame (32), with the hinge axis direction perpendicular to the movement direction of the boat.

4. The modular, highly mobile, lightweight mobile platform with a power matrix structure according to claim 1, characterized in that, The rotation axis of the upper end of the damping rod (34) is arranged parallel to the rotation axis of the lower end, and both are parallel to the hinge axis of the other end of the connector (33).

5. The spliced high-maneuverability light-load moving platform with a power matrix structure according to claim 1, characterized in that, There are two damping rods (34), which are arranged opposite each other along the width direction of the boat.

6. The spliced high-maneuverability light-load moving platform with a power matrix structure according to claim 1, characterized in that, The flexible connection device (4) includes: The first bearing (41) has a first outer ring (411) and a first inner ring (412). The second bearing (42) has a second outer ring (421) and a second inner ring (422); the second outer ring (421) is fixedly connected to the inner wall of the first inner ring (412) in an orthogonal nesting manner, and the central axis of the second outer ring (421) is perpendicular to the central axis of the first inner ring (412); The first connector (43) has one end fixedly connected to the first outer ring (411) via a first fixing structure; the other end is provided with a first connecting structure for connecting one of the ship platforms. The second connector (44) is fixedly connected at one end to the second inner ring (422) via a second fixing structure; the other end is provided with a second connecting structure for connecting to another hull platform.

7. The spliced high-maneuverability light-load moving platform with a power matrix structure according to claim 6, characterized in that, The first connector (43) includes two opposing first connecting rods (431), and the first fixing structure includes a first slot (4311) disposed on one side of the two first connecting rods (431) near their respective ends. The two first slots (4311) can be tightly engaged and fixed with the first outer ring (411) respectively.

8. The modular, highly mobile, lightweight mobile platform with a power matrix structure according to claim 7, characterized in that, The truss (11) is provided with at least two first mounting rods (111); the first connection structure includes: The first mounting beam (432) is fixedly connected at both ends to the far ends of the two first connecting rods (431); The first connecting plate (433) is fixedly connected to the first mounting beam (432) on one side. The first connecting plate (433) has at least two first mounting through holes (4331) corresponding to the first mounting rod (111) respectively. Each first mounting rod (111) can be tightly inserted into the corresponding first mounting through hole (4331).

9. The modular, highly mobile, lightweight mobile platform with a power matrix structure according to any one of claims 6-8, characterized in that, The second connector (44) includes a connecting beam (441) whose two ends are fixedly connected to the inner wall of the second inner ring (422), and two second connecting rods (442) which are arranged opposite to each other on both sides of the connecting beam (441) and whose proximal ends are fixedly connected to the connecting beam (441); the second fixing structure includes two second slots (4221) which are arranged opposite to each other on the inner wall of the second inner ring (422), and the two second slots (4221) can be tightly engaged and fixed with both ends of the connecting beam (441).

10. The modular, highly mobile, lightweight mobile platform with a power matrix structure according to claim 9, characterized in that, The truss (11) is provided with at least two second mounting rods (112); the second connection structure includes: The second mounting beam (443) is fixedly connected at both ends to the far ends of the two second connecting rods (442); The second connecting plate (444) is fixedly connected to the second mounting beam on one side. The second connecting plate (444) has at least two second mounting through holes (4441) respectively corresponding to the second mounting rod (112). Each second mounting rod (112) can be tightly inserted into the corresponding second mounting through hole (4441).

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