An unmanned ship cradle and dock

Abstract

The application discloses an unmanned ship bracket and a ship dock, which comprise an unmanned ship body structure; a first storage cavity is arranged at the bottom of the unmanned ship body structure; a counterweight plate for plugging the first storage cavity is movably arranged at the bottom of the first storage cavity; the shearing force telescopic assembly is driven by the driving assembly; the counterweight plate is lifted and adjusted by the folding of the shearing force assembly; the position of the counterweight plate and the unmanned ship body structure is changed; the center of gravity of the unmanned ship body structure is adjusted; the center of gravity is lowered to make the unmanned ship more stable; the movable plate is movably arranged on the supporting seat; the height of the supporting seat is adjusted by the lifting assembly; different water levels are adapted; the unmanned ship sails above the movable plate; the unmanned ship is lifted and separated from the water surface by the rising of the supporting seat; the movable plate is translated on the supporting seat by the translation assembly; the unmanned ship is transferred into the ship dock house; and the unmanned ship is automatically recycled.

Description

Technical Field

[0001] This invention relates to the field of unmanned vessel technology, specifically to an unmanned vessel support frame and dock. Background Technology

[0002] An unmanned surface vessel (USV) is a fully automated surface robot that requires no crew and can navigate on the water surface according to a preset mission using precise satellite positioning and its own sensing system.

[0003] Unmanned surface vessels (USVs) operate in a variety of environments. Traditional USVs are prone to swaying and even capsizing when faced with complex water conditions. Their center of gravity remains relatively constant, making them unsuitable for self-adjustment in complex environments. Furthermore, docks are built along waterways, requiring USVs to be recovered. The difficulty of recovery is increased due to the influence of various factors on water level, necessitating human assistance. Summary of the Invention

[0004] The purpose of this invention is to provide an unmanned surface vessel (USV) support frame and dock. The position of the counterweight plate can be adjusted using a shear-tension telescopic component, thereby adjusting the center of gravity of the USV hull structure. This makes the USV hull structure more stable in complex water environments, preventing capsizing. A lifting component is installed at the dock to adjust the height of the support base and movable plate, preventing water level fluctuations from affecting USV recovery. The translation component uses the movable plate to directly send the USV into the dock, achieving automatic recovery and improving efficiency, thus solving the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an unmanned vessel support, comprising: Unmanned vessel hull structure; The bottom of the unmanned vessel's hull structure is provided with a first storage cavity. A counterweight plate is movably installed at the bottom of the first storage cavity to seal the first storage cavity. Two sets of shear telescopic components are provided at the top of the counterweight plate to adjust the height of the counterweight plate. A drive component for driving the shear telescopic components is also provided inside the first storage cavity. The unmanned vessel's hull structure also has a second storage cavity around its bottom, and the second storage cavity is equipped with movable wheels that can be raised and lowered.

[0006] Preferably, the shear telescopic assembly includes two sets of mutually hinged support rods. The bottom of the two sets of support rods are respectively hinged to a movable seat and a fixed seat. The fixed seat is fixed to one side of the top of the counterweight plate, and the movable seat is slidably disposed on the other side of the top of the counterweight plate. The top of the two sets of support rods is hinged to a movable seat, and the top of the movable seat is slidably connected to the top of the inner cavity of the first storage cavity.

[0007] Preferably, the drive assembly includes two sets of bidirectional threaded rods rotatably disposed within the first receiving cavity. Two sets of threaded sleeves are threadedly connected to the outer side of each bidirectional threaded rod, and the threaded sleeves are respectively fixedly embedded in the movable seat. A synchronous pulley is fixed to one end of each bidirectional threaded rod, and a synchronous belt is drivenly connected to the outer side of the synchronous pulley. A first drive motor is fixed to the hull structure of the unmanned vessel, and the output shaft of the first drive motor is fixedly connected to one end of a set of bidirectional threaded rods.

[0008] Preferably, the cabin of the unmanned vessel hull structure is equipped with multiple sets of electric actuators, the piston rods of the electric actuators penetrate into the inner cavity of the second storage cavity and are fixed with a support frame, and the movable wheels are movably installed inside the support frame.

[0009] Preferably, the movable seat has a through hole, and a limit frame is slidably disposed in the through hole, the limit frame being fixed to the top of the counterweight plate.

[0010] Preferably, mounting bases are installed on both sides of the hull structure of the unmanned vessel, and a second drive motor is installed inside the mounting base. A connecting rod is fixed to the output shaft of the second drive motor, and the end of the connecting rod away from the second drive motor extends through to the outside of the mounting base and is fixed with a propeller blade.

[0011] Preferably, the outer side of the bidirectional threaded rod is fitted with a multi-section bellows-style protective cover, and the ends of the bellows-style protective cover are respectively installed on the side wall of the movable seat and the first storage cavity.

[0012] Based on an unmanned surface vessel (USV), the system also includes a dock for charging and storing the USV, comprising a dock house, a fixed frame extending into the waterway on the outside of the dock house, a support base movably mounted on the outside of the fixed frame, a movable plate for transferring the USV's hull structure movably mounted on the top of the support base, a fixed box fixed on the top of the fixed frame, a lifting assembly for adjusting the height of the support base within the cavity of the fixed box, and a translation assembly for transferring the movable plate into the dock house between the support base and the movable plate.

[0013] Preferably, the lifting assembly includes a dual-axis motor fixed inside a fixed box. The output shaft of the dual-axis motor is fixed with a take-up shaft. One end of the take-up shaft is rotatably connected to the fixed box via a bearing. A traction steel cable is wound around the outside of the take-up shaft. The other end of the traction steel cable extends downward and is fixedly connected to both sides of the top of the support base.

[0014] Preferably, the translation component includes a third drive motor installed inside the support base. The output shaft of the third drive motor is fixed to a rotating shaft rotatably mounted on the support base. Two sets of drive gears are fixed on the rotating shaft. Two sets of rack plates meshing with the drive gears are installed at the bottom of the movable plate. Two sets of limiting grooves are also provided on the support base. A limiting seat extending into the limiting groove is fixed at the bottom of the movable plate. A limiting roller is rotatably mounted on the limiting seat. A support roller supporting the movable plate is installed at the top end of the support base away from the limiting groove.

[0015] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention drives a shear telescopic component via a drive component, and uses the folding of the shear component to adjust the height of the counterweight plate, thereby changing the position of the counterweight plate relative to the unmanned vessel's hull structure. This adjusts the center of gravity of the unmanned vessel's hull structure, making the unmanned vessel more stable by lowering the center of gravity. Simultaneously, by movably mounting the movable plate on the support base, the height of the support base can be adjusted by the lifting component to adapt to different water level heights. The unmanned vessel is then allowed to sail above the movable plate, and the unmanned vessel is lifted off the water by raising the support base. Finally, the movable plate is moved horizontally on the support base by the translation component, transferring the unmanned vessel into the dock for automatic recovery.

[0016] 2. By setting up movable wheels, the present invention enables unmanned vessels to move amphibiously by water, thereby allowing the unmanned vessels to be transferred from the movable platform to the dock. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the unmanned vessel hull of the present invention; Figure 2 This is a three-dimensional structural diagram of the unmanned vessel hull structure of the present invention, viewed from below. Figure 3 This is a three-dimensional structural diagram of the shear expansion joint and the drive joint of the present invention; Figure 4 This is a partial three-dimensional structural schematic diagram of the present invention; Figure 5 This is a three-dimensional structural diagram of the support frame and the movable wheels of the present invention; Figure 6 This is a three-dimensional structural diagram of the second drive motor and blade of the present invention; Figure 7 This is a three-dimensional structural diagram of a dock according to the present invention; Figure 8 This is a cross-sectional perspective view of the fixing box of the present invention. Figure 9 This is a three-dimensional structural diagram showing the disassembled movable plate and support base of the present invention; Figure 10This is a partial three-dimensional structural diagram of the translation component of the present invention.

[0018] Labels in the diagram: 1. Unmanned surface vessel hull structure; 2. First storage cavity; 3. Counterweight plate; 4. Shear telescopic assembly; 41. Support rod; 42. Movable seat; 43. Fixed seat; 44. Moving seat; 5. Drive assembly; 51. Bidirectional threaded rod; 52. Threaded sleeve; 53. Synchronous pulley; 54. Synchronous belt; 55. First drive motor; 6. Second storage cavity; 7. Moving wheel; 8. Electric actuator; 9. Support frame; 10. Limiting frame; 11. Mounting base; 12. Second drive motor; 3. Connecting rod; 14. Paddle blade; 15. Bellows-style protective cover; 16. Dockhouse; 17. Fixing frame; 18. Support base; 19. Movable plate; 20. Fixing box; 21. Lifting assembly; 211. Dual-axis motor; 212. Rewind shaft; 213. Traction cable; 22. Translation assembly; 221. Third drive motor; 222. Rotating shaft; 223. Drive gear; 224. Rack plate; 225. Limiting groove; 226. Limiting seat; 227. Limiting roller; 228. Support roller. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] This invention provides, for example Figures 1-6 The unmanned vessel support shown includes: Unmanned vessel hull structure 1; The bottom of the unmanned vessel hull structure 1 is provided with a first storage cavity 2. A counterweight plate 3 is movably provided at the bottom of the first storage cavity 2 to seal the first storage cavity 2. Two sets of shear telescopic components 4 are provided at the top of the counterweight plate 3 to adjust the height of the counterweight plate 3. A drive component 5 for driving the shear telescopic components 4 is also provided inside the first storage cavity 2. The bottom of the unmanned vessel hull structure 1 is also provided with a second storage cavity 6 around the perimeter, and the second storage cavity 6 is equipped with movable wheels 7 that can be raised and lowered. The shear telescopic component 4 is driven by the drive component 5. The counterweight plate 3 is raised and lowered by the folding of the shear component, thereby changing the position of the counterweight plate 3 and the unmanned boat hull structure 1, thus adjusting the center of gravity of the unmanned boat hull structure 1. The unmanned boat is made more stable by lowering the center of gravity. At the same time, the movable plate 19 is movably set on the support base 18.

[0021] The unmanned vessel is also equipped with detection equipment for mission operations, as well as a control system, including a gyroscope, which can detect the hull's sway amplitude and thus adjust the center of gravity.

[0022] Among them, such as Figure 3-4 As shown: The shear telescopic assembly 4 includes two sets of mutually hinged support rods 41. The bottom of the two sets of support rods 41 are respectively hinged to a movable seat 42 and a fixed seat 43. The fixed seat 43 is fixed to one side of the top of the counterweight plate 3, and the movable seat 42 is slidably disposed on the other side of the top of the counterweight plate 3. The top of the two sets of support rods 41 is hinged to a movable seat 44. The top of the movable seat 44 is slidably connected to the top of the inner cavity of the first storage cavity 2. The counterweight plate 3 can be connected to the unmanned boat hull structure 1 through the mutually hinged support rods 41. The vertical distance of the support rods 41 can be adjusted by adjusting the distance at the top of the support rods 41, thereby adjusting the height of the counterweight plate 3 and adjusting the center of gravity of the unmanned boat hull structure 1 using the counterweight plate 3.

[0023] Furthermore, such as Figure 3-4 As shown: The drive assembly 5 includes two sets of bidirectional threaded rods 51 rotatably disposed within the first receiving cavity 2. Two sets of threaded sleeves 52 are threadedly connected to the outer side of the bidirectional threaded rods 51. The threaded sleeves 52 are respectively fixedly embedded in the movable seats 44. One end of the bidirectional threaded rods 51 is fixedly connected to a synchronous pulley 53. The outer side of the synchronous pulley 53 is connected to a synchronous belt 54. A first drive motor 55 is fixedly mounted on the hull structure 1 of the unmanned vessel. The output shaft of the first drive motor 55 is fixedly connected to one end of a set of bidirectional threaded rods 51. The first drive motor 55 drives the set of bidirectional threaded rods 51 to rotate. With the help of the synchronous pulley 53 and the synchronous belt 54, the two sets of bidirectional threaded rods 51 rotate synchronously. The threaded sleeves 52 drive the two sets of movable seats 44 to move synchronously in opposite directions, which facilitates the synchronous adjustment of the two sets of shear force components and ensures the stability of the counterweight plate 3.

[0024] Preferred, such as Figure 5 As shown: The unmanned vessel's hull structure 1 has multiple sets of electric push rods 8 installed inside its cabin. The piston rods of the electric push rods 8 penetrate into the inner cavity of the second storage cavity 6 and are fixed with a support frame 9. The movable wheels 7 are movably installed inside the support frame 9. The support frame 9 is raised and lowered by the electric push rods 8, thereby allowing the movable wheels 7 to be extended and retracted within the second storage cavity 6, enabling the unmanned vessel to perform amphibious operations.

[0025] It is worth noting that, such as Figure 4 As shown: The movable seat 42 has a through hole, and a limit frame 10 is slidably installed in the through hole. The limit frame 10 is fixed to the top of the counterweight plate 3. The limit frame 10 is used to restrict the movable seat 42 and ensure that the movable seat 42 slides on the top of the counterweight plate 3.

[0026] In a further preferred embodiment, such as Figure 1 and Figure 6 As shown: The unmanned vessel hull structure 1 has mounting bases 11 on both sides. A second drive motor 12 is installed inside the mounting base 11. A connecting rod 13 is fixed to the output shaft of the second drive motor 12. The end of the connecting rod 13 away from the second drive motor 12 passes through to the outside of the mounting base 11 and is fixed with a propeller 14. The second drive motor 12 drives the connecting rod 13 and the propeller 14 to rotate. The power structure is set on both sides of the unmanned vessel hull structure 1 to facilitate the driving of the unmanned vessel hull structure 1 and at the same time prevent the unmanned vessel hull structure 1 from running aground.

[0027] In addition, such as Figure 3 As shown: The outer side of the bidirectional threaded rod 51 is fitted with a multi-section bellows-style protective cover 15. The ends of the bellows-style protective cover 15 are respectively installed on the side wall of the movable seat 44 and the first receiving cavity 2. By setting the bellows-style protective cover 15, impurities in the river are prevented from entering between the bidirectional threaded rod 51 and the threaded sleeve 52, which would cause excessive wear of the bidirectional threaded rod 51 and facilitate the isolation and protection of the bidirectional threaded rod 51.

[0028] like Figure 7-10 As shown, based on an unmanned surface vessel (USV), the system also includes a dock for charging and storing the USV, comprising a dock house 16. A fixed frame 17 extending into the river channel is provided on the outer side of the dock house 16. A support base 18 is movably mounted on the outer side of the fixed frame 17. A movable plate 19 for transferring the USV's hull structure 1 is movably mounted on the top of the support base 18. A fixed box 20 is fixed to the top of the fixed frame 17. A lifting component 21 for adjusting the height of the support base 18 is provided inside the fixed box 20. A translation component 22 for transferring the movable plate 19 into the dock house 16 is provided between the support base 18 and the movable plate 19. The height of the support base 18 can be adjusted by the lifting component 21 to adapt to different water surface heights, allowing the USV to sail above the movable plate 19. The USV is then lifted off the water by the rise of the support base 18, and the movable plate 19 is then translated on the support base 18 by the translation component 22, transferring the USV into the dock house 16 for automatic recovery.

[0029] In addition, such as Figure 8 As shown: The lifting assembly 21 includes a dual-axis motor 211 fixed inside the fixed box 20. The output shaft of the dual-axis motor 211 is fixed with a take-up shaft 212. One end of the take-up shaft 212 is rotatably connected to the fixed box 20 via a bearing. A traction steel cable 213 is wound around the outside of the take-up shaft 212. The other end of the traction steel cable 213 extends downward and is fixedly connected to both sides of the top of the support base 18. The dual-axis motor 211 is used as the driving force to drive the take-up shaft 212. Then, by winding and unwinding the traction steel cable 213, the height of the support base 18 can be adjusted.

[0030] In this embodiment, as Figure 9-10 As shown: The translation component 22 includes a third drive motor 221 installed inside the support base 18. The output shaft of the third drive motor 221 is fixed to a rotating shaft 222 rotatably mounted on the support base 18. Two sets of drive gears 223 are fixed on the rotating shaft 222. Two sets of rack plates 224 meshing with the drive gears 223 are installed on the bottom of the movable plate 19. Two sets of limiting grooves 225 are also provided on the support base 18. A limiting seat 226 extending into the limiting groove 225 is fixed to the bottom of the movable plate 19. A limiting seat 226 is rotatably mounted on the limiting seat 226. The support roller 228, which supports the movable plate 19, is installed at the top of the support base 18 away from the limiting groove 225. The third drive motor 221 drives the rotating shaft 222 to rotate, which in turn drives the drive gear 223. The drive gear 223 cooperates with the rack plate 224 to move the movable plate 19. The movable plate 19 moves smoothly under the restriction of the limiting base 226 and the limiting groove 225. At the same time, the friction between the movable plate 19 and the support base 18 is reduced under the support of the support roller 228, making the translation easier.

[0031] In practical use, the unmanned surface vessel (USV) navigates on the river surface using its traditional structure. When the water conditions are complex, causing the hull to sway, a gyroscope detects the sway amplitude. When the amplitude exceeds a set threshold, the first drive motor 55 is activated. The first drive motor 55 drives a set of bidirectional threaded rods 51 to rotate, and then drives another set of bidirectional threaded rods 51 to rotate synchronously via a synchronous pulley 53 and a synchronous belt 54. This, in conjunction with the threaded sleeve 52, moves the two sets of movable seats 44 in opposite directions, causing the two sets of support rods 41 to retract inward. At the same time, the counterweight plate 3 moves downward, lowering the center of gravity of the USV hull structure 1, thus ensuring the stability of the USV hull structure 1 during navigation. After the USV hull structure 1 completes its mission, it returns to the dock. The liquid level sensor on the fixed frame 17 detects the river water level and then adjusts the support seats based on the detection results. The position of support seat 18 is adjusted, and the dual-axis motor 211 drives the winding shaft 212 to rotate, releasing the traction cable 213. This causes support seat 18 to move up and down on the fixed frame 17, so that the distance between the movable plate 19 and the water surface meets the requirements for the unmanned vessel hull structure 1 to enter. When the unmanned vessel hull structure 1 is on top of the movable plate 19, the dual-axis motor 211 drives the winding shaft 212 to wind up the traction cable 213, causing the unmanned vessel hull structure 1 to rise and leave the water surface. When the movable plate 19 is level with the ground of the dock 16, it stops moving upward. Then, the third drive motor 221 drives the drive gear 223 to rotate through the rotating shaft 222, which, together with the rack plate 224, moves the movable plate 19 horizontally on top of support seat 18, allowing the unmanned vessel hull structure 1 to enter the dock 16 along with the movable plate 19 for the next step of charging or storage.

[0032] The automatic operation of the equipment mainly relies on the cooperation of various sensors. For example, displacement sensors are needed to measure distance movement, and liquid level sensors are needed to measure water level height.

[0033] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An unmanned vessel support, characterized in that, include: Unmanned vessel hull structure (1); The bottom of the unmanned vessel hull structure (1) is provided with a first storage cavity (2), and a counterweight plate (3) is movably provided at the bottom of the first storage cavity (2) to seal the first storage cavity (2). Two sets of shear telescopic components (4) are provided at the top of the counterweight plate (3) to adjust the counterweight plate (3) by raising and lowering. A drive component (5) for driving the shear telescopic components (4) is also provided in the first storage cavity (2). The bottom of the unmanned vessel hull structure (1) is also provided with a second storage cavity (6), and a movable wheel (7) is installed in the second storage cavity (6) that can be raised and lowered.

2. The unmanned vessel support according to claim 1, characterized in that: The shear telescopic assembly (4) includes two sets of mutually hinged support rods (41). The bottom of the two sets of support rods (41) is respectively hinged to a movable seat (42) and a fixed seat (43). The fixed seat (43) is fixed to one side of the top of the counterweight plate (3). The movable seat (42) is slidably disposed on the other side of the top of the counterweight plate (3). The top of the two sets of support rods (41) is hinged to a movable seat (44). The top of the movable seat (44) is slidably connected to the top of the inner cavity of the first storage cavity (2).

3. The unmanned vessel support according to claim 1, characterized in that: The drive assembly (5) includes two sets of bidirectional threaded rods (51) rotatably disposed in the inner cavity of the first storage cavity (2). Two sets of threaded sleeves (52) are threadedly connected to the outer side of the bidirectional threaded rods (51). The threaded sleeves (52) are respectively fixedly embedded on the movable seat (44). A synchronous pulley (53) is fixed to one end of the bidirectional threaded rods (51). A synchronous belt (54) is driven to the outer side of the synchronous pulley (53). A first drive motor (55) is fixed on the hull structure (1) of the unmanned boat. The output shaft of the first drive motor (55) is fixedly connected to one end of a set of bidirectional threaded rods (51).

4. The unmanned vessel support according to claim 1, characterized in that: The unmanned vessel hull structure (1) has multiple sets of electric push rods (8) installed inside the cabin. The piston rod of the electric push rod (8) passes through the inner cavity of the second storage cavity (6) and is fixed with a support frame (9). The moving wheel (7) is movably installed inside the support frame (9).

5. The unmanned vessel support according to claim 2, characterized in that: The movable seat (42) has a through hole, and a limit frame (10) is slidably installed in the through hole. The limit frame (10) is fixed to the top of the counterweight plate (3).

6. The unmanned vessel support according to claim 1, characterized in that: The unmanned vessel hull structure (1) has mounting bases (11) installed on both sides. A second drive motor (12) is installed inside the mounting base (11). A connecting rod (13) is fixed to the output shaft of the second drive motor (12). One end of the connecting rod (13) away from the second drive motor (12) passes through to the outside of the mounting base (11) and is fixed with a propeller (14).

7. The unmanned vessel support according to claim 3, characterized in that: The outer side of the bidirectional threaded rod (51) is fitted with a multi-section bellows-style protective cover (15), and the ends of the bellows-style protective cover (15) are respectively installed on the side wall of the movable seat (44) and the first storage cavity (2).

8. A dock for charging and storing the unmanned vessel hull structure (1) according to any one of claims 1-7, characterized in that: The system includes a dock house (16), with a fixed frame (17) extending into the river channel on the outside of the dock house (16). A support base (18) is movably installed on the outside of the fixed frame (17). A movable plate (19) for transferring the unmanned vessel hull structure (1) is movably installed on the top of the support base (18). A fixed box (20) is fixed on the top of the fixed frame (17). A lifting component (21) for adjusting the height of the support base (18) is installed in the inner cavity of the fixed box (20). A translation component (22) for transferring the movable plate (19) into the dock house (16) is installed between the support base (18) and the movable plate (19).

9. A dock according to claim 8, characterized in that: The lifting assembly (21) includes a dual-axis motor (211) fixed inside the fixed box (20). The output shaft of the dual-axis motor (211) is fixed with a take-up shaft (212). One end of the take-up shaft (212) is rotatably connected to the fixed box (20) through a bearing. A traction cable (213) is wound around the outside of the take-up shaft (212). The other end of the traction cable (213) extends downward and is fixedly connected to both sides of the top of the support base (18).

10. A dock according to claim 8, characterized in that: The translation component (22) includes a third drive motor (221) installed inside the support base (18). The output shaft of the third drive motor (221) is fixed with a rotating shaft (222) rotatably mounted on the support base (18). Two sets of drive gears (223) are fixed on the rotating shaft (222). Two sets of rack plates (224) meshing with the drive gears (223) are installed at the bottom of the movable plate (19). Two sets of limiting grooves (225) are also provided on the support base (18). A limiting seat (226) extending into the limiting groove (225) is fixed at the bottom of the movable plate (19). A limiting roller (227) is rotatably mounted on the limiting seat (226). A support roller (228) supporting the movable plate (19) is installed at the top of the support base (18) away from the limiting groove (225).

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