A hull deformable transoceanic vehicle

Abstract

The utility model discloses a kind of trans-domain vehicles of deformable hull, including main hull, the secondary hull of being arranged in the both sides of main hull, secondary hull is hinged with main hull, secondary hull is connected with main hull between hull deformation overturn driving mechanism, hull deformation overturn driving mechanism is used to drive secondary hull to overturn and unfold or fold relative to main hull, walking track mechanism is equipped on secondary hull;The front end and tail end of main hull are respectively equipped with front attitude adjustment propeller and rear attitude adjustment propeller, and the tail end of two secondary hulls is equipped with jet pump propulsion system.The utility model has a variety of trans-domain vehicles of propelling mode, realizes the quick switching and continuous operation ability of land, water, in water and underwater multiple environment, significantly improves the environmental adaptability, maneuverability and trans-domain operation efficiency of vehicle.

Description

Technical Field

[0001] This utility model relates to the field of cross-land and water transportation technology, specifically to a cross-domain navigation vehicle with a deformable hull. Background Technology

[0002] Currently, most mainstream cross-domain vehicles adopt fixed hulls and single-power propulsion structures, primarily suitable for land and water environments, resulting in limited applicability and poor environmental adaptability. Existing technologies typically only meet the operational capabilities of land and water, or water and underwater, lacking equipment with amphibious operation and navigation capabilities across land, water, and underwater, making it difficult to meet the practical needs of continuous operation in multiple environments and missions. Some modular assembly solutions suffer from long assembly times, complex structures, and low conversion efficiency, making them unsuitable for complex and changing mission environments. Furthermore, existing cross-domain vehicles generally lack adjustable hull structures and multi-mode propulsion systems, leading to insufficient adaptability to cross-domain environments and operational mobility. Therefore, there is an urgent need for a cross-domain vehicle with a deployable structure, multiple propulsion methods, and the ability to efficiently switch between travel modes in multiple environments (land, water, water, and underwater) to overcome the limitations of existing technologies. Summary of the Invention

[0003] The purpose of this invention is to provide a cross-domain vehicle with a deformable hull and multiple propulsion methods, enabling rapid switching and continuous operation in multiple environments including land, water, water, and underwater, significantly improving the vehicle's environmental adaptability, maneuverability, and cross-domain operation efficiency.

[0004] The technical solution adopted in this utility model is:

[0005] A deformable transoceanic vehicle includes a main hull and auxiliary hulls arranged on both sides of the main hull. The auxiliary hulls are hinged to the main hull, and a hull deformation and tilting drive mechanism is connected between the auxiliary hulls and the main hull. The hull deformation and tilting drive mechanism is used to drive the auxiliary hulls to tilt and unfold or retract relative to the main hull. The auxiliary hulls are equipped with a tracked mechanism. The front end and stern end of the main hull are respectively equipped with a front attitude adjustment propeller and a rear attitude adjustment propeller, and the stern end of the two auxiliary hulls is equipped with a jet pump propulsion system.

[0006] Preferably, the main hull has a symmetrical inverted triangle cross section, the auxiliary hull has a right-angled triangle cross section, and the right-angled inclined surface of the auxiliary hull is arranged facing the main hull.

[0007] Preferably, a water deflector is provided at the front of the main hull;

[0008] The water deflector is hinged to the main hull, and a water deflector tilting and adjusting mechanism is connected between the water deflector and the main hull.

[0009] Preferably, the baffle plate tilting adjustment mechanism includes a baffle plate adjusting electric push rod or an electric adjusting lead screw;

[0010] The sluice gate and the main hull are respectively equipped with a rear sluice gate connector and a front sluice gate connector, and the two ends of the sluice gate adjusting electric push rod are respectively connected to the rear sluice gate connector and the front sluice gate connector.

[0011] Preferably, the hull deformation and overturning drive mechanism is located at the stern of the main hull.

[0012] Preferably, the hull deformation and overturning drive mechanism includes a hull deformation electric push rod, a sub-hull multi-degree-of-freedom deformation mechanism fixing seat on the sub-hull, and a main hull multi-degree-of-freedom deformation mechanism fixing seat on the main hull. The hull deformation electric push rod is connected to the sub-hull multi-degree-of-freedom deformation mechanism fixing seat and the main hull multi-degree-of-freedom deformation mechanism fixing seat respectively.

[0013] Preferably, the track mechanism includes a track ring and a plurality of track wheels arranged sequentially within the track ring along its length, wherein one or more track wheels are connected to a track drive motor as track drive wheels.

[0014] Preferably, the track drive motor is located in a waterproof compartment on the subhull.

[0015] Preferably, the front attitude adjustment propeller is located on the outer side of the water baffle.

[0016] Preferably, the deformable cross-domain vehicle further includes a controller, which is connected to the hull deformation and tilting drive mechanism, the track mechanism, the front attitude adjustment propeller, the rear attitude adjustment propeller and the jet pump propulsion system.

[0017] A navigation method for a cross-domain vehicle with deformable hull as described above includes the following steps: when the cross-domain vehicle with deformable hull is to enter a land state or an underwater state, the hull deformation and flipping drive mechanism drives the sub-hull to flip and retract inward, the inner inclined surface of the sub-hull is in contact with the corresponding lower inclined surface of the main hull, and the walking track mechanism is located on the bottom surface of the sub-hull.

[0018] When the deformable transoceanic vehicle is about to enter the water surface, the hull deformation and flipping drive mechanism drives the auxiliary hull to flip outward and unfold, with the outer side of the auxiliary hull flipping up to be flush with the main hull.

[0019] The beneficial effects of this utility model are:

[0020] This utility model uses a hull deformation and flipping drive mechanism to drive the auxiliary hull to flip inward and outward relative to the main hull. The structure can be unfolded and retracted, and it is a cross-domain vehicle with multiple propulsion methods. Through the combined application of movable auxiliary hull, tracked forward device, jet pump propulsion system and attitude adjustment propeller, it can achieve rapid switching and continuous operation capabilities in multiple environments such as land, water, water and underwater, which significantly improves the vehicle's environmental adaptability, maneuverability and cross-domain operation efficiency. Attached Figure Description

[0021] Figure 1 This is a front view schematic diagram of a cross-domain navigation vehicle with a deformable hull in both land and underwater states, as described in this utility model embodiment.

[0022] Figure 2 This is a rear view of the cross-domain navigation vehicle with a deformable hull in both land and underwater states, as described in this utility model embodiment.

[0023] Figure 3 This is a front view of the cross-domain navigation vehicle with a deformable hull in the water surface state, as described in this utility model embodiment.

[0024] Figure 4 This is a rear view of the cross-domain navigation vehicle with a deformable hull in the water surface state, as described in this utility model embodiment.

[0025] Figure 5 This is a schematic diagram of the structure of the forward attitude adjustment propeller in an embodiment of this utility model.

[0026] Figure 6 This is a schematic diagram of the internal structure of the walking track mechanism in an embodiment of this utility model.

[0027] Figure 7 This is a schematic diagram of the baffle plate in its unfolded state in an embodiment of this utility model.

[0028] Figure 8 This is a schematic diagram of the hull deformation and overturning drive mechanism in an embodiment of this utility model.

[0029] Figure 9 This is a schematic diagram of the rear posture adjustment mechanism in an embodiment of this utility model.

[0030] Figure 10 This is a schematic diagram of the structure of the jet pump propulsion system in this embodiment of the utility model.

[0031] In the diagram: 10-track ring, 101-track drive motor, 102-track drive wheel; 20-hull deformation electric push rod, 201-sub-hull multi-degree-of-freedom deformation mechanism mounting seat, 202-main hull multi-degree-of-freedom deformation mechanism mounting seat; 30-sub-hull; 40-main hull; 50-water deflector adjustment electric push rod, 501-water deflector front connector, 502-water deflector rear connector; 60-water deflector; 70-jet pump propulsion system, 80-rear attitude adjustment propeller, 801-rear attitude adjustment propeller base; 90-front attitude adjustment propeller, 901-front attitude adjustment propeller base. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this utility model and are not intended to limit this utility model.

[0033] In the description of this utility model, it should be understood that if terms such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, 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, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0034] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. They can refer to a mechanical connection or an electrical connection. They can refer to a direct connection or an indirect connection through an intermediate medium, and they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0035] Example 1

[0036] A trans-domain vehicle with a deformable hull, such as Figure 1-10 As shown, the hull includes a main hull 40 and auxiliary hulls 30 arranged on both sides of the main hull 40. The auxiliary hulls 30 are hinged to the main hull 40, and a hull deformation and tilting drive mechanism is connected between the auxiliary hulls 30 and the main hull 40. The hull deformation and tilting drive mechanism is used to drive the auxiliary hulls 30 to tilt and unfold or retract relative to the main hull 40. The auxiliary hulls 30 are equipped with a tracked mechanism. The front end and stern end of the main hull 40 are respectively equipped with a forward attitude adjustment propeller 90 and a rear attitude adjustment propeller 80. The stern ends of the two auxiliary hulls 30 are equipped with a jet pump propulsion system 70. When the hull deformation and flipping drive mechanism drives the auxiliary hull 30 to flip inward and retract, and the inner inclined surface of the auxiliary hull 30 is in contact with the lower inclined surface of the main hull 40, the outer surface of the auxiliary hull 30 flips back to the outside, and the walking track mechanism is located on the bottom surface of the auxiliary hull 30. At this time, the deformable cross-domain vehicle is in a land state or an underwater state. When the hull deformation and flipping drive mechanism drives the auxiliary hull 30 to flip outward and unfold, and the outer surface of the auxiliary hull 30 flips up to be flush with the main hull 40, the deformable cross-domain vehicle is in a surface state.

[0037] Furthermore, the main hull 40 has a symmetrical inverted triangle cross section, and the auxiliary hull 30 has a right-angled triangle cross section, with the right-angled inclined surface of the auxiliary hull 30 facing the main hull 40. When the deformable cross-domain vehicle is in a land or underwater state, the hull deformation and flipping drive mechanism drives the auxiliary hull 30 to flip inward and retract, with the inner inclined surface of the auxiliary hull 30 fitting against the corresponding lower inclined surface of the main hull 40. The track mechanism is located on the bottom surface of the auxiliary hull 30. After the auxiliary hull 30 retracts, the cross section of the deformable cross-domain vehicle becomes a symmetrical rectangle or inverted trapezoid. When the deformable cross-domain vehicle is on the water surface, the hull deformation and flipping drive mechanism drives the auxiliary hull 30 to flip outward and unfold, with the outer surface of the auxiliary hull 30 flipping up to be flush with the main hull 40.

[0038] Furthermore, a water deflector 60 is provided at the front end of the main hull 40;

[0039] The water deflector 60 is hinged to the main hull 40, and a water deflector telescopic adjustment mechanism is connected between the water deflector 60 and the main hull 40.

[0040] Furthermore, the water deflector telescopic adjustment mechanism includes a water deflector adjusting electric push rod 50 or an electric adjusting screw, with both ends of the water deflector adjusting electric push rod 50 or the electric adjusting screw connected to the water deflector and the main hull, respectively.

[0041] The water deflector 60 and the main hull 40 are respectively provided with a rear water deflector connector 502 and a front water deflector connector 501. The two ends of the water deflector adjusting electric push rod 50 are respectively connected to the rear water deflector connector 502 and the front water deflector connector 501.

[0042] Furthermore, the hull deformation and overturning drive mechanism is located at the stern end of the main hull at 40.

[0043] Example 2

[0044] Based on Example 1, the hull deformation and overturning drive mechanism is further defined, resulting in Example 2 having even better performance.

[0045] The hull deformation and overturning drive mechanism includes a hull deformation electric push rod 20, a sub-hull multi-degree-of-freedom deformation mechanism fixing seat 201 on the sub-hull 30, and a main hull multi-degree-of-freedom deformation mechanism fixing seat 202 on the main hull 40. The hull deformation electric push rod 20 is connected to the sub-hull multi-degree-of-freedom deformation mechanism fixing seat 201 and the main hull multi-degree-of-freedom deformation mechanism fixing seat 202 respectively.

[0046] Furthermore, the walking track mechanism includes a track ring and a plurality of track wheels arranged sequentially in the track ring along the length direction, wherein one or more track wheels are connected to a track drive motor 101 as track drive wheels 102; the track drive motor 101 drives the track drive wheels to rotate, thereby driving the track ring 10 and other track wheels to rotate.

[0047] Furthermore, the track drive motor 101 is located in a waterproof compartment on the subhull 30.

[0048] Furthermore, when the hull deformation and flipping drive mechanism drives the sub-hull 30 to flip and retract inward, and the hull deformable trans-domain vehicle is in a land state or underwater state, the waterproof compartment is located on the outer side of the sub-hull 30, and the track ring and track wheel are located at the bottom of the sub-hull 30.

[0049] Furthermore, the forward attitude adjustment propeller 90 is located on the outer side of the water deflector.

[0050] The forward attitude adjustment propeller 90 is mounted on the baffle plate via the forward attitude adjustment propeller base 901, and the aft attitude adjustment propeller 80 is mounted at the stern of the main hull via the aft attitude adjustment propeller base 801.

[0051] Furthermore, the aforementioned deformable cross-domain vehicle also includes a controller, which is connected to a hull deformation and tilting drive mechanism, a walking track mechanism, a front attitude adjustment propeller, a rear attitude adjustment propeller, and a jet pump propulsion system.

[0052] A navigation method for a cross-domain vehicle with a deformable hull as described above includes the following steps: when the cross-domain vehicle with a deformable hull is to enter a land state or an underwater state, the hull deformation and flipping drive mechanism drives the sub-hull 30 to flip and retract inward, the inner inclined surface of the sub-hull 30 is in contact with the corresponding lower inclined surface of the main hull 40, the walking track mechanism is located on the bottom surface of the sub-hull 30, and the water deflector flips inward and approaches the main hull.

[0053] When the deformable cross-domain vehicle is about to enter the water surface, the hull deformation and flipping drive mechanism drives the sub-hull 30 to flip outward and unfold. The outer side of the sub-hull 30 flips up to be flush with the main hull 40, and the water deflector flips outward away from the main hull to be parallel to the bow angle of the main hull.

[0054] The main hull is also equipped with a ballast tank. When the deformable transoceanic vehicle switches between the surface state and the underwater state, in addition to the changes in the relative positions of the main hull and the sub-hull, the ballast tank begins to fill or drain water to adjust the hull buoyancy.

[0055] The working principle of this utility model is as follows: (Refer to...) Figure 1 This invention provides a cross-domain vehicle capable of operating in land, water, and underwater environments. When the vehicle is traveling on land, the track rings 10 on both sides operate, and each of the four track drive motors 101 drives a track drive wheel 102 to rotate, thereby propelling the vehicle forward in the land environment. When the vehicle enters the water from the land, the controller receives an environmental signal and controls the two hull deformation electric push rods 20 to operate, causing the auxiliary hulls 30 on both sides to unfold. At the same time, the front water deflector adjustment electric push rod 50 operates, opening the front water deflector 60 to be parallel to the bow angle.

[0056] The hull deformation electric push rod 20 is connected to the main hull 40 via the main hull multi-degree-of-freedom deformation mechanism fixing seat 202, and to the auxiliary hull 30 via the auxiliary hull multi-degree-of-freedom deformation mechanism fixing seat 201. The baffle adjustment electric push rod 50 is fixed to the main hull 40 via the baffle front connector 501, and simultaneously connected to the front baffle 60 via the baffle rear connector 502, ensuring synchronization and stability during deployment. When the vehicle is in a surface-diving state, the jet propulsion system 70 located inside the auxiliary hull 30 is activated, providing surface propulsion power to drive the vehicle forward, such as... Figure 3 and Figure 4 Both images show the water baffle flipped to two different positions.

[0057] The main hull 40 is equipped with a ballast tank. The controller is connected to the ballast tank and can control the filling and emptying of the ballast tank. When it is necessary to enter the underwater operation state from the water surface, the controller receives the diving command and controls the ballast tank to start filling with water, adjusting the hull buoyancy. In conjunction with the hull deformation electric push rod 20 and the water deflector adjustment electric push rod 50 moving in opposite directions, the auxiliary hull 30 and the front water deflector 60 are retracted to the land driving mode, so that the overall shape of the ship adapts to the underwater navigation requirements, thereby realizing the function of moving and operating in the underwater environment. The underwater attitude of the ship is adjusted by the front attitude adjustment propeller and the rear attitude adjustment propeller.

[0058] The above are merely preferred embodiments of this utility model patent and should not be construed as limiting the scope of this utility model patent. Any equivalent changes made in accordance with the scope of this utility model patent application shall be deemed to be within the scope of protection of this utility model patent.

[0059] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0060] It should be understood that those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A trans-domain vehicle with a deformable hull, characterized in that: The main hull (40) includes a secondary hull (30) arranged on both sides of the main hull (40). The secondary hull (30) is hinged to the main hull (40). A hull deformation and tilting drive mechanism is connected between the secondary hull (30) and the main hull (40). The hull deformation and tilting drive mechanism is used to drive the secondary hull (30) to tilt and unfold or retract relative to the main hull (40). The secondary hull (30) is equipped with a walking track mechanism. The front end and the stern end of the main hull (40) are respectively equipped with a front attitude adjustment propeller (90) and a rear attitude adjustment propeller (80). The stern ends of the two secondary hulls (30) are equipped with a jet pump propulsion system (70).

2. The deformable trans-domain vehicle as described in claim 1, characterized in that: The main hull (40) has a symmetrical inverted triangle cross section, and the auxiliary hull (30) has a right triangle cross section. The right-angled slope of the auxiliary hull (30) is arranged facing the main hull (40).

3. The deformable trans-domain vehicle as described in claim 1, characterized in that: A water deflector (60) is provided at the front end of the main hull (40); The baffle (60) is hinged to the main hull (40), and a baffle tilting adjustment mechanism is connected between the baffle (60) and the main hull (40).

4. The deformable trans-domain vehicle as described in claim 3, characterized in that: The baffle plate tilting and adjusting mechanism includes a baffle plate adjusting electric push rod (50); The back connector (502) and front connector (501) of the baffle (60) and the main hull (40) are respectively provided. The two ends of the baffle adjusting electric push rod (50) are connected to the back connector (502) and the front connector (501) of the baffle.

5. The deformable trans-domain vehicle as described in claim 3, characterized in that: The forward attitude adjustment propeller (90) is located on the outer side of the baffle.

6. The deformable trans-domain vehicle as described in claim 1, characterized in that: The hull deformation and overturning drive mechanism is located at the stern of the main hull (40).

7. The deformable trans-domain vehicle as described in claim 1, characterized in that: The hull deformation and overturning drive mechanism includes a hull deformation electric push rod (20), a sub-hull multi-degree-of-freedom deformation mechanism fixing seat (201) on the sub-hull (30), and a main hull multi-degree-of-freedom deformation mechanism fixing seat (202) on the main hull (40). The hull deformation electric push rod (20) is connected to the sub-hull multi-degree-of-freedom deformation mechanism fixing seat (201) and the main hull multi-degree-of-freedom deformation mechanism fixing seat (202) respectively.

8. The deformable trans-domain vehicle as described in claim 1, characterized in that: The walking track mechanism includes a track ring and a plurality of track wheels arranged sequentially in the track ring along the length direction, wherein one or more track wheels are connected to a track drive motor (101) as track drive wheels (102).

9. The deformable trans-domain vehicle as described in claim 8, characterized in that: The track drive motor (101) is located in a waterproof compartment on the subhull (30).

10. The deformable trans-domain vehicle as described in claim 1, characterized in that: The deformable cross-domain vehicle also includes a controller, which is connected to the hull deformation and flipping drive mechanism, the walking track mechanism, the front attitude adjustment propeller, the rear attitude adjustment propeller and the jet pump propulsion system (70).

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