Self-direction-adjusting hoisting framework for rescue loading of hovercraft and carrying vehicle

Abstract

The utility model discloses a self-direction-adjusting hoisting framework for rescue loading of a hovercraft and a carrying vehicle, and the self-direction-adjusting hoisting framework comprises a positioning foundation structure, a flat-adjusting bottom support structure, a horizontal-state adjustable supporting surface, a horizontal-state adjustable supporting surface, a horizontal-state adjustable supporting surface, a horizontal-state adjustable supporting surface, a horizontal-state adjustable supporting surface and a horizontal-state adjustable supporting surface, the displacement driving structure is arranged on the supporting surface; the horizontal position lifting structure is arranged on the supporting surface and is provided with vertical and horizontal position adjusting kinetic energy output end parts; the transposition driving structure is arranged at the vertical and horizontal transposition kinetic energy output end part; the limiting clamping seat structure is arranged at the rotating kinetic energy output end part of the transposition driving structure; and the alignment vision structure is arranged on the limiting clamping seat structure. The problems that in the prior art, when rescue loading is conducted on a hovercraft, the loading procedure is tedious and time-consuming, danger exists, the initial orientation or irregular terrain cannot be effectively adapted, and consequently non-correspondence deviation between a carrying vehicle and a hovercraft body is caused, and the overall operation efficiency is low are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of transportation equipment for hovercrafts, and particularly to a self-aligning hoisting structure and a carrier vehicle for hovercraft rescue loading. Background Technique

[0002] At present, a hovercraft is a modern water vehicle that uses air cushion and fan technology for suspension and propulsion, and is widely used in related fields such as water rescue, military patrol, and tourism sightseeing.

[0003] The suspension principle of a hovercraft is based on the air cushion effect, that is, when the internal fan of the hovercraft starts, high-pressure air will be quickly pressed into the air cushion groove at the bottom of the hull, thereby forming a pressure air mass between the bottom of the hull and the water surface. The pressure air mass is used to gradually lift the hull partially or entirely above the water surface, reducing the contact area between the hull and the water surface, reducing the water resistance, and thus enabling the hull to maintain a suspended state.

[0004] Currently, when performing rescue loading for a hovercraft in a power-off state such as during hovercraft operation failures or assembly processes, the hovercraft is usually directionally conducted to the carrier vehicle by means of a conveyor belt and supplemented with operations such as manual position adjustment. Although it can meet the hovercraft rescue loading requirements to a certain extent, when it comes to large hovercraft hulls, the overall loading process is cumbersome and time-consuming, with a large amount of manual labor and certain risks. At the same time, there is often a certain non-corresponding deviation between the shoreward orientation of the hovercraft and the parking orientation of the carrier vehicle. As a result, it is necessary to repeatedly adjust the parking position of the corresponding carrier vehicle or adjust the orientation of the hovercraft hull. Especially when in an irregular terrain where the overall tilt directions of the carrier vehicle and the hovercraft hull are inconsistent, it further increases the difficulty of corresponding orientation adjustment and the cumbersome nature of the loading operation, greatly reducing the loading operation efficiency. Content of the Utility Model

[0005] Therefore, the utility model provides a self-aligning hoisting structure and a carrier vehicle for hovercraft rescue loading to solve the technical problems in the prior art that the loading process for hovercraft rescue loading is cumbersome and time-consuming, with certain risks, and the non-corresponding deviation between the carrier vehicle and the hovercraft hull caused by the inability to effectively adapt to the initial orientation or irregular terrain, resulting in a low overall operation efficiency.

[0006] In order to achieve the above object, the utility model provides the following technical solutions:

[0007] A self-aligning hoisting structure for hovercraft rescue loading, comprising:

[0008] A positioning basic structure,

[0009] Leveling and bottom supporting structure, the base part is fixedly assembled on the positioning base structure, and the leveling and bottom supporting structure has a horizontally adjustable supporting surface;

[0010] Displacement driving structure, assembled on the horizontally adjustable supporting surface of the leveling and bottom supporting structure, for directionally driving the air-cushion hull located on the supporting surface;

[0011] Flat-position lifting structure, the base part is fixedly assembled on the horizontally adjustable supporting surface of the leveling and bottom supporting structure, and the flat-position lifting structure has vertical and horizontal position-adjusting kinetic energy output ends;

[0012] Lifting driving structure, the base part is transmissionally arranged on the vertical and horizontal position-adjusting kinetic energy output ends of the flat-position lifting structure, and the lifting driving structure has an adjustable-direction linear kinetic energy output end;

[0013] Rotating driving structure, the base part is transmissionally arranged on the linear kinetic energy output end of the lifting driving structure, and the rotating driving structure has a rotational kinetic energy output end;

[0014] Limit clamping seat structure, the base part is transmissionally arranged on the rotational kinetic energy output end of the rotating driving structure, and the limit clamping seat structure has a clamping kinetic energy output end. The limit clamping seat structure can perform lifting limit on both sides of the air-cushion hull through its clamping kinetic energy output end;

[0015] Alignment vision structure, the base part is fixedly assembled on the base part of the limit clamping seat structure, for automatically detecting and identifying the initial inclination direction and height of the air-cushion hull based on irregular terrain.

[0016] On the basis of the above technical solutions, the following further description is made for the present utility model:

[0017] As a further solution of the present utility model,

[0018] The leveling and bottom supporting structure includes a leveling hydraulic cylinder, a bull's-eye bearing, a clamping seat and a leveling support plate;

[0019] Several groups of the leveling hydraulic cylinder, the bull's-eye bearing and the clamping seat are provided. The base parts of several groups of the leveling hydraulic cylinders are evenly distributed and fixedly arranged on both side parts of the positioning base structure, and the linear kinetic energy output ends of several groups of the leveling hydraulic cylinders are respectively and correspondingly transmissionally fixedly connected with the base ends of several groups of the bull's-eye bearings. The rotating ends of several groups of the bull's-eye bearings are respectively and correspondingly transmissionally fixedly connected with several groups of the clamping seats. Several groups of the clamping seats are respectively connected with the bottom of the leveling support plate through clamping assembly;

[0020] The leveling pallet is correspondingly located above the positioning basic structure to form the horizontally adjustable supporting surface, and a horizontal sensor is arranged on the leveling pallet. The horizontal sensor monitors the horizontal state of the leveling pallet in real time and feeds it back to the leveling hydraulic cylinder for horizontal state regulation.

[0021] As a further solution of the present utility model,

[0022] The displacement driving structure includes a displacement driving motor fixedly assembled at the bottom of the leveling pallet and a displacement driving roller transmission-assembled at the output end of the displacement driving motor;

[0023] A plurality of groups of the displacement driving rollers are provided, and the plurality of groups of displacement driving rollers are respectively and correspondingly and spacedly transferred and assembled in a plurality of groups of top surface grooves of the leveling pallet. The displacement driving structure is used to assist the hoisted air cushion hull to slide to a predetermined position based on the horizontally adjusted leveling pallet.

[0024] As a further solution of the present utility model,

[0025] The flat-position lifting structure includes a flat-position bottom rod, a lifting support rod, an electric drive telescopic rod assembly, and a lifting hydraulic push rod. Two groups are provided for the flat-position bottom rod, the lifting support rod, and the electric drive telescopic rod assembly;

[0026] The two groups of flat-position bottom rods are fixedly assembled in parallel between the top end surfaces of the leveling pallets;

[0027] The electric drive telescopic rod assembly includes a flat-position basic top rod and a flat-position extended top rod electrically controlled and slidably assembled on the flat-position basic top rod. The flat-position extended top rod can output horizontal adjustment kinetic energy;

[0028] The two groups of flat-position basic top rods are respectively and correspondingly arranged above the two groups of flat-position bottom rods, and the two groups of flat-position basic top rods and the flat-position extended top rods are respectively and correspondingly arranged in parallel with the two groups of flat-position bottom rods;

[0029] Each group of lifting support rods is provided with a plurality of bars. The plurality of bars of lifting support rods are all arranged in parallel, and both ends of each bar of lifting support rod are respectively and correspondingly transferred and assembled with the flat-position bottom rod and the flat-position basic top rod. The flat-position bottom rod, the lifting support rod, and the electric drive telescopic rod assembly jointly form a plurality of parallelogram frameworks;

[0030] The lifting hydraulic push rod is arranged between the horizontal bottom rod and the corresponding several lifting struts, and the two ends of the lifting hydraulic push rod are respectively connected with the transfer assembly between the horizontal bottom rod and the lifting strut, and the linear push-pull kinetic energy output by the lifting hydraulic push rod drives the several lifting struts to synchronously change the supporting angle, and the several lifting struts further transmit and adjust the height of the electric drive telescopic rod assembly to output vertical positioning kinetic energy.

[0031] As a further solution of the utility model,

[0032] The transfer drive structure is provided with two groups, and the base parts of the two groups of transfer drive structures correspond to each other and the transmission assemblies are respectively arranged on the vertical and horizontal adjustment kinetic energy output ends of the two groups of horizontal lifting structures;

[0033] Each group of the indexing drive structures includes a turntable assembly and a transmission extension arm;

[0034] The base parts of the two groups of turntable assemblies are respectively and one-to-one correspondingly equipped with transmission assemblies on one end of the two groups of horizontal extension top rods away from the horizontal basic top rod, and the top center parts of the two groups of transmission extension arms are respectively and one-to-one correspondingly connected with the rotational kinetic energy output ends of the two groups of turntable assemblies. The turntable assembly can be raised and lowered based on the horizontal extension top rod and drive the transmission extension arm to turn.

[0035] As a further solution of the utility model,

[0036] The said limiting clamp seat structure is provided with two groups, and the base parts of the two groups of the limiting clamp seat structure are respectively and one by one correspondingly equipped with transmission assemblies at the rotational kinetic energy output ends of the two groups of the transfer drive structures;

[0037] The position-limiting clamp seat structure is configured as an electrically controlled lead screw type clamp mechanism, and each group of the position-limiting clamp seat structures comprises at least two position-limiting clamp seat structures, each of which comprises a clamp seat positioning portion and a clamp seat sliding portion capable of performing clamping opening and closing adjustment based on the clamp seat positioning portion;

[0038] The clamp seat positioning part is transmission-fixedly connected to the transmission extension arm, and the clamp seat positioning part is correspondingly arranged at the lower part of the clamp seat sliding part, and there is a predetermined initial clamping opening and a clamping lateral width extension between the clamp seat positioning part and the clamp seat sliding part;

[0039] The clamping seat positioning part and the clamping seat sliding part have corresponding end faces facing each other fixedly connected with clamping pressure sensors, which monitor the corresponding clamping pressures of the clamping seat positioning part and the clamping seat sliding part in real time to provide feedback on whether the air cushion hull is in a stable clamping state during the leveling process.

[0040] As a further solution of the utility model,

[0041] The alignment visual structure is provided with two groups, and the base parts of the two groups of the alignment visual structures are respectively and one-to-one fixedly assembled on the two groups of the limit clamp seat structures, and each group of the alignment visual structure has two visual input ends, and the initial directions of the two visual input ends of each group of the alignment visual structure respectively correspond one-to-one to the horizontal extension and contraction directions of the two ends of the horizontal lifting structure, which are used for automatically detecting and identifying the initial inclination direction and height of the hull base frame on both sides of the air cushion hull through the alignment visual structure.

[0042] As a further solution of the utility model,

[0043] The bottom of each of the limit clamp seat structures is transmission-assembled with a bottom support lifting structure;

[0044] The bottom support lifting structure includes an extended seat body, a bottom support hydraulic cylinder and an adaptive bottom wheel;

[0045] The extension seat body is fixedly mounted on the clamp seat positioning portion of the position-limiting clamp seat structure, and the extension seat body is extended and arranged at the outer side of the bottom end of the clamp seat positioning portion;

[0046] The linear kinetic energy output end of the bottom support hydraulic cylinder faces upward, and the linear kinetic energy output end of the bottom support hydraulic cylinder is detachably fixedly assembled and connected to the bottom of the extension seat body;

[0047] The adaptive bottom wheel bottom support is assembled and arranged at the base bottom end of the bottom support hydraulic cylinder.

[0048] As a further solution of the utility model,

[0049] The bottom support lifting structure also includes a bottom support pressure sensor;

[0050] The bottom support pressure sensor is fixedly installed between the linear kinetic energy output end of the bottom support hydraulic cylinder and the bottom of the extended seat body, and the bottom support pressure sensor is used to monitor the support transmission performance between the bottom support hydraulic cylinder and the clamp seat positioning part of the limit clamp seat structure and the cushion hull in real time.

[0051] A transport vehicle comprises the self-adjusting hoisting structure for rescue loading of hovercraft.

[0052] The utility model has the following beneficial effects:

[0053] This architecture can effectively form a bottom support platform foundation based on irregular ground through the cooperation of the positioning infrastructure and the leveling bottom support structure. At the same time, it can use the flat lifting structure, the lifting drive structure, the rotation drive structure, and the limit clamp seat structure to cooperate with the alignment vision structure to effectively achieve hoisting and clamping positioning corresponding to air cushion hulls in different orientations. Furthermore, it can further achieve the self-rotation and hoisting displacement processes of the air cushion hull through the cooperation of the flat lifting structure, the lifting drive structure, and the rotation drive structure, enabling the air cushion hull to at least partially fall onto the bottom support platform foundation formed by the leveling bottom support structure. And it can further assist in driving the hoisted air cushion hull to slide and land based on the bottom support platform foundation through the displacement drive structure, improving the automation degree and functional practicality of the overall architecture. Description of the Drawings

[0054] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. The structures, proportions, sizes, etc. depicted in this specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read. Any modification of the structure, change in the proportional relationship, or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should still fall within the scope covered by the technical content disclosed in the present invention.

[0055] Figure 1 Overall axonometric structure schematic diagram of the self-aligning hoisting architecture and the carrier vehicle for air cushion ship rescue loading provided in Embodiment 1 of the present invention.

[0056] Figure 2 Assembly structure schematic diagram of the leveling bottom support structure in the self-aligning hoisting architecture for air cushion ship rescue loading provided in Embodiment 1 of the present invention.

[0057] Figure 3 For the self-aligning hoisting architecture for air cushion ship rescue loading provided in Embodiment 1 of the present invention Figure 1 Partial structure enlarged schematic diagram at A.

[0058] Figure 4 Application state structure schematic diagram one of the self-aligning hoisting architecture and the carrier vehicle for air cushion ship rescue loading provided in Embodiment 1 of the present invention.

[0059] Figure 5 Application state structure schematic diagram two of the self-aligning hoisting architecture and the carrier vehicle for air cushion ship rescue loading provided in Embodiment 1 of the present invention.

[0060] Figure 6 Overall axonometric structure schematic diagram of the self-aligning hoisting architecture and the carrier vehicle for air cushion ship rescue loading provided in Embodiment 2 of the present invention.

[0061] Figure 7 The partial structure enlarged schematic diagram at position B in Figure 6 for the self-aligning hoisting structure for air-cushion ship rescue loading provided in Embodiment 2 of the present utility model.

[0062] Figure 8 One of the schematic diagrams of the process principle of the self-leveling air-cushion ship loading method based on a slope surface provided in an embodiment of the present utility model.

[0063] Figure 9 Another schematic diagram of the process principle of the self-leveling air-cushion ship loading method based on a slope surface provided in an embodiment of the present utility model.

[0064] Figure 10 Another schematic diagram of the process principle of the self-leveling air-cushion ship loading method based on a slope surface provided in an embodiment of the present utility model.

[0065] In the drawings, the list of components represented by each reference numeral is as follows:

[0066] Positioning basic structure 1;

[0067] Leveling bottom support structure 2: leveling hydraulic cylinder 21, bull's-eye bearing 22, clamping seat 23, leveling support plate 24;

[0068] Displacement driving structure 3;

[0069] Flat-position lifting structure 4: flat-position bottom rod 41, lifting support rod 42, electric drive telescopic rod assembly 43, flat-position base top rod 431, flat-position extension top rod 432, lifting hydraulic push rod 44;

[0070] Lifting driving structure 5: lifting hydraulic cylinder 51, folding electric control push rod 52;

[0071] Rotating driving structure 6: turntable assembly 61, transmission extension arm 62;

[0072] Limit clamping seat structure 7: clamp seat positioning part 71, clamp seat sliding part 72, clamping pressure sensor 73;

[0073] Alignment vision structure 8;

[0074] Bottom support lifting structure 9: external extension seat body 91, bottom support hydraulic cylinder 92, adaptive bottom wheel 93, bottom support pressure sensor 94;

[0075] Air-cushion ship hull a; hull base frame b. Detailed implementation manners

[0076] In order to make the technical means, creative features, achieved purposes and effects of the present utility model easy to understand, the present utility model will be further described below in conjunction with specific implementation manners.

[0077] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by terms such as "upper", "lower", "inner", "outer", "front end", "rear end", "both ends", "one end", "the other end", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present utility model. Based on the embodiments in the present utility model, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present utility model.

[0078] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, terms such as "installation", "provided with", "connection", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0079] Embodiment 1

[0080] As Figures 1 to 5 shown, the embodiment of the present utility model provides a self-aligning hoisting structure for hovercraft rescue loading and a carrier vehicle including the self-leveling hovercraft loading structure. The self-leveling hovercraft loading structure includes a positioning foundation structure 1, a leveling bottom support structure 2, a displacement driving structure 3, a horizontal lifting structure 4, a lifting driving structure 5, a rotation driving structure 6, a limiting clamp seat structure 7, and a positioning vision structure 8, which are used to effectively form a bottom support platform foundation based on irregular ground through the cooperation of the positioning foundation structure 1 and the leveling bottom support structure 2. At the same time, it can effectively correspond to hovercraft hulls a in different orientations to achieve hoisting and clamping positioning by using the horizontal lifting structure 4, the lifting driving structure 5, the rotation driving structure 6, and the limiting clamp seat structure 7 in cooperation with the positioning vision structure 8. Further, it can realize the self-rotation and hoisting displacement processes of the hovercraft hull a by the cooperation of the horizontal lifting structure 4, the lifting driving structure 5, and the rotation driving structure 6, so that the hovercraft hull a can at least partially fall onto the bottom support platform foundation formed by the leveling bottom support structure 2, and further, the displaced hovercraft hull a after hoisting can be assisted to slide and fall in place based on the bottom support platform foundation by the displacement driving structure 3, improving the operation automation degree and functional practicability of the overall structure. The specific settings are as follows:

[0081] Please refer to Figure 1 and Figure 2The positioning infrastructure 1 is used as the assembly basis of the overall structure, and the leveling bottom support structure 2 includes a leveling hydraulic cylinder 21, a bull's eye bearing 22, a clamping seat 23 and a leveling support plate 24; wherein the leveling hydraulic cylinder 21, the bull's eye bearing 22 and the clamping seat 23 are all provided with a plurality of groups, and the base parts of the plurality of groups of the leveling hydraulic cylinders 21 are evenly distributed and fixedly arranged on both sides of the positioning infrastructure 1, and the linear kinetic energy output ends of the plurality of groups of the leveling hydraulic cylinders 21 and the base ends of the plurality of groups of the bull's eye bearings 22 are respectively and one by one correspondingly and fixedly connected to each other through transmission, and the rotating ends of the plurality of groups of the bull's eye bearings 22 are connected to the plurality of groups of the leveling hydraulic cylinders 21. The positioning seats 23 are respectively and one by one connected with each other by transmission fixing, and several groups of the positioning seats 23 are respectively connected with the bottom of the leveling pallet 24 by positioning assembly. The leveling pallet 24 is located above the positioning base structure 1, and the leveling pallet 24 is provided with a level sensor, which is used to use the level sensor to monitor the horizontal state of the leveling pallet 24 in real time, and further control at least one group of leveling hydraulic cylinders 21 to output linear kinetic energy through the output command of the electric control structure, and then make use of the adaptive adjustment and support function of several groups of bull's eye bearings 22 to keep the leveling pallet 24 in a horizontal state based on the irregular terrain.

[0082] The shift drive structure 3 includes a shift drive motor fixedly mounted on the bottom of the leveling pallet 24 and a shift drive roller transmission mounted on the output end of the shift drive motor. The shift drive rollers are provided in a plurality of groups, and the plurality of groups of shift drive rollers are respectively and one by one correspondingly connected to a plurality of groups of top surface grooves of the leveling pallet 24 at intervals, so as to effectively assist in driving the hoisted cushion hull a to slide to a predetermined position based on the horizontal state of the leveling pallet 24 through the shift drive structure 3.

[0083] Please refer to Figure 1 , Figure 4 and Figure 5, the horizontal lifting structure 4 includes a horizontal bottom rod 41, a lifting support rod 42, an electric drive telescopic rod assembly 43 and a lifting hydraulic push rod 44; wherein, two groups of the horizontal bottom rods 41 are provided, and the two groups of the horizontal bottom rods 41 are fixedly assembled in parallel between the top surfaces of the leveling pallets 24; two groups of the lifting support rods 42 and the electric drive telescopic rod assemblies 43 are provided, the electric drive telescopic rod assembly 43 includes a horizontal base top rod 431 and a horizontally extended top rod 432 that is electrically controlled and slidably assembled on the horizontal base top rod 431, the two groups of the horizontal base top rods 431 are respectively arranged above the two groups of the horizontal bottom rods 41 in one-to-one correspondence, and the two groups of the horizontal base top rods 431 and the horizontally extended top rod 432 are respectively arranged in parallel with the two groups of the horizontal bottom rods 41 in one-to-one correspondence; each group of the lifting support rods 42 is provided with a plurality of bars, the plurality of bars of the lifting support rods 42 are all arranged in parallel with each other, and the two end parts of each bar of the lifting support rods 42 are respectively connected to the horizontal bottom rod 41 and the horizontal base top rod 431 in a transfer and assembly manner; so as to jointly form a plurality of parallelogram frameworks by using the horizontal bottom rod 41, the lifting support rods 42 and the electric drive telescopic rod assembly 43, and further enable the electric drive telescopic rod assembly 43 to always be in a horizontal state synchronously with the horizontal bottom rod 41 based on the leveling pallet 24 in a horizontal state.

[0084] The lifting hydraulic push rod 44 is arranged between the horizontal bottom rod 41 and the corresponding plurality of bars of the lifting support rods 42, and the two end parts of the lifting hydraulic push rod 44 are respectively connected to the horizontal bottom rod 41 and the lifting support rod 42 in a transfer and assembly manner, so as to effectively drive the plurality of bars of the lifting support rods 42 to synchronously change the support angle by using the linear push and pull kinetic energy output by the lifting hydraulic push rod 44, and further drive and adjust the height of the electric drive telescopic rod assembly 43 by means of the plurality of bars of the lifting support rods 42.

[0085] Please continue to refer to Figure 1, the lifting drive structure 5 is provided with two groups, and the base parts of the two groups of lifting drive structures 5 are respectively and one by one correspondingly positionably transferred and arranged on the extended ends of the two groups of electric drive telescopic rod assemblies 43; specifically, each group of the lifting drive structure 5 includes a lifting hydraulic cylinder 51 and a folding electric control push rod 52; wherein, the base parts of the two groups of lifting hydraulic cylinders 51 are respectively and one by one correspondingly transferred and assembled on one end of the two groups of horizontal extension top rods 432 away from the horizontal basic top rod 431, and the two ends of the folding electric control push rod 52 are respectively and one by one correspondingly transferred and assembled between the horizontal extension top rod 432 and the base part of the lifting hydraulic cylinder 51, so as to use the folding electric control push rod 52 to position and support the lifting hydraulic cylinder 51, so that the lifting hydraulic cylinder 51 can be kept vertical or folded with the horizontal electric drive telescopic rod assembly 43, and then the lifting hydraulic cylinder 51 can further output linear kinetic energy vertically, thereby realizing the initial clamping height of the adapted hull base frame b and the subsequent lifting and lifting drive.

[0086] The transfer drive structure 6 is provided with two groups, and the base parts of the two groups of transfer drive structures 6 are respectively and one-to-one correspondingly equipped with transmissions and assembled on the lifting kinetic energy output ends of the two groups of lifting drive structures 5; specifically, each group of the transfer drive structure 6 includes a turntable assembly 61 and a transmission extension arm 62; wherein, the base parts of the two groups of turntable assemblies 61 are respectively and one-to-one correspondingly equipped with transmissions and assembled on the lifting kinetic energy output ends of the two groups of lifting hydraulic cylinders 51, and the top center parts of the two groups of transmission extension arms 62 are respectively and one-to-one correspondingly equipped with transmissions and assembled between the rotational kinetic energy output ends of the two groups of turntable assemblies 61, so that the turntable assembly 61 can effectively perform synchronous lifting actions based on the lifting hydraulic cylinder 51, and at the same time, the turntable assembly 61 can be used to drive the transmission extension arm 62 to turn, thereby adjusting the azimuth direction and height of the transmission extension arm 62 to be flush with the extension direction and height of the hull base frame b.

[0087] Please refer to Figure 1 and Figure 3The position-limiting clamp seat structure 7 is configured as an electrically controlled lead screw type clamp mechanism, and the position-limiting clamp seat structure 7 is provided with two groups, and the base parts of the two groups of the position-limiting clamp seat structures 7 are respectively and one-to-one correspondingly equipped with transmission assemblies on the rotational kinetic energy output ends of the two groups of the transfer drive structures 6; specifically, each group of the position-limiting clamp seat structures 7 includes at least two position-limiting clamp seat structures 7, and each of the position-limiting clamp seat structures 7 has a clamp seat positioning part 71 and a clamp seat sliding part 72 that can be adjusted for clamping opening and closing based on the clamp seat positioning part 71; wherein, the transmission between the clamp seat positioning part 71 and the transmission extension arm 62 The clamping seat positioning portion 71 is fixedly connected and correspondingly arranged at the lower part of the clamping seat sliding portion 72. A predetermined initial clamping opening and a clamping lateral width extension are provided between the clamping seat positioning portion 71 and the clamping seat sliding portion 72, so as to effectively improve the clamping flexibility of the limiting clamping seat structure 7 through the above arrangement. Meanwhile, the two sets of limiting clamping seat structures 7 can cooperate with the lifting drive structure 5 and the rotation drive structure 6 respectively to effectively realize the flexible adaptation and limitation of the air cushion hull a on both sides in the irregular terrain, and can further drive the air cushion hull a to gradually return to the horizontal state during the limiting lifting process on both sides.

[0088] As a preferred solution of this embodiment, please continue to refer to Figure 3 The clamping seat positioning portion 71 and the clamping seat sliding portion 72 are fixedly connected to one end surface facing each other, and are used to monitor the corresponding clamping pressures of the clamping seat positioning portion 71 and the clamping seat sliding portion 72 in real time through the clamping pressure sensors 73. Then, in the process of hoisting the cushion hull a and gradually returning it to a horizontal state, a plurality of clamping pressure sensors 73 can be used to instantly feed back the monitoring pressure to the electric control structure until the monitoring pressures fed back by the plurality of clamping pressure sensors 73 synchronously reach the preset pressure threshold range, and the clamping seat positioning portion 71 and the clamping seat sliding portion 72 form a stable clamp for the hull base frame b, and the driving and leveling of the cushion hull a can be stopped at this time.

[0089] Please continue to refer to Figure 3 There are two groups of the alignment visual structure 8, and the base parts of the two groups of the alignment visual structure 8 are fixedly assembled on the two groups of the limiting clamp seat structures 7 respectively and one by one. Each group of the alignment visual structure 8 has two visual input ends, and the initial directions of the two visual input ends of each group of the alignment visual structure 8 correspond one by one to the horizontal telescopic directions at both ends of the horizontal lifting structure 4, so as to utilize the alignment visual structure 8 to automatically detect and identify the initial tilt direction and height of the hull base frame b, so that the limiting clamp seat structure 7 can stably align and clamp the hull base frame b of the air cushion hull a.

[0090] It should be noted that the electric control structure includes a mobile power source and a control module connected by a circuit. The mobile power source can be, but is not limited to, a lithium battery. The control module can be, but is not limited to, a single-chip microcomputer control board of model AT80C51 or a microcontroller of model STM32. The control output end of the control module is connected to the input end of a relay through a circuit. The output ends of the relay are respectively connected to the leveling hydraulic cylinder 21 in the leveling bottom support structure 2, the displacement driving structure 3, the electric drive telescopic rod assembly 43 and the lifting hydraulic push rod 44 in the flat position lifting structure 4, the lifting hydraulic cylinder 51 and the folding electric control push rod 52 in the lifting driving structure 5, the turntable assembly 61 in the rotation driving structure 6, and the limit clamp seat structure 7 through circuits. The control panel, the horizontal sensor arranged on the leveling support plate 24, the clamping pressure sensor 73 in the limit clamp seat structure 7, and the alignment vision structure 8 are respectively connected to the control input end of the control module through circuits, so as to realize inputting control instructions through the control panel and then completing the automatic operation control of the overall structure function.

[0091] Embodiment 2

[0092] In Embodiment 2, for the same structures as those in Embodiment 1, the same symbols are given and the same descriptions are omitted. Embodiment 2 makes improvements on the basis of Embodiment 1. Please refer to Figure 6 and Figure 7, a bottom lifting structure 9 is drivingly assembled at the bottom of each of the limiting clamp seat structures 7; specifically, the bottom lifting structure 9 includes an extension seat body 91, a bottom support hydraulic cylinder 92, an adaptive bottom wheel 93 and a bottom support pressure sensor 94; wherein, the extension seat body 91 is fixedly assembled on the clamp positioning part 71 of the limiting clamp seat structure 7, and the extension seat body 91 extends and is located at the outer bottom part of the bottom end of the clamp positioning part 71, so as to effectively avoid the bottom inflatable pad of the air cushion hull a through the extension seat body 91; the linear kinetic energy output end of the bottom support hydraulic cylinder 92 faces upward, and the linear kinetic energy output end of the bottom support hydraulic cylinder 92 is detachably fixedly assembled and connected with the bottom of the extension seat body 91; the adaptive bottom wheel 93 is bottom-supported and assembled at the bottom end of the bottom support hydraulic cylinder 92, and the bottom support pressure sensor 94 is fixedly assembled between the linear kinetic energy output end of the bottom support hydraulic cylinder 92 and the bottom of the extension seat body 91; so as to effectively realize the bottom support effect on the limiting clamp seat structure 7 and the air cushion hull a by the cooperation of the bottom support hydraulic cylinder 92 and the adaptive bottom wheel 93, and at the same time, the irregular terrain where the air cushion hull a is located can be effectively and flexibly adapted by the telescopic support function of the bottom support hydraulic cylinder 92 in cooperation with the adaptive bottom wheel 93, and the support transmission between the bottom support hydraulic cylinder 92, the limiting clamp seat structure 7 and the air cushion hull a can be monitored in real time by the bottom support pressure sensor 94, ensuring that the adaptive bottom wheel 93 can always maintain stable contact with the ground, thereby significantly improving the stability of the loading process of the air cushion hull a.

[0093] Please refer to Figures 8 to 10 , the embodiment of the present invention also provides an air cushion ship loading method according to the above self-aligning hoisting structure for air cushion ship rescue loading, which specifically includes the following steps:

[0094] S1: Based on the onshore orientation of the air cushion hull a, adjust the initial placement position of the positioning basic structure 1, so that the vertical planes where the two groups of limiting clamp seat structures 7 are initially located are respectively aligned or form intersection points within a preset error threshold range with the vertical areas where the hull frames b on both sides of the air cushion hull a are located;

[0095] S2: By setting a horizontal sensor on the leveling support plate 24 in the leveling support structure 2 to monitor the horizontal state of the leveling support plate 24 in real time, the horizontal sensor immediately sends the monitored horizontal state signal to the electric control structure, and the electric control structure outputs an instruction to control at least one group of leveling hydraulic cylinders 21 in the leveling support structure 2 to output linear kinetic energy, and further with the help of the self-aligning and supporting function of the bull's-eye bearing, the leveling support plate 24 is kept in a horizontal state based on the irregular terrain and the positioning basic structure 1;

[0096] S3: Please refer to Figures 8 to 10, the initial inclination direction and height of the hull frame b are automatically detected and recognized by using the alignment vision structure 8. According to the feedback information of the alignment vision structure 8, the electronic control structure outputs instructions to control the electric drive telescopic rod assemblies 43 in the two groups of horizontal lifting structures 4 to start extending respectively. At the same time, the lifting hydraulic cylinders 51 in the two groups of lifting drive structures 5 are respectively controlled to drive the turntable assemblies 61 to lift, and the turntable assemblies 61 in the two groups of rotation drive structures 6 are respectively controlled to drive the transmission extension arms 62 to turn, so as to adjust the orientation and height of the two groups of limit clamp seat structures 7 to correspond one by one with the extension direction and height of the hull frames b on both sides of the air-cushion hull a, and then the two groups of limit clamp seat structures 7 can be used to adaptively limit and position the two hull frames b of the air-cushion hull a in irregular terrain from both sides, and the clamp seat positioning part 71 located at the lower part of the limit clamp seat structure 7 can be used to support the hull frame b from the bottom;

[0097] At the same time, the electronic control structure outputs instructions to control the bottom support hydraulic cylinder 92 in the bottom support lifting structure 9 to extend and retract, and the bottom support pressure sensor 94 is used to monitor the support transmission performance between the bottom support hydraulic cylinder 92 and the clamp seat positioning part 7 in real time, so that the adaptive bottom wheels 93 in the bottom support lifting structure 9 always maintain stable contact with the ground, and further form an auxiliary bottom support effect on the limit clamp seat structure 7 and the air-cushion hull a;

[0098] S4: Continue to output instructions through the electronic control structure to control the lifting hydraulic push rod 44 in the horizontal lifting structure 4 to output linear pushing energy, so as to drive a plurality of lifting support rods 42 in the horizontal lifting structure 4 to synchronously change the support angle. Then, the height of the electric drive telescopic rod assembly 43 is adjusted by transmission according to the parallelogram framework principle, and the air-cushion hull a is lifted to a predetermined height in cooperation with the lifting drive of the lifting drive structure 5;

[0099] At the same time, the electronic control structure outputs instructions to control the turntable assembly 61 to drive the transmission extension arm 62 and the limit clamp seat structure 7 to gradually return to the correct orientation and turn, and synchronously drive and adjust the orientation of the air-cushion hull a to gradually correspond to the initial placement orientation of the positioning basic structure 1. In addition, the electronic control structure outputs instructions to further control the lifting drive of the two groups of lifting drive structures 5 respectively, so that the air-cushion hull a gradually returns to the horizontal state. During this process of returning to the correct orientation and adjustment, the clamping pressure between the clamp seat positioning part 71 and the clamp seat sliding part 72 is monitored in real time through the clamping pressure sensors 73 in a plurality of limit clamp seat structures 7. When the monitoring pressure feedback by the clamp seat sliding part 72 is the same as the monitoring pressure feedback by the clamp seat positioning part 71 within the preset error range, and the monitoring pressures feedback by the clamping pressure sensors 73 corresponding to a plurality of limit clamp seat structures 7 reach the preset pressure threshold range synchronously, at this time, a stable clamping effect is formed between the clamp seat positioning part 71 and the clamp seat sliding part 72 on the hull frame b, and the driving, leveling and returning process of the air-cushion hull a can be stopped;

[0100] S5: Continue to output instructions through the electric control structure to control the electric drive telescopic rod assemblies 43 in the two groups of horizontal lifting structures 4 to start retracting respectively, thereby driving at least a part of the air cushion hull a to shift to the leveling support plate 24 in the leveling bottom support structure 2, and further control the shift drive rollers in the shift drive structure 3 to cooperate with the electric drive telescopic rod assemblies 43 to drive the air cushion hull a to stably land at the predetermined position of the leveling support plate 24;

[0101] S6: After confirming that the hovercraft has stably landed, output instructions through the electric control structure to control at least one group of leveling hydraulic cylinders 21 locally to return to the initial state, thereby enabling the leveling support plate 24 and the positioning basic structure 1 to return to the adapted corresponding state again. Then, tidy up the return equipment and turn off the power supply for the next use, and that's it.

[0102] Although the present invention has been described in detail above with general descriptions and specific embodiments, based on the present invention, some modifications or improvements can be made, which are obvious to those skilled in the art. Therefore, these modifications or improvements made without departing from the spirit of the present invention all fall within the scope of protection required by the present invention.

Claims

1. A self-aligning hoisting structure for hovercraft rescue loading, characterized in that, Comprising: A positioning infrastructure A leveling support structure, the base part of which is fixedly assembled on the positioning infrastructure, and the leveling support structure has a horizontally adjustable support surface; A displacement driving structure, assembled on the horizontally adjustable support surface of the leveling support structure, for directionally driving the hovercraft hull located on the support surface; A horizontal lifting structure, the base part of which is fixedly assembled on the horizontally adjustable support surface of the leveling support structure, and the horizontal lifting structure has vertical and horizontal displacement kinetic energy output ends; A rotation driving structure, the base part of which is transmission - arranged on the vertical and horizontal displacement kinetic energy output ends of the horizontal lifting structure, and the rotation driving structure has a rotational kinetic energy output end; A limiting clamp seat structure, the base part of which is transmission - arranged on the rotational kinetic energy output end of the rotation driving structure, and the limiting clamp seat structure has a clamping kinetic energy output end. The limiting clamp seat structure can perform lifting limit on both sides of the hovercraft hull through its clamping kinetic energy output end; An alignment vision structure, the base part of which is fixedly assembled on the base part of the limiting clamp seat structure, for automatically detecting and identifying the initial inclination direction and height of the hovercraft hull based on the irregular terrain.

2. The self - aligning lifting framework for hovercraft rescue loading according to claim 1, wherein The leveling support structure includes a leveling hydraulic cylinder, a bull's - eye bearing, a clamping seat, and a leveling support plate; Several groups of the leveling hydraulic cylinders, the bull's - eye bearings, and the clamping seats are provided. The base parts of several groups of the leveling hydraulic cylinders are evenly distributed and fixedly arranged on both sides of the positioning infrastructure. The linear kinetic energy output ends of several groups of the leveling hydraulic cylinders are respectively and correspondingly fixedly connected in a transmission manner with the base ends of several groups of the bull's - eye bearings. The rotating ends of several groups of the bull's - eye bearings are respectively and correspondingly fixedly connected in a transmission manner with several groups of the clamping seats. Several groups of the clamping seats are respectively assembled in a clamping manner with the bottom of the leveling support plate; The leveling support plate is correspondingly located above the positioning infrastructure to form the horizontally adjustable support surface, and the leveling support plate is provided with a horizontal sensor, which real - time monitors the horizontal state of the leveling support plate and feeds it back to the leveling hydraulic cylinder for horizontal state regulation.

3. The self - aligning lifting framework for hovercraft rescue loading according to claim 2, wherein The displacement driving structure includes a displacement driving motor fixedly assembled on the bottom of the leveling support plate and a displacement driving roller transmission - assembled on the output end of the displacement driving motor; Several groups of the displacement driving rollers are provided. Several groups of the displacement driving rollers are respectively and correspondingly spaced and rotatably assembled in several groups of top surface grooves of the leveling support plate. Through the displacement driving structure, the hovercraft hull after hoisting is assisted to slide to a predetermined position based on the horizontally - positioned leveling support plate.

4. The self - aligning lifting framework for hovercraft rescue loading according to claim 3, wherein The horizontal lifting structure comprises a horizontal bottom bar, a lifting support bar, an electric drive telescopic rod assembly and a lifting hydraulic push rod, and the horizontal bottom bar, the lifting support bar and the electric drive telescopic rod assembly are each provided with two groups; The two groups of leveling bottom rods are parallel and fixedly mounted on the top surface of the leveling support plate; The electric-drive telescopic rod assembly comprises a horizontal basic top rod and a horizontal extension top rod electrically controlled and slidably mounted on the horizontal basic top rod, wherein the horizontal extension top rod can output horizontal adjustment kinetic energy; The two groups of horizontal foundation top rods are respectively arranged one by one above the two groups of horizontal bottom rods, and the two groups of horizontal foundation top rods and the horizontal extension top rods are respectively arranged one by one in parallel between the two groups of horizontal bottom rods; Each group of the lifting struts is provided with a plurality of lifting struts, and the plurality of lifting struts are arranged in parallel, and the two ends of each lifting strut are respectively connected and arranged in a one-to-one correspondence with the horizontal bottom rod and the horizontal foundation top rod through the transfer assembly, and the horizontal bottom rod, the lifting struts and the electric drive telescopic rod assembly together form a plurality of parallelogram structures; The lifting hydraulic push rod is arranged between the horizontal bottom rod and the corresponding several lifting struts, and the two ends of the lifting hydraulic push rod are respectively connected with the transfer assembly between the horizontal bottom rod and the lifting strut, and the linear push-pull kinetic energy output by the lifting hydraulic push rod drives the several lifting struts to synchronously change the supporting angle, and the several lifting struts further transmit and adjust the height of the electric drive telescopic rod assembly to output vertical positioning kinetic energy.

5. The self-adjusting hoisting structure for rescue loading of hovercraft according to claim 4, characterized in that: The transfer drive structure is provided with two groups, and the base parts of the two groups of transfer drive structures correspond to each other and the transmission assemblies are respectively arranged on the vertical and horizontal adjustment kinetic energy output ends of the two groups of horizontal lifting structures; Each group of the indexing drive structures includes a turntable assembly and a transmission extension arm; The base parts of the two groups of turntable assemblies are respectively and one-to-one correspondingly equipped with transmission assemblies on one end of the two groups of horizontal extension top rods away from the horizontal basic top rod, and the top center parts of the two groups of transmission extension arms are respectively and one-to-one correspondingly connected with the rotational kinetic energy output ends of the two groups of turntable assemblies. The turntable assembly can be raised and lowered based on the horizontal extension top rod and drive the transmission extension arm to turn.

6. The self-adjusting hoisting structure for rescue loading of hovercraft according to claim 5, characterized in that: The said limiting clamp seat structure is provided with two groups, and the base parts of the two groups of the limiting clamp seat structure are respectively and one by one correspondingly equipped with transmission assemblies at the rotational kinetic energy output ends of the two groups of the transfer drive structures; The position-limiting clamp seat structure is configured as an electrically controlled lead screw type clamp mechanism, and each group of the position-limiting clamp seat structures comprises at least two position-limiting clamp seat structures, each of which comprises a clamp seat positioning portion and a clamp seat sliding portion capable of performing clamping opening and closing adjustment based on the clamp seat positioning portion; The clamp seat positioning part is drivingly and fixedly connected to the transmission extension arm, and the clamp seat positioning part is correspondingly arranged below the clamp seat sliding part. There is a predetermined initial clamping opening amount and a clamping lateral width extension amount between the clamp seat positioning part and the clamp seat sliding part; On the end faces of the clamp seat positioning part and the clamp seat sliding part that face each other correspondingly, clamping pressure sensors are fixedly arranged. The corresponding clamping pressure between the clamp seat positioning part and the clamp seat sliding part is monitored in real time through the clamping pressure sensors to feedback whether it is in a stable clamping state during the leveling process of the hovercraft hull.

7. The self-aligning lifting structure for hovercraft rescue loading according to claim 6, characterized in that There are two groups of the alignment vision structures. The base parts of the two groups of the alignment vision structures are respectively fixedly assembled and arranged on the two groups of the limit clamp seat structures. Each group of the alignment vision structures has two vision input ends, and the initial orientations of the two vision input ends of each group of the alignment vision structures respectively correspond to the horizontal telescopic directions at both ends of the flat position lifting structure, and are used to automatically detect and identify the initial inclination direction and height of the hull base frames on both sides of the hovercraft hull through the alignment vision structures.

8. The self-aligning lifting structure for hovercraft rescue loading according to claim 7, characterized in that At the bottom of each of the limit clamp seat structures, a bottom support lifting structure is drivingly assembled; The bottom support lifting structure includes an extended seat body, a bottom support hydraulic cylinder and an adaptive bottom wheel; The extended seat body is fixedly assembled on the clamp seat positioning part of the limit clamp seat structure, and the extended seat body extends to the outer side of the bottom end of the clamp seat positioning part; The linear kinetic energy output end of the bottom support hydraulic cylinder faces upward, and the linear kinetic energy output end of the bottom support hydraulic cylinder is detachably fixedly assembled and connected to the bottom of the extended seat body; The adaptive bottom wheel is bottom-supported and assembled at the bottom end of the base of the bottom support hydraulic cylinder.

9. The self-aligning lifting structure for hovercraft rescue loading according to claim 8, characterized in that The bottom support lifting structure further includes a bottom support pressure sensor; The bottom support pressure sensor is fixedly assembled between the linear kinetic energy output end of the bottom support hydraulic cylinder and the bottom of the extended seat body, and the support transmission between the bottom support hydraulic cylinder and the clamp seat positioning part of the limit clamp seat structure and the hovercraft hull is monitored in real time through the bottom support pressure sensor.

10. A carrier vehicle, characterized in that, It includes the self-aligning lifting structure for hovercraft rescue loading according to any one of claims 1-9.

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