Splicing structure for multiple groups of unmanned ships

Abstract

The utility model provides a multi-group unmanned ship splicing structure. The multi-group unmanned ship splicing structure comprises a ship body, the butt joint rod is arranged at the front end of the ship body, the limiting clamping plate is arranged on the outer wall of the butt joint rod, the rotating piece is arranged at one end of the butt joint rod, the connecting column is arranged at one end of the rotating piece, and the clamping head is arranged on the connecting column. The docking device is used for guiding the ship body; the connecting assembly is arranged on the periphery of the butt joint device in a surrounding mode and used for fixing the ship body after being collided and spliced with the butt joint rod; the connecting assembly comprises a shell, a guide piece arranged at the front end of the shell and a second pivot joint seat arranged at the first end of the guide piece. According to the utility model, the docking efficiency is improved, the manual intervention and operation risks are obviously reduced, and the device is suitable for complex and changeable offshore operation environments.

Description

Technical Field

[0001] This utility model relates to a multi-unit unmanned surface vessel splicing structure. Background Technology

[0002] With the increasingly widespread development and utilization of marine resources, unmanned surface vessels (USVs) are being used more and more extensively in fields such as marine monitoring, environmental surveys, resource exploration, and maritime search and rescue. Traditional USVs typically operate as single vessels, but their operational capabilities and stability are often limited when facing complex tasks or requiring larger operating platforms. For example, in situations requiring large-area marine monitoring or long-duration operations, the limited endurance and payload capacity of a single USV make it difficult to meet mission requirements. To address this issue, technologies for multi-USV collaborative operations have emerged in recent years. By splicing or combining multiple USVs, a larger operating platform can be formed, thereby improving the overall performance of the USV system. This splicing structure not only increases the payload capacity of the USVs but also improves their stability and wave resistance in complex sea conditions. Furthermore, the splicing of multiple USVs allows for modular design, facilitating flexible configuration and rapid deployment according to different mission requirements.

[0003] However, existing multi-unit unmanned surface vessel (USV) splicing technologies still have some shortcomings. First, the stability and reliability of the spliced ​​structure need further improvement, especially in harsh sea conditions where the spliced ​​joints are easily loosened or damaged by wave impact. Second, existing splicing methods are usually quite complex, and the splicing and disassembly processes are time-consuming, which is not conducive to rapid deployment and mission switching. Therefore, there is an urgent need for a new type of multi-unit USV splicing structure to solve the problems of stability, reliability, and ease of operation in existing technologies. Utility Model Content

[0004] This invention provides a multi-unit unmanned surface vessel splicing structure, which can effectively solve the above problems.

[0005] This utility model is implemented as follows:

[0006] A multi-unit unmanned surface vessel (USV) splicing structure, including

[0007] hull;

[0008] A docking rod is provided at the front end of the hull, a limiting plate is provided on the outer wall of the docking rod, a rotating part is provided at one end of the docking rod, a connecting post is provided at one end of the rotating part, and a snap-fit ​​connector is provided on the connecting post.

[0009] A docking device for guiding the hull;

[0010] A connecting assembly, arranged around the docking device, is used to fix the hull after colliding and splicing with the docking rod. The connecting assembly includes a housing, a guide member disposed at the front end of the housing, a second pivot seat disposed at the first end of the guide member, a second limiting rod rotatably disposed on the second pivot seat, and a positioning seat disposed on one side inside the housing and flush with the docking rod. After the docking rod is guided into the housing through the guide member, the limiting plate unfolds the second limiting rod outward until the locking connector is magnetically connected to the positioning seat, and the second limiting rod abuts against the outside of the limiting plate, thereby fixing the hull.

[0011] The beneficial effects of this utility model are:

[0012] (1) This utility model achieves rapid, accurate and secure docking between the hull and the docking device through the coordinated action of the docking rod set at the front of the hull and the limiting plate, rotating parts, connecting columns and locking joints on its outer wall, combined with the guiding function of the docking device and the fixing mechanism of the connecting components. After the docking rod is guided into the outer shell through the guide, the limiting plate pushes the second limiting rod to unfold, so that the locking joint and the positioning seat achieve double locking through magnetic attraction and mechanical connection. At the same time, the second limiting rod abuts against the outer side of the limiting plate to prevent displacement after docking, ensuring the stability and reliability of the docking process. In addition, the design of the guide and buffer structure effectively absorbs the impact force during the docking process, the protective ring and anti-collision parts enhance the durability of the system, and the warning lights and sensors provide real-time status monitoring. The overall system not only improves docking efficiency, but also significantly reduces manual intervention and operational risks, and is suitable for complex and changeable marine operating environments. Attached Figure Description

[0013] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram of the assembly of the hull and docking device of this utility model.

[0015] Figure 2 This is a schematic diagram of the assembly of the docking device and the docking rod of this utility model.

[0016] Figure 3 This is an enlarged view of utility model A.

[0017] Figure 4 This is an enlarged view of utility model B.

[0018] Figure 5 This is an enlarged view of utility model C.

[0019] Explanation of icon numbers:

[0020] 10. Hull; 100. Connecting rod; 102. Limiting plate; 104. Rotating component; 105. Connecting column; 1050. Clip joint; 1052. Slot;

[0021] 20. Docking device; 200. Warning light; 202. Steel cable; 204. Counterweight; 206. First positioning plate; 208. Second positioning plate; 210. Anti-collision component;

[0022] 30. Arc-shaped buffer bar;

[0023] 40. Connecting assembly; 400. Housing; 401. Guide component; 402. First pivot seat; 403. First limiting rod; 404. Guide slide; 405. Protective ring; 406. Second pivot seat; 407. Auxiliary rod; 4070. First shaft; 4071. Top rod; 4072. First arc-shaped rod; 4073. Second arc-shaped rod; 4074. Second shaft; 4075. Buffer guide rod; 4076. Guide cylinder; 4077. Spring; 408. Second limiting rod; 409. Positioning seat; 4090. Electromagnet; 4091. Arc-shaped part; 4092. Protrusion; 410. Bolt; 411. Nut. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model. Therefore, the following detailed description of the embodiments of this utility model provided in the accompanying drawings is not intended to limit the scope of the claimed utility model, but merely to represent selected embodiments of this utility model.

[0025] In the description of this utility model, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0026] Reference Figure 1-5As shown, a multi-unit unmanned surface vessel (USV) splicing structure includes...

[0027] Hull 10.

[0028] The hull 10 has a docking rod 100 at its front end, a limiting plate 102 on its outer wall, a rotating component 104 at one end of the docking rod 100, a connecting post 105 at one end of the rotating component 104, and a snap-fit ​​connector 1050 on the connecting post 105. It should be noted that the limiting plate 102 enters the guide member 401 vertically, thus disengaging the second limiting rod 408. A controller is installed on the hull 10, connected to the docking rod 100, controlling its rotation via the rotating component 104. To detach the limiting plate 102 from the second limiting rod 408, the controller rotates the docking rod 100, causing the limiting plate 102 to change from vertical to parallel, thus passing through the gap between the two second limiting rods 408 and disengaging from the docking rod 100.

[0029] Furthermore, this embodiment also includes a control method for controlling the rotation of the docking rod 100;

[0030] S1. The controller starts, initializes the sensor system, reads the position and attitude data of the docking device 20, and calculates the target angle and position of the docking rod 100.

[0031] S2. The controller drives the rotating device to quickly rotate the docking rod 100 to a position close to the target angle according to the target angle. The position sensor provides real-time feedback on the angle of the docking rod 100, and the controller performs closed-loop control to ensure rotation accuracy.

[0032] S3. When the docking rod 100 approaches the target angle, the controller switches to fine-tuning mode, reduces the rotation speed, and improves the adjustment accuracy. The distance sensor and attitude sensor monitor the relative position and attitude of the docking rod 100 and the docking device 20 in real time. The controller makes fine adjustments to ensure that the docking rod 100 is aligned with the guide 401.

[0033] S4. When the docking rod 100 is aligned with the guide 401, the controller sends a signal and the hull 10 begins to move slowly, so that the docking rod 100 enters the guide 401. During the docking process, the controller continuously monitors the position and attitude of the docking rod 100 and makes fine adjustments through the rotating device when necessary to ensure that the docking rod 100 smoothly enters the outer shell 400.

[0034] S5. When the docking rod 100 is fully inserted into the housing 400, the controller detects that the snap-fit ​​connector 1050 is in contact with the positioning seat 409, and starts the electromagnet 4090 to complete the magnetic connection.

[0035] S6. The controller confirms that the docking is complete, stops the operation of the rotating device, and displays the successful docking status via warning light 200.

[0036] S7. If an abnormality is detected during the docking process (such as the docking rod 100 deviating from the predetermined path or abnormal sensor data), the controller will immediately stop the rotating device and issue an alarm. The operator can manually intervene through the human-machine interface to adjust the angle of the docking rod 100 or stop the docking process.

[0037] The above control method enables automated rotation of the docking rod 100 and precise control of the docking process. This method combines sensor data, control algorithms, and human-machine interaction to ensure the efficiency, safety, and reliability of the docking process, and is suitable for complex marine operating environments.

[0038] The docking device 20 is used to guide the hull 10. A warning light 200 is provided on the top of the docking device 20 to provide visual warnings during the docking process and indicate the docking status (such as preparing to dock, docking in progress, docking completed, etc.). A first positioning plate 206 and a second positioning plate 208 are set around the docking device 20 and on both sides of the connecting component 40. Several anti-collision components 210 are set on the first positioning plate 206 and the second positioning plate 208. A steel cable 202 is set at the bottom of the docking device 20. A counterweight 204 is set at one end of the steel cable 202 to ensure that the docking device 20 remains stable during the docking process and prevents shaking. An arc-shaped buffer rod 30 is set between the first positioning plate 206 and the second positioning plate 208.

[0039] A connecting assembly 40 is arranged around the docking device 20 to fix the hull 10 after it collides and splices with the docking rod 100. The connecting assembly 40 includes a housing 400, a guide 401 at the front end of the housing, a second pivot seat 406 at the first end of the guide 401, a second limiting rod 408 rotatably mounted on the second pivot seat 406, and a positioning seat 409 located inside the housing 400 and flush with the docking rod 100. After the docking rod 100 is guided into the housing 400 through the guide 401, the limiting plate 102 unfolds the second limiting rod 408 outward until the locking connector 1050 is magnetically connected to the positioning seat 409, and the second limiting rod 408 abuts against the outside of the limiting plate 102, thereby fixing the hull 10.

[0040] Bolts 410 are symmetrically arranged at the included angle inside one end of the outer casing 400, and nuts 411 are set on the bolts 410, so as to facilitate the installation of guide 401 and outer casing 400.

[0041] The outer wall of the snap-fit ​​connector 1050 is provided with a snap-fit ​​groove 1052, the positioning seat 409 is provided with an electromagnet 4090, the arc-shaped part 4091 is provided at the front end of the electromagnet 4090 and connected to the snap-fit ​​connector 1050, and the protrusion 4092 is formed on the arc-shaped part 4091 and connected to the snap-fit ​​groove 1052.

[0042] The inner wall of the guide member 401 is symmetrically provided with a first pivot seat 402, a first limiting rod 403 is rotatably provided on the first pivot seat 402, and a guide slide 404 is provided on the guide member 401.

[0043] Among them, the guide slide 404 is an additionally designed guide structure. Due to the setting of the first pivot seat 402, it may obstruct the docking rod 100. Through the guide slide 404, the docking rod 100 can still quickly enter the interior of the housing 400 through the guide member 401, thereby completing the docking work.

[0044] The first end of the guide member 401 is also provided with an auxiliary rod 407, a first shaft 4070 provided on the auxiliary rod 407, a top rod 4071 rotatably provided on the first shaft 4070, and a buffer member provided at the angle between the top rod 4071 and the auxiliary rod 407. The buffer member includes a first arc-shaped rod 4072 and a second arc-shaped rod 4073, a second shaft 4074 provided at the intersection of the first arc-shaped rod 4072 and the second arc-shaped rod 4073, a buffer guide rod 4075 provided on the first arc-shaped rod 4072, a guide cylinder 4076 provided on the second arc-shaped rod 4073 and connected to the buffer guide rod 4075, and a spring 4077 provided inside the guide cylinder 4076. The outer wall of the guide member 401 is also provided with several protective rings 405, so that the guide member 401 is not easily deformed.

[0045] Working principle:

[0046] A docking rod 100 is installed at the front end of the hull 10. The docking rod 100 is equipped with a limiting plate 102, a rotating component 104, a connecting post 105, and a locking connector 1050. When docking begins, the rotating component 104 allows the docking rod 100 to flexibly adjust its angle to ensure that it is aligned with the guide component 401 of the docking device 20. The docking device 20 guides the docking rod 100 into the housing 400 of the connecting assembly 40 through the guide slide 404 in the guide component 401. The first limiting rod 403 and the second limiting rod 408 in the guide component 401 respectively limit the range of motion of the docking rod 100 to prevent it from deviating from the predetermined path. When the docking rod 100 enters the housing 400, the limiting plate 102 pushes the second limiting rod 408 to unfold outward, so that the locking connector 1050 contacts the positioning seat 409. The electromagnet 4090 inside the positioning seat 409 is energized to generate magnetic force, attracting the locking connector 1050, while the protrusion 4092 is embedded in the slot. 1052, mechanical locking is achieved to ensure a firm connection between the docking rod 100 and the connecting assembly 40. The second limiting rod 408 abuts against the outside of the limiting plate 102 to prevent the docking rod 100 from shifting after docking. During docking, the auxiliary rod 407 and the buffer (including the first arc rod 4072, the second arc rod 4073, the spring 4077, etc.) absorb the impact force, reduce the collision between the docking rod 100 and the connecting assembly 40, and protect the system structure. The protective ring 405 on the outer wall of the guide 401 enhances the structural strength and prevents deformation. The first positioning plate 206, the second positioning plate 208 and the anti-collision component 210 around the docking device 20 further prevent collisions. The arc-shaped buffer rod 30 increases stability. The warning light 200 on the top of the docking device 20 displays the docking status in real time (such as ready, in progress, completed). The steel cable 202 and the counterweight 204 at the bottom ensure that the docking device 20 remains stable during docking. Ultimately, the hull 10 is securely connected to the connecting assembly 40 via the docking rod 100, achieving precise and stable docking and fixation.

[0047] The above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A multi-group unmanned surface vehicle splicing structure, characterized in that, The utility model provides a kind of docking device for ship, including Hull (10); Butt bar (100) is arranged in the front end of the hull (10), limiting card plate (102) is arranged in the outer wall of the butt bar (100), rotating member (104) is arranged in one end of the butt bar (100), connecting column (105) is arranged in one end of the rotating member (104), and clamping head (1050) is arranged on the connecting column (105); Docking device (20) is used to guide the hull (10); Connecting assembly (40) is arranged around the docking device (20), and is used to fix the hull (10) after colliding and splicing with the butt bar (100);The connecting assembly (40) includes shell (400), guide member (401) is arranged in the front end of the shell, second pivot seat (406) is arranged in the first end of the guide member (401), second limiting rod (408) is rotatably arranged on the second pivot seat (406), positioning seat (409) is arranged on one side inside the shell (400) and is flush with the butt bar (100);After the butt bar (100) is guided into the shell (400) by the guide member (401), the limiting card plate (102) spreads the second limiting rod (408) outward, until the clamping head (1050) is connected with the positioning seat (409) by magnetic attraction, the second limiting rod (408) is resisted to the outside of the limiting card plate (102), so that the hull (10) is fixed.

2. The multi-group unmanned surface vehicle splicing structure according to claim 1, wherein, The outer wall of the clamping head (1050) is provided with a clamping groove (1052), the inside of the positioning seat (409) is provided with an electromagnet (4090), an arc-shaped part (4091) is arranged in the front end of the electromagnet (4090) and connected with the clamping head (1050), and a protrusion (4092) is formed on the arc-shaped part (4091) and connected with the clamping groove (1052).

3. The multi-team unmanned surface vehicle splicing structure according to claim 1, wherein, The inner wall of the guide member (401) is symmetrically provided with a first pivot seat (402), a first limiting rod (403) is rotatably arranged on the first pivot seat (402), and a guide slide (404) is arranged on the guide member (401).

4. The multi-team unmanned surface vehicle splicing structure according to claim 1, wherein, The first end of the guide member (401) is further provided with an auxiliary rod (407), a first shaft rod (4070) is arranged on the auxiliary rod (407), a top rod (4071) is rotatably arranged on the first shaft rod (4070), and a buffer is arranged at the position of the included angle between the top rod (4071) and the auxiliary rod (407).

5. The multi-team unmanned surface vehicle splicing structure according to claim 4, characterized in that, The buffer comprises a first arc-shaped rod (4072), a second arc-shaped rod (4073), a second shaft rod (4074) arranged at the intersection end of the first arc-shaped rod (4072) and the second arc-shaped rod (4073), a buffer guide rod (4075) arranged on the first arc-shaped rod (4072), a guide cylinder (4076) arranged on the second arc-shaped rod (4073) and connected with the buffer guide rod (4075), and a spring (4077) arranged inside the guide cylinder (4076).

6. The multi-team unmanned surface vehicle splicing structure according to claim 1, wherein, The outer wall of the guide (401) is further provided with a plurality of protection rings (405), so that the guide (401) is not easy to deform.

7. The multi-team unmanned surface vehicle splicing structure according to claim 1, wherein, The top of the docking device (20) is provided with warning lights (200), first positioning plates (206) and second positioning plates (208) arranged around the docking device (20) and on both sides of the connecting assembly (40), and a plurality of anti-collision members (210) arranged on the first positioning plates (206) and the second positioning plates (208).

8. The multi-team unmanned surface vehicle splicing structure according to claim 7, characterized in that, The bottom of the docking device (20) is provided with a steel cable (202), and a counterweight (204) is arranged at one end of the steel cable (202).

9. The multi-team unmanned surface vehicle splicing structure according to claim 7, wherein, Arc-shaped buffer rods (30) are arranged between the first positioning plates (206) and the second positioning plates (208).

10. The multi-team unmanned surface vehicle splicing structure according to claim 1, wherein, The inside of one end of the shell (400) is symmetrically provided with bolts (410) at an included angle, and nuts (411) are arranged on the bolts (410).

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